Contents

Abstract:...................................................................................................................................................................3
Objectives:...............................................................................................................................................................3
Hardware Required:.................................................................................................................................................3
Theory:.....................................................................................................................................................................3
Servo Motors:......................................................................................................................................................3
Construction of servo motor:..............................................................................................................................4
Mechanism of servo motor:................................................................................................................................5
Working of Servo Motors:..................................................................................................................................6
Types of servo motors:........................................................................................................................................6
Applications of Servo Motor:..............................................................................................................................7
What are benefits of using Servo Motor:............................................................................................................7
Interfacing of servo motor with Arduino:...........................................................................................................7
Interfacing diagram:.......................................................................................................................................8
Lab Tasks:................................................................................................................................................................9
Task 1: Controlling servo motor.........................................................................................................................9
Wiring Diagram:.............................................................................................................................................9
Circuit:............................................................................................................................................................9
Lab Work:.....................................................................................................................................................10
Appendix:.....................................................................................................................................................10
Task 2: Servo motor control using Arduino servo library................................................................................11
Wiring Diagram:...........................................................................................................................................11
Circuit:..........................................................................................................................................................11
Lab Work:.....................................................................................................................................................12
Appendix:.....................................................................................................................................................12
Task 3: Rotate the servo from angle 0 to 180 degree and back to zero............................................................13
Wiring Diagram:...........................................................................................................................................13
Circuit:..........................................................................................................................................................13
Lab Work:.....................................................................................................................................................14
Appendix:.....................................................................................................................................................14
Task 4: Controlling servo position using a potentiometer................................................................................15
Wiring Diagram:...........................................................................................................................................15
Circuit:..........................................................................................................................................................15
Lab Work:.....................................................................................................................................................16
Appendix:.....................................................................................................................................................16
Reference:..............................................................................................................................................................17

1
 Lab 5: Speed and Position Control of Servo
Motors
Abstract:
In this laboratory session, we will be exploring the topic of servo motors, including their
various types, benefits, and methods for controlling their speed and position. Servo motors
are equipped with sophisticated control systems that enable precise regulation of their
velocity and position through the utilization of feedback signals. Typically, this involves
implementing both a velocity loop to determine the rotational speed of the servo motor and a
position loop to ensure accurate positioning.

Objectives:
 To study different types of servo motors
 To study the operation of servo motor
 How to control the position and speed of servomotors using Arduino

Hardware Required:
 TowerPro SG90 servo motor
 Arduino UNO
 20kΩ potentiometer
 Breadboard
 Jumper wires

Theory:

Servo Motors:

Servo motors are part of a closed-loop system and are comprised of several parts namely a
control circuit, servo motor, shaft, potentiometer, drive gears, amplifier and either an encoder
or resolver. A servo motor is a self-contained electrical device, that rotate parts of a machine
with high efficiency and with great precision. The output shaft of this motor can be moved to
a particular angle, position and velocity that a regular motor does not have. The Servo Motor
utilizes a regular motor and couples it with a sensor for positional feedback. The controller is
the most important part of the Servo Motor designed and used specifically for this purpose.

2
 Figure 7.1: Parts of motor [2]

Mechanism of servo motor:

It consists of three basic types:

Figure7.5: Internal parts of servomotor [3]

Figure 7.6: Internal parts of servomotor [3]

3
Lab Tasks:
Task 1: Controlling servo motor

Wiring Diagram:

The best thing about a servo motor is that it can be connected directly to an Arduino. Connect
to the motor to the Arduino as shown in the table below:
 Servo red wire – 5V pin Arduino
 Servo brown wire – Ground pin Arduino
 Servo yellow wire – PWM (9) pin Arduino

Circuit:

Figure 7.11: Task 1 Output

Lab Work:

Figure 7.12: Task 1 Lab Work

4
Task 2: Servo motor control using Arduino servo library
Wiring Diagram:

Using a SG90 TowerPro Servo Motor, connect the servo motor like this:
 Signal cable (orange one) ==> D9 on Arduino
 Power cable (red one) ==> 5v pin on Arduino
 Ground cable (black or brown one) ==> ground pin on Arduino

Circuit:

Figure 7.14: Task 2 Output

Lab Work:

Figure 7.15: Task 2 Lab Work

Task 3: Rotate the servo from angle 0 to 180 degree and back to zero

Wiring Diagram:

 Servo red wire – 5V pin Arduino

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  Servo yellow wire – PWM(9) pin Arduino

Circuit:

Figure 7.17: Task 2 Output

Lab Work:

Figure 7.18: Task 3 Lab Work

Task 4: Controlling servo position using a potentiometer

Wiring Diagram:

 Servo red wire – 5V pin Arduino

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Circuit:

Figure 7.20: Task 4 Output

Lab Work:

Figure 7.21: Task 4 Lab Work