Motion control systems – Servo motors overview

SERVO CONTROL SYSTEM –

OVERVIEW OF SERVO MOTORS

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

Torque and Velocity Control

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 Motion control systems – Servo motors overview

Position Control

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 Motion control systems – Servo motors overview

Servo Configuration

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

Position tracking vs Servo systems

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 Motion control systems – Servo motors overview

Các ví dụ ứng dụng của hệ thống điều khiển servo

Conveyor handling system

Five-axis CNC machines

Six-axis Robot
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 Motion control systems – Servo motors overview

Overview of Electric Actuators

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 Motion control systems – Servo motors overview

Types of Electric Motors

DC motor Brushless DC motor

Stepper motor AC motor

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 Motion control systems – Servo motors overview

Classification of Electric Motors

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 Motion control systems – Servo motors overview

DC motor

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 Motion control systems – Servo motors overview

DC motor
F: force on the conductor (in Newton)
The magnitude of the I: current through the conductor (in amperes)
force on the wire: B: magnetic flux density (in gauss)
L: length of the wire (in meters)
: angle between the magnetic field and current

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 Motion control systems – Servo motors overview

Permanent-Magnet DC Motor

Major components of a DC motor

Điều khiển vận tốc của động cơ
PM được thực hiện bằng cách thay
đổi giá trị của điện áp đặt vào phần
ứng. Tốc độ của động cơ thay đổi
trực tiếp với lượng điện áp phần
ứng được đặt vào. Giá trị của
điện áp phần ứng càng cao thì
động cơ chạy càng nhanh.

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 Motion control systems – Servo motors overview

Back E.M.F

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

Compound DC Motor

Controlling the speed of a brushed DC motor

through PWM (pulse width modulation)
- Using a separately excited shunt field
for the need to vary armature voltage
or field current
- The motor generates high torque but
with varying speed.
- When the field current changes, both
the motor speed and torque will
change.

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 Motion control systems – Servo motors overview

Brushless DC motor

Brushless DC Motor (BLDC) operates without brushes by

utilizing advanced electronic switching techniques.

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

Brushless DC motor
A schematic of a generalized three-phase BLDC

Advantages: extremely reliable, very efficient, and easily controlled.

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 Motion control systems – Servo motors overview

Rotating a Brushless DC Motor using semiconductor as control switch wire

connection of Brushless DC Motor
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 Motion control systems – Servo motors overview

Cảm biến Hall để phát hiện Rotor

Principle: If a magnetic field is present, the electrons

are displaced to one side due to an effect explained by
Example of chip type Hall element Fleming's left-hand rule.

A simplest brushless DC motor

with one Hall element

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 Motion control systems – Servo motors overview
BLDC

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview
BLDC

Sensor BLDC
Motors

Sensorless
BLDC Motors

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 Motion control systems – Servo motors overview
AC motor
An alternating current (AC) motor operates by sequentially creating a rotating magnetic field in the stator.

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 Motion control systems – Servo motors overview
AC motor
An alternating current (AC) motor operates by sequentially generating a rotating magnetic field in the stator.

Asynchronous AC Motor
ηsync = 120f/p

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 Motion control systems – Servo motors overview

Squirrel Cage Induction Motor

Dual-speed, three-phase squirrel-cage single-winding motor

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 Motion control systems – Servo motors overview

Variable-Frequency Drives (VFD)

V/f (Voltage/frequency)
Ratio Is Kept Constant
in VFD

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 Motion control systems – Servo motors overview
Single phase AC motor

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 Motion control systems – Servo motors overview
Single phase AC motor

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 Motion control systems – Servo motors overview

Stepper motor
A stepper motor is a unique type of DC motor that rotates in
fixed steps of a certain number of degrees. Step size can range
from 0.9 to 90°.

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 Motion control systems – Servo motors overview

Stepper motor

Excitation modes for PM stepper motors

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 Motion control systems – Servo motors overview

The top electromagnet (1) is

The top electromagnet (1) is turned turned off, and the right
on, attracting the nearest teeth of a electromagnet (2) is energized,
gear-shaped iron rotor. With the teeth pulling the nearest teeth slightly to
aligned to electromagnet 1, they will the right. This results in a rotation
be slightly offset from electromagnet of 3.6° in this example.
2

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 Motion control systems – Servo motors overview

The left electromagnet (4) is enabled,

rotating again by 3.6°. When the top
The bottom electromagnet (3) is electromagnet (1) is again enabled, the
energized; another 3.6° rotation teeth in the sprocket will have rotated
occurs. by one tooth position; since there are
25 teeth, it will take 100 steps to make
a full rotation in this example.

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

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 Motion control systems – Servo motors overview

Homework (5%):
•Use Proteus to simulate BLDC or Stepper motor control:
speed and direction.
•Record a screen capture of the results (approximately 1-
minute video).
•Name the file as: Course code_Student Name_Student
ID, Example: ME4217_Nguyen Van A_123456
•Upload the video to Bkel.

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