TRANSFER FUNCTION OF TWO PHASE AC SERVO MOTOR VPET-302

2. AC Servo Motor

ACServomotor is basicallya two phase induction motor except for certain special design futures.
Atwo phase AC servomotor differs in twoways from a normal induction motor. The servomotor
rotor side is built in high resistance so the X/R ratio is small which results in linear mechanical

characteristics even getting higher efficiency. Another differenceofAC servomotor is that the
if
excitation voltage applied to two stator winding should have a phase difference of 90.

Speed - torque Characteristics of induction and servo motors

Starting Torque

Large X/R
Small X/R
Torque
(NM)

Synchronous Speed

Speed

two phase induction motor with some special design futures. The
AC Servomotoris basicallya

mounted on the inner periphery of the stator which have angle

stator consists of two pole- pairs

carries a winding,one winding is called reference winding and

of 90° in space.Each pole pair
make the phase difference of 90° by
called control winding and to
the other winding is

with the main winding.

connecting a capacitor in series

Stator of AC Servo motor

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D

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Vi Microsystems Pvt. Ltd.,
2 TRANSFER FUNCTION OF TWO PHASE AC SERVO MOTOR VPET-302
Rotor

3.

The rotor
construction is usually squired cage or cup The squired cage construction
1S same as that ofthenormal drug type.

inductor motorrotor The diameter of the rotor skept

is k

Oal so as to reduce the inertia and to

construction.

obtain good accelerating

inertiaapplication characteristics. For very low
drug cup construction is
used.
3.
WORKING PRINCIPLE
when the
rotating magnetic
fieldsweeps overthe rotor conductors, emf isinduced in the rotor
Conductors. This induced emf
circulates a current is the short circuited
sothis rotor conductors
1ot0r current generate a rotor
flux due to the interactions of stator and rotor flux a
Torce is developed to the mecharnical
rotor and hence the rotor moving
the same direction as that
rotating magnetic field. of the

4. Transfer Function ofAC

Servomotor

Let,

Tm Torque developed by the motor, Nm

Torque required by the load, Nm
K Slope ofcontrol phase voltage Vs torque characteristics
K Slopeofspeed torque characteristic

Kn Motor gain constant

Motor time constant

Moment ofinertia, kg-m

B Viscous friction co-efficient, Nm /(rad/sec)
Rated input voltage, volt
do
Angular speed
dt

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TRANSFER FUNCTION OF TWO PHASE AC SERvo MOTOR VPET-302

do
Torque developedby the motor, T, =K, -K,dt
e, -- (1)

d'o do
Local torque T = J +B --(2)
dt

Atequilibrium the motor torque equal to load torque so the equation (1) equal to (2).

do do
Therefore J +B = Ke,-K, - -(3)
dt dt

Taking laplace transform of equation (3) with zero initial condition. We get

JS'w(S) + BS O(S) = KIE, (S) - KS o(S)

5.

JS' o(S) +BS o(S) + K'S w(S) =K E,(S)

[JS² + B S + K'S] o(S) =K, E, (S)

o(s) K1

E,(s) JS +B +Kp8
o(s) K -- (4)
Ec(s) sJS +B +Ky)
Km (5)

s(Fm+1)
where

Motor gain constant K

K,
B+K,
J
Motor time constant Tm =
B+K,

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Vi Microsystemns
 VPET-302
TRANSEER FUNCTION OF TWO PHASE AC SERVO MOTOR

Q(S) Ky
E(S) s[Em S+1]

Equation (5) is the transfer function of the AC servo motor.

Ec(s)
K4
To(s)

Js
1

+B
w(s) - 1 o(s)

Ky

Transfer Function of AC Servomotor

5. Front Panel Description

Voltmeter To Read the control winding voltage

Ammeter To Read the control winding Current

LCD Display To Display the speed of the motor

Variable AC source ToVary the control winding voltage

Switch S, ToON /OFF control winding voltage

* Switch S, To ON /OFF main winding voltage

Vi Microsystems Pvt. Ltd.,

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 TE
TRANSFER FUNCTION OF TWO PHASE AC SERVOMOTOR VPET-302
7
6. SPECIFICATIONs OF ACSERVOMOTOR
Tw
230V We
Main winding voltage
90
* Control winding Voltage 230V
AS
thre

No load current per phase 300mA (max)

tran

betv
Load current per phase 350 mA (max)
low
tran:

* 100 W
Input power
7.1.

0.8
Power Factor

1400 rpm
* No load speed

900 rpm
Full load speed

(J) 0.0155 kg m
Moment of inertia

(B) - 0.85 x 10 Kg-m-sec

friction co-efficient
Viscous

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161
Pvt. Ltd.,
Vi Microsystems
 TRANSEER

.
7.
NEED OF SCOTT
FUNCTION OF TWO PHASE

CONNECTION IN OUR'TRAINER
AC SERVO MOTOR VPET-302

KIT
Two phase
AC ServO motor
we needs 90°
use the phase shift between twophases to produce the torque. If
capacitor in series
90 phase with onephase which will create 90 phase shift. In ourtrainer kit
shift is
produced by using Scott connectionof the transformer,
without usingcapacitor.
A Scott
connection isa
type of transformer
three connection usedto from a
phase source drive two phase current

transformer T, a
and ,
or

an
vide versa.
Scott
connection consists of a center tapped 1 : 1 ratio

86.6%(0.5 V3) ratio

T2. The T1 is connected
between two of the transformer center side of

phases onthe three

lowerturn phase side. Its center
count side tap then connects to one end of the
of T2, the other end connects to the
transformer then remaining phase. The other side of the
connect directly to the two
pairs of a two
phase.
7.1.
Scott-TTransformerConnection

R
86.6%
|Teaser
|Transformer
-OR,

tap
E31
E

E23 50 % VoN
tap
Bo

Main Transformer
E,

Vi Microsystems Pvt. Ltd.,

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TRANSFER FUNCTION OF TWO PHASE ACSERVO MOTOR VPET-302

Phase difference in inputside Phase difference in output side

3)E,, = VZ0° 2)E, = VZ00

3 E,, = V/1200 2) E, = VZ90 º

34 Ep = VZ 2400

7.2. INTERNAL CONNECTION DIAGRAM

I Teaser
Ro | Transformer

Main Winding
Yo

Rotor
Speed.

BO
Tee Main Transformer Control
Winding
Sensor

Micro
Controller

Speed
Indicator
l¢ Auto Transformer

230 V AC | 5V Power
Supply
Pre

No
Step down Transformer

Vi
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Vi Microsystems Pvt. Ltd.,
2
TRANSFER
FUNCTION OF
8 TWOPHASE ACC SERVO MOTOR
Formulas VPET-302
used to derive the
transfer function
of two phase AC Servomotor

Motor AT
Constant K,=

Motor AT
Constant K2 =
AN
Torque
T=9.81 xr s Nm

Motor gain
constant K= K
B+Kf
Motor gain
constant Tm
B+ K,y
Transfer function
of 2 AC Servo motor
O(8)
Where E,(S) SFmS+1.
AT
ChangeofTorque
Change in control
voltage
AN
ChangeofSpeed

Applied load, kg
B
Friction
J
co-efficient, NM/(rad /sec)
Moment of inertia, kgm

Radius ofthe shaft., M

Predetermined values

Radius of the shaft(r)

0.018%6m

Friction Co-efficient
(B) 0:.85 10 kg-m-sec

Moment of inertia (U)

0.0155 kg m'
Load
60g

Vi Microsystems Pvt. Ltd.,

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TRANSEER FUNCTION OF TWO PHASE ACSERVO MOTOR VPET-302

9. EXPERIMENTAL SECTION
1

9.1.
Experiment 2
Aim
3.
To find the value of motor constant K:

Apparatus Required
4

S. No. Name of the apparatus Quantity

5.

1. Transfer function of AC Servo motor 1

(VPET-302) Trainer Kit

Ex

Two Phase ACServomotor with load 1.

2.
setup and loads
2
3 PC Power Chord
3
4 SP,Patch Chord 4

5 9 Pin Cable 1

5.

Formula Used 6. I

Torque T =(9.81 xr x SNm 7. N

3
AT
Motor Constant K
AV 8. A

where, 9. R
Radius of the shaft
10. C

AT - Change in torque, Nm
11. D
12. Fr
AV - Change in Control winding voltage, Vdt

S Applied load in kg.

Vi Microsystems Pvt. Ltd., |101

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 T-302 TRANSFER FUNCTION OF
TWO PHASE AC SERVO MOTOR VPET-302
Connection
Procedure

1. Initially
keep all the
switches in OFF
position
2.
Connect the
banana connector
P,to ,and
P,n Nou to N,p:
3.
The banana
and the connector Pin terminal is
also connected
banana with motor control winding P terminal
connector N,,
terminal. terminal is also connected
with motor control winding N

4.
Connectthe 9
Pin D
connector from AC
servomotor to VPET-302 module trainer kit.
3. Keep the
variable AC source in
minium position
Experimnental
Procedure
1. Apply
3¢ AC supply to
the 34input banana connectors at the back
2. Switch side of the module.
ON the power
switch
3.
Switch ON the control winding and main
winding switches
S,and S,
4. Now respectively.
slowly vary the
300r.p.m
variable ACsource to the control
winding till the motor
reaches
5. Applyload
one by one till
the motor
stops.
6.
Note down the
load values
and control
voltage.
7. Now
again vary the
AC source and
300 r.p.m apply voltage to
control
winding tillthe
motor reaches
8. Again apply
loads till the
motor stops.

9. Repeat the above

steps and note
down the values and
tabulate it.
10.Calculate
the torque of the motor.

11. Drawa graph between

control voltage Vs
torque.

12.From the
graph find out
the motor
constant K,.

Vi
101 Microsystems Pvt. Ltd..
TRANSEER FUNCTION OF TWO PHASE AC SERVO MOTOR VPET-30Z

Tabulation

S. No. Load (S) Control Voltage Torque (T)

(V)

Volt Nm
Kg

22

Modelgraph

Torque AT

(NM)

Control Winding Voltage

AT
Motor Constant Kl=
AV

Vi

Vi Microsystems Pvt. Ltd.,

 VPET-302
TRANSEER FUNCTIØNOF TWO PHASE AC SERVO MOTOR
eneral&
ISehewslobiagram

5V DC Supply Micro
Speed
Indicator Controller

Two Phase AC ServoMotor

Variac
PO

Speed
(Rotor Sensor
230 V AC Control'
Supply Winding

L
NO Main Winding
RANSFER TRAN!
FUNCTION OF TWO PHASE ACSERVO MOTOR VPET-302
e.
Experiment -2 Experi

m Swi
1.

find the value 2. Swit

of motor
constantK,.

Pparatus Required 3. Afte

supp

S.No.
Name of the Apparatus Quantity 4. Vary
1
Transfer function of AC servomotor 1

(VPET-302) 5. Appl
the n
2 Two phase AC Servomotor with load 1

setup and loads. 6. After

SOurc
3 PCpower chord 2
7. Switc
4 9 Pin cable 1

8. Finall
5 SP,Patch Chord. 4

9. Tabul

ormula Used
10. Draw
AT
Aotor Constant K, = AN Tabulatio

'orque T =9.81 xr x S Nm

vhere,

AT - Change of torque

AN - Change of Speed

Applied load in kg

Connection Procedure

Initially keep all the switches in off position.

1.
onnect the banana connector Pug to Pi, and Nou to Nip'

>nnectthe 9 Pin D connectorfrom AC servomotor to VPET 302 trainer kit for measuring
speed.
ep the variable AC source in minimum position.

ficrosystems Pvt. Ltd., Vi Mic

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 VPET-302
SERVO MOTOR
2 TRANSFER FUNCTION
E OF TWO PHASE AC
TRAN:

Experimental Procedure Model

1. Switch ON the power supply.

2. Switch ON the main winding power supply S,

winding power
3. winding, switch ON the control
Aftergivingthe power suppply to the main
supply switch S,.

voltage of the control winding (180v).

ary the control voltage to set a rated

5 motornin at a zero rpm and

note down the specd of

PPY the load in step by step upto the

the motor and applied load.

the motor and bring the variable AC

taking the readings.fullv remove the load from
ter

source in minimum position.

7. Switch off the control winding switch S.

D. Finally switch off the main winding Switch S, and power supply switch.

9. Tabulate the speed and load values and

calculate torque

10. Draw agraph of Torque Vs speed and find motor constant K.

Tabulation

S. No. Speed (N) Load (S) Torque (T)

Rpm Kg N-M

AT
Motor Constant K, = 2. C
AN
3. C
th
4. Ke
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 VPET-302
TRANSEERRFUNCTION OF TWO PHASE AC SERVO MOTOR

Model Graph

Torque
(N-M)
AT

To

<-4N
X

Speed (rad/sec)

Vi Microsystems Pyt. Ltd.,

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