he 6.

4 SERVOMOTORS SM)
a The servomotors are widely used in feedback control system. These motors are usedtoconvert an
electrical signal (control voltage) into an angular displacement of the shaft. A servomotor is a low
power motor used in servomechanisms or position control system. A servomotor should have a good
starting torque and have quick acceleration at starting.
Avariety of servomotor are available for control Do you know
system application. The suitability of a motor for a
particular application depends on the characteristics of The servomotor are also knownas control
the system, the purpose ofthesystem and its operating motors.
conditions. In general, a servomotor should have the
following fcaturg Feus a suometn
YIt have linear relationship between speed and electric control signal.
Wide range of speed control. Ly wd n
Steady state stability
s Low inertia
yThe response is fast o pe mote wsol n pesi tron
YLight in weight

(36.4.1Types of Servomotor
electric supply to be used
The servomotors are basically classified depending upon the nature of the
diagram 6.2.
for its operation. The types of servomotor are shown in the block
 COr
CONTROL SYSTEM
182

Types

D.C. Servomotor
A.C. Servomotor

Armature controlled
Field controlled

Block diagram 6.2

(i)
motor with some
( a) 1. A.C. Servomotor: An a.c. servomotor is basically atwo phase induction applications. The
power
special design features. A.C. servomotor are small and best suited for low watts. The operating
hundred
output power of a.c. servomotor varies from fraction of watt to few
frequency is 50 Hz to 400Hz.
Construction: The two phase a.c. servomotor is basically consist of two parts:
fa) Stator
(b) Rotor
(a) Stator:The stator is the stationary part of the servomotor. The stator carries two windings
which are uniformly distributed and displaced by 90° in space from each other. One winding
is called as Main winding or reference winding. The reference winding is excited by a
constant voltage a.c. supply. The other winding is called as control winding. It is excited
by variable control voltage which is obtained from a servo amplifier. The windings are 90°
away from each other and controlvoltage is 90° out of phase with respect to the voltage
applied to the reference winding. This is necessary to obtain rotating magnetic field. The
schematicstator is shown in the figure 6.6.
-A.C. Supply

Control winding Reference winding

90°
of nor
Control voltage Rotor
from servo
- voltag
Amplifier throug
throug
rOtatir
the e.
Fig. 6.6 Currer
(b) Rotor: There are two types of rotors a tora
used in servomotor as
) Squirrel Cage Rotor
(i) Drag Cup Type Rotor rotatic
 (b Principle of Operation: The operating principle oftwo phase a.c. servomotor is same as that
of normal three phase induction motor. The control voltage applied to the control winding and the
voltage applied to the reference winding are 90° out of phase. Hence the flux produces by current
through control winding is also 90° out of phase with respect to the flux produced by the current
through the reference winding. The resultant flux in the air gap is hence rotating in nature called as
rotating magnetic field. The rotor is stationary at start. But as the rotating flux sweeps, over the rotor,
the e.m.f. gets induced in the rotor. This e.m.f. circulates the current through the rotor. The rotor
current produces its own flux called as rotor flux interacts with the rotating magnetic field, producing
a torque on the rotor and rotor starts rotating.
In the twophase a.c. servomotor, the polarity of the control voltage determines the direction of
rotation. A change in the sign of the control voltage reverses the direction of rotation of the motor.
Since the reference voltage is constant, the torque and the angular speed are the functions of the
control voltage.t es
 po Ttain
limit while the efficiency increases upto certain limit and
then starts decreasing.
Power factor
Features of A.C. Servomotor:
Power input
4c) Mt isrobust in construction.
2. It is reliable and its operation is stable in nature. Efficiency
3. The servomotor can accelerate and de-accelerate
quickly. ’ Torgque
4, Large torque to weight ratio
5. Smooth and Noise free operation o a l t E olno Fig. 6.10be
6. Large resistance to reactance ratio
7. It is almost maintenance free as no brushes or slip rings are
required.
Application:
1. The servomotor are are widely used in instrument
devices and process control systems. servomechanisms, remote positioning
2. It is used in computers
4 Usd in ada
3. Machine tools
S. Rototis
 2. D.C. Servomotor: AD.C. servomotor is basically a ordinary d.c. motor except with some
minor differences in constructional features. The d.c. servomotor are generally used forlarge power
applications. There are two types of D.C. servomotor as shown in the block diagram 6.3.

Types
powee application
Field control D.C. servomotor Armature control D.C. servomotor

Block diagram 6.3

 6.7.3 Comparison between A.C. and D.C. Servomotor
S.No. A.C. Servomotor D.C. Servomotor
1. Speed is varied by varying the control Speed is varied either by varying the armature
voltage, with the reference voltage being voltage with field current kept constant or by
kept constant. varying the field current with the armature
voltage kept constant
2. Speed drops considerably as the torque A speed-torque characteristics is slightly
increases drooping
3 Speed-torque characteristics is non-linear Speed-torque characteristic is approximately
but is approximately linear in the low- linear
speed region
4. Lowpower output of about 0.5 W to 100 W Deliver high power output
5. Eficiency is less about 5 to 20% Highefficiency
6. Used for small power applications Used for larger power applications
7. Comparatively only a little maintenance is Requires periodical maintenance due to the
necessary due to the rugged construction presence of commutators and brushes
8. Low cost High cost
GOOD
TO 1. A.C. servomotor are small and best suited for low
KNOW power applications. These
are light weight, rugged and have no brush contacts as
d.c. motors.
2. D.C. servomotors are used for large
power application while a.c. servomotor
are used for small power application.
3. The field controlled d.c. motor is
open loop while armature controlled is
closed loop system. Hence armature
over field controlled type.-n controlled d.c. motors are preferred

6,8 STEPPER MOTOR

A stepper motor is an
in the shaftposition. Inelectromechanical device which convert a train of input pulses into
other words, a stepper motor is an incremen
electromechanical device which convei
fle puda notaty shagt
TEM CONTROL SYSTEM COMPONENTS
193
pulse
ainput motorinto rotary shaft motion. The each pulse moves the shaft through a
stepper is a device which fixed angle so the
inputpulses. The step actuates a train of sstep movements of shaft in response to train of
input pulse and step
movement may be angular or linear. There is one-to-one relationship between
an movement of the shaft. Each pulse input actuates one step movement of the
re shaft. When a given number of derive pulses are supplied to the motor, the shaft gets turned through
known angle. Ihe angle through which the motor turns or shaft moves for each pulse is known as
thestep angle and expressed in degrees.
As such angle is dependent on the number of input pulses, the
nosition by controlling the number of input pulses. Such system usedmotor
is suitable for controlling
to control the position is called
Position Control System.)
As the input command is in pulses, the stepper motor is compatible with digital
Due to compatibility with digital equipments, its markets is greatly increased in recentequipments.
times. The
stepper motors are widely used in computer peripherals, Floppy disk drives, tape drives, machine
ools, process control system, robotics, printers and variety of other industrial applications.
6.9 TYPES OF STEPPER MOTOR
The stepper motor can be divided into three types as shown in the block diagram 6.4.

Types

Variable Reluctance stepper Permanent magnet stepper Hybrid stepper motor

motor motor

Block diagram6.4 GPT 4PT

 6.9.2 Characteristics of
Stepper Motor
There aretwo types of
L. Static characteristic
characteristics of stepper motor as follows:
2. Dynamic characteristics
1 Static
characteristic: The static characteristics are of two types
(a) Torque displacement characteristic
(b) Torquecurrent characteristic
Static
(a) Torque displacement character
istic: This gives the relationship between torque
electromagnetic torque developed and Holding
displacement angle 0 from steady state torque
position. This characteristic is shown i n b e t
the figure 6.26.
(b) Torque Current Characteristic:
The holding torque of the stepper motor
increases with the exciting current. The
relationship between the holding torque m
and the current is called as torque-current Displacement from
characteristics. These characteristics are equilibrium position
shown in the figure 6.27. Fig. 6.26
Holding Forvariable resistance
torque motor
(Nm)
For permanent
magnet motor

Detent
torque
Current ( A ) l e oe
Fig. 6.27
198
eVahOSMO CONTROL SYSTEM
D 2. Dynamiccharacteristics: The stepping rate selection is very important in
of the stepper motor. The dynamic characteristics gives the information regardingproper controlling
rate. These are also called torque stepping rate curves of the stepper motor. These torque stepping
in the figure 6.28. curves are shown

t Load torque Start range

Slew rangeuiso l
M Maximum starting
frequency
Maximum siewing
TL frequency

0 ’ Stepping Rate (f)

f A f B
olo Fig. 6.28
 is
required.
2. 1.
6. 5. 4. 3. Application
ntrolling
he In Computer In
Computer
drug printer Due
r
sing to of
wheels disk
peripherals the
r the Stepper
position drive digital
arratus
e Motor:
o suchcircuit
of
d valves compatibilityas The
for serial
in
inical stepper
c printers, 6.32
Fig.
tions motor
l of
tape the
are
stepper
drives useful
,
motor,where
,
precise
they
are
incremental
widely
t

used
-2. motion
in:
 .+ R,R,C|+ |R + Rz
A.10 COMPARISON OF BLOCK
DIAGRAM AND SIGNAL FLOW GRAPH
Comparison block diagram method and signal low graph method is given in
of
the table 4.1
S.No. Block Diagram Signal Flow Graph
1. It is a pictorial representation of the 1. It is a graphical representation of a
function performed by each component| between
relationship
and of the flow of signal variables of a set of linear algebraic
2. It can be usedtorepresent linear as well 2.
equation
It can be used to represent only linear
as non linear system system
3. There is no direct formula available 3.The Masons gain
to find the overall transfer function formula is available to find
the system
ofthe overall transfer function of the system
ulot
4. In block diagram method, step-by-step 4. The transfer function can be
procedure is to be followedto find the obtained in one
step
transfer function
5. It is nota systematic method 5. It is a systematic method
6. The transfer function of the element is 6. The transfer function is shown along the
shown inside the corresponding block branches connecting the nodes
7. The summing points and take-off 7.The summing points and take-off points are
points are separate absent. Any node can have any number of
incoming and outgoing branches
8. The feedback path is present from 8. Instead of feedback path, various feedback
output to input loops are considered for analysis