Lab:2

Study of Transfer Function of AC Servo Motor

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NAME :
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 Aim: To study the characteristics of an a.c. servomotor and

determine its transfer function
Apparatus:
The unit available in lab is a self-contained system for conducting
the experiment except a measuring CRO which should be available
in the laboratory. The different components of the unit are explained
below:
1. AC servomotor: a 15W servomotor with identical reference and
control phases operating at 12V/ 50Hz. Necessary phase shifting capacitor is pre-wired to the reference phase.
2. Electrical load: in the form of a coupled dc generator and the
required resistive load is provided.
3. Time Constant: a special circuit to display the time constant
directly in msec.
4. Metering: of all ac and dc voltage /currents is through built-in
digital panel meters.
5. Power supply: for conducting, all experiments are available in
the unit, which operates from 220V/50Hz mains.
Pre lab assignments:
1. Describe difference between DC servomotor and normal DC motor.
2. Describe difference between AC servomotor and single phase
Induction Machine.
3. Derive torque speed relation for AC servomotor.
4. List the various sensors used in speed measurement.

 Theory
Servo is a greek word which means to follow input as closely as
possible by output. Generally 2 phase induction machines are used
as AC servo motors. There are 2 coils i.e. control and reference.
In present kits both the coils have same ratings. Reference coil has
phase shifting series capacitor in series to produce phase shift of 90
deg.

Figure 1: AC Servo Motor

Figure 2: Block diagram of AC Servo Motor

Working principle:
The reference and control coils are placed in space quadrature. Alternating voltages are applied to both the coils. Resultant flux which is
induced in them will be rotating in nature. According to Lenzs law,
2 phase induction motor rotates in direction of rotating magnetic
field. Various speeds can be achieved by varying applied voltages.
Generally servomotors are used in applications requiring rapid and
accurate response characteristics. The AC servomotor is designed
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with high resistance so X/R ratio is lesser and linear speed torque
characteristics with positive slope, however servo motor must have
speed torque characteristics with negative slope for stable operation.
Therefore closed loop control is necessary.
Generally AC servomotors comprise of small diameter, light weight,low
inertia to facilitate quick response, reversals, fast start and stops. Induction motor for servo use is designed with phases at right angles.
Fixed reference coil and variable (adjustable)control coil.
For calculating transfer function, time constant of motor is necessary
to be known. The time constant is time taken by motor to reach
63.2 percent of steady state speed when step voltage is switched on
in control coil and reference coil is excited with rated voltage.
Procedure:
1. Steady State Operation
(a) Determination of generator constant Kg .
i. Connect servo motor unit to the trainer kit.
ii. Keep the motor at no load condition and vary the
voltage applied to the control coil in steps.
iii. Note down the speed of motor (N) in RPM at each
voltage.
iv. Note down the output voltage by connecting Ec (voltage applied at the control phase) to the input of DC
voltmeter on the kit.
v. Calculate generator constant by using the formula Kg =
Ec
N.
(b) Determination of motor parameters Km , Kn , J.
Calculation of motor constant Km :
i. Operate the motor at various combinations of control
phase voltage EC and external loading Tl .
ii. Calculate motor gain constants for the three sets of
voltages (say Km1 , Km2 , Km3 ) by using the formula Km =
N
30Ec .
iii. Find the average value of Km .

Calculation of friction coefficient Kn :

For a constant EC at different load steps calculate Kn using
the formula
ss1 = Km Ec Kn Tl1
ss2 = Km Ec Kn Tl2
where ss = 2N
60 .Tl1 and Tl2 are the torques at speeds ss1
and ss1 respectively. Hence from above equations Kn can
be calculated as
ss1 ss2
Kn =
Tl2 Tl1
2. Transient Operation: calculation of time constant m
(a) Switch the motor ON at input step.3 (rated voltage). A
constant speed will be indicated on the display of servo
motor unit.
(b) Read Eo at Load step-1. Set reference potentiometer in
the time constant section to 63.2% of the Eo value read
above. Use DC voltmeter in the SET REF position.
(c) Switch the motor OFF, wait for 30 seconds and then
switch it to ON position. The time constant will be displayed in msec.
Calculation of inertia J:
m
.
Use the formula J = K
n
where m is the time constant of the motor and Kn is the friction
coefficient.
3. Open loop transfer function of motor:
The open loop transfer function of the motor in terms of time
constant and motor constant is given by
G(s) =

Km
s(sm +1)

where m is the time constant and Km is the motor constant.

 Observations:
I.For motor parameters
1. At load step-1
Input
Load Step-1(no load)
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)

2. At load step-2
Input
Load Step-2
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)

3. At load step-3
Input
Load Step-3
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)

II.Time Constant
Motor Time Constant m =

sec
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Calculations:
(a)
Ref. winding input Ec =
Motor speed, N =
Motor gain constant Km =

V, rms
rpm
volts/rpm

(b)
Ref. winding input Ec =
Motor Time Constant m =

V, rms
sec

(c)
Inertia J =

kgm2

(d)
Transfer Function of the motor

Conclusions:

G(s) =

Km
s(sm +1)

Post Lab Assignment:

1. Illustrate various applications of servomotors.
2. Define transfer function and discuss the necessary conditions
for establishing transfer function of a system.
3. List the references referred by you.