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DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR

Posted by N R Rejin Paul on Monday, March 28, 2011

Labels: EE2257

Expt. No: Date:

DETERMINATION OF TRANSFER FUNCTION OF

AC SERVO MOTOR
AIM:
To derive the transfer function of the given AC Servomotor.

APPARATUS / INSTRUMENTS REQUIRED:

S. No Description Range Type Quantity

1. AC servo motor trainer kit - 1
2. AC servo motor 1
(0-1) A MC 1
3. Ammeter
(0-100) mA MI 1
(0–300) V MC 1
4. Voltmeter
(0–75) V MI 1
5. Patch cords - As required

THEORY:

An AC servo motor is basically a two phase induction motor with some special design features.
The stator consists of two pole pairs (A-B and C-D) mounted on the inner periphery of the stator,
such that their axes are at an angle of 90o in space. Each pole pair carries a winding, one winding
is called reference winding and other is called a control winding. The exciting current in the
winding should have a phase displacement of 90 o. The supply used to drive the motor is single
phase and so a phase advancing capacitor is connected to one of the phase to produce a phase
difference of 90o.The rotor construction is usually squirrel cage or drag-cup type. The rotor bars
are placed on the slots and short-circuited at both ends by end rings. The diameter of the rotor is
kept small in order to reduce inertia and to obtain good accelerating characteristics. The drag cup
construction is employed for very low inertia applications. In this type of construction the rotor
will be in the form of hollow cylinder made of aluminium. The aluminium cylinder itself acts as
short-circuited rotor conductors. Electrically both the types of rotor are identical.
 WORKING PRINCIPLE :

The stator windings are excited by voltages of equal magnitude and 90o phase difference. These
results in exciting currents i1 and i2 that are phase displaced by 90 o and have equal values. These
currents give rise to a rotating magnetic field of constant magnitude. The direction of rotation
depends on the phase relationship of the two currents (or voltages). This rotating magnetic field
sweeps over the rotor conductors. The rotor conductor experience a change in flux and so
voltages are induced rotor conductors. This voltage circulates currents in the short-circuited rotor
conductors and currents create rotor flux. Due to the interaction of stator & rotor flux, a
mechanical force (or torque) is developed on the rotor and so the rotor starts moving in the same
direction as that of rotating magnetic field.

GENERAL SCHEMATIC OF AC SERVOMOTOR:

FORMULAE USED:
Transfer function, Gm (s) = Km / (1+ stm)

Where

Motor gain constant, Km = K / FO + F

K is DT / DC
FO is DT / DN
Torque, T is 9.81 X R (S1 ~ S2)
R is radius of the rotor in m
Frictional co-efficient, F = W / (2pN / 60)2
Frictional loss, W is 30 % of constant loss in Watts
Constant loss in watts = No load input – Copper loss
No load i/p = V (IR+IC)
V is supply voltage, V
IR is current through reference winding, A
IC is current through control winding, A
 Copper loss in watts = IC2 RC
RC = 174W
N is rated speed in rpm

Motor time constant, tm = J / FO + F

Moment of inertia J is pd4 L R ρ / 32
d is diameter of the rotor in m ( Given d =39.5 mm)
LR is length of the rotor in m (Given L R =76 mm)
ρ is density = 7.8 X 102 gm / m

PROCEDURE:

1. DETERMINATION OF FRICTIONAL CO-EFFICIENT, F

1. Check whether the MCB is in OFF position.

2. Patch the circuit using the patching diagram.
3. Switch ON the MCB
4. Vary the control pot to apply rated supply voltage
5. Note the control winding current, reference winding current, supply voltage and speed.
6. Find the frictional co-efficient using the above values

OBSERVATIONS:

Supply Voltage Control winding Reference Winding Speed

S. No. V Current Ic Current Ir N
(V) (A) (A) (rpm)

CALCULATIONS:

DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR

PATCHING DIAGRAM TO DETERMINE FRICTIONAL CO-EFFICIENT F:
 PROCEDURE:

2. To determine the motor gain constant Km

DETERMINATION OF FO FROM TORQUE - SPEED

CHARACTERISTICS:
1.      Check whether the MCB is in OFF position.
2.      Patch the circuit using the patching diagram.
3.      Set the control pot in minimum position.
4.      Check whether the motor is in no load condition
5.      Switch ON the MCB
6.      Vary the control pot and apply rated voltage to the reference phase winding and control
phase winding. Note down the no load speed.
7.      Apply load in steps. For each load applied note down the speed and spring balance
readings. ( Take 3 or 4 sets of readings)
8.      Reduce the load fully and allow the motor to run at rated speed.
9.      Repeat steps 7 and 8 for 75 % control winding voltage.
10.  Draw the graph between speed and torque, the slope of the graph gives FO.

OBSERVATIONS:

Control voltage Vc1 = Control voltage Vc2 =

Speed Spring Balance Spring Balance Torque
values Torque Speed values
S. No N T
T N
S1 S2 S1 S2
(Nm) (rpm)
(rpm) (kg) (kg) (kg) (kg) (Nm)

MODEL GRAPH: TORQUE - SPEED CHARACTERISTICS

 DETERMINATION OF K FROM TORQUE - CONTROL VOLTAGE
CHARACTERISTICS:
1.      Check whether the MCB is in OFF position.
2.      Patch the circuit using the patching diagram.
3.      Set the control pot in minimum position.
4.      Check whether the motor is in no load condition
5. Switch ON the MCB
6. Vary the control pot and apply rated voltage to the reference phase winding and control
phase winding. Note down the no load speed.
7.      Load the motor gradually; the speed of the motor will decrease. Vary the control pot
and increase the control winding voltage till the speed obtained at no load is reached.
Note down control voltage and spring balance readings.
8. Repeat step 7 for various speeds and tabulate. (for 1000 rpm)
9. Plot the graph between torque and control winding voltage. The slope of the graph
gives the value of K.

OBSERVATIONS:

Speed N1 = Speed N2 =
Control Spring Balance Torque Speed Spring Balance Control
S. No Voltage values T values Voltage
Vc S1 S2 S1 S2 Vc
(V) (kg kg Nm rpm Kg Kg V

MODEL GRAPH: TORQUE - CONTROL VOLTAGE CHARACTERISTICS

DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR

 PATCHING DIAGRAM TO DETERMINE MOTOR GAIN CONSTANT KM:

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