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Guided by:
Prof. J.I.PATEL

First, What is the meaning of servo?

In modern usage the term servo or servomechanism is restricted to a feedback control system
in which the controlled variable is mechanical
position or time derivatives of position such as
velocity and acceleration.
A servo is a device, electrical, mechanical or
electro mechanical, that upon receipt of a stimulus or
input, will employ feedback for velocity and/or
position control, creating a closed loop.
A feedback system is a control system which tends
to maintain a prescribed relationship between a
controlled quantity and a reference quantity by
comparing their functions and using the difference as
a means of control.

Continued
Electrical feedback control systems rely mainly on
electrical energy for operation. Important
characteristics usually required for such a control
are 1)fast response, 2)high accuracy,
3)unattended control and 4)remote operation.
The essential for such a control are 1)an error
detecting device, 2)an amplifier and 3)error
correcting device, as illustrated in following figure.

Continued

Each elements serves a functional purpose

in matching the regulated or controlled
quantity to the reference quantity.
The error-detecting device determines
when the regulated quantity is different from
the reference quantity.
It then sends out an error signal to the
amplifier which in turn supplies power to the
error correcting device.
With this power the error correcting device
changes the regulated quantity so that it
matches the reference input.
The closed loop at feedback control
system is shown in figure.

The motors which respond to the error

signal abruptly and accelerate the load
Servo-motor:
quickly are called the servo-motors.
A servo-motor is motor which is a part of
servomechanism. It is typically paired with
some type of encoder to provide positioning
and speed feedback and some error
correcting device which actuates the supply
signal.
The fundamental characteristics to be
sought in any servo-motors
1)The motor output torque should be
proportional the
voltage applied to it.
2) The direction of the torque developed by
the servomotor should be depend upon the

Continued
There are mainly two types of servo-motors,
1)AC Servo-motor
2)DC Servo-motor

AC servo-motors are generally preferred for

low-power use. And for high-power use DC
servo-motors are preferred because they
operate more efficiently than comparable to
AC servo-motors

DC Servo-motor:
Unlike large industrial motors, dc servomotors
are not used for continuous energy conversion.
The basic operating principle is same as other
electromagnetic motors.
Design, construction and mode of operation
are different. The rotors of this kind of motor
are designed with long rotor lengths and
smaller diameters. They have large size than
that of conventional motors of same power
ratings.
There are various types of dc servomotors
which are 1)Series motors, 2)Split series
motors, 3)Shunt control motor & 4)Permanent
magnet shunt motor.

Series motors: The series motor has a

high starting torque and draws large
current .Speed regulation of this kind of
motor is poor . Reversal can be obtained by
reversing the polarity of field voltage with
split series field winding (i.e. one winding for
direction of rotation). This method reduces
motor efficiency to some extent .
Split series motors: Split series motor
are the dc series motor with split-field rated
with some fractional kilowatt . This type of
motor can operate as a separately excited
field-controlled motor. The armature is
supplied with a constant current source. Split
series motor has a typical torque-speed

Shunt control motor: DC shunt type

servomotor is not different from any other dc
shunt motor. It has two separate windings:
field windings placed on stator and armature
winding placed on the rotor of the machine.
Both windings are connected to a dc supply
source. In a conventional dc shunt motor,
the two windings are connected in parallel
across the dc supply. In case of a
servomotor, the windings are supplied with
separate dc source.
Permanent magnet shunt motor:
Permanent magnet shunt motor is a fixed
excitation motor where the field is actually
supplied by a permanent magnet.

Construction:
It has construction as same as dc motor. It is
consist of stator and rotor and controlling
parts.
It has feedback generator for generating
feedback for controlling the speed & torque.
It has two ports one for dc supply and other
for controlled dc supply.

Construction:

orking principle of DC servomotor:

In DC operation, servomotors are usually
responds to error signal abruptly and
accelerate the load quickly. A DC servo motor
is actually an assembly of four separate
components, namely:
1. DC motor
2. Gear assembly
3. Position-sensing device
4. Control circuit.

Continued
The motors which are utilized as DC
servo motors, generally have separate
DC source for field winding and
armature winding.
The control can be archived either by
controlling the field current or armature
current. Field control has some specific
advantages over armature control and
on the other hand armature control has
also some specific advantages over field
control.
Which type of control should be applied
to the DC servo motor, is being decided

Continued
In case of field controlled dc motor, the field is
excited by the amplified error signal mentioned
earlier. The armature winding is energized from
a constant current source. Torque developed is
proportional to field current (If) up to
saturation level.
This method is applied in small servomotors. It
has longer time constant owing to highly
inductive field circuit so dynamic response is
slower than armature controlled dc motor.
But in armature controlled dc motor, the motor
armature is energized by amplified error signal
and field is supplied from a constant current
source. High field fux density also increases
torque sensitivity of motor (torque proportional

The figure below illustrates the schematic diagram

for a field controlled DC servo motor. In this
arrangement the field of DC motor is excited be the
amplified error signal and armature winding is
energized by a constant current source.
The field is controlled below the knee point of
magnetizing saturation curve. At that portion of the
curve the mmf linearly varies with excitation
current. That means torque developed in the DC
motor is directly proportional to the field current
below the knee point of magnetizing saturation
curve.

Continued
From general torque equation of DC motor
it is found that, torque T Ia. Where, is
field fux and Ia is armature current.
But in field controlled DC servo motor, the
armature is excited by constant current
source , hence Ia is constant here. Hence, T

As field of this DC servo motor is excited by

amplified error signal, the torque of the
motor i.e. rotation of the motor can be
controlled by amplified error signal. If the
constant armature current is large enough
then, every little change in field current
causes corresponding change in torque on

Continued
The direction of rotation can also be altered
by using split field DC motor, where the field
winding is divided into two parts, one half of
the winding is wound in clockwise direction
and other half in wound in anticlockwise
direction.
The amplified error signal is fed to the
junction point of these two halves of the field
as shown below. The magnetic field of both
halves of the field winding opposes each
other.
During operation of the motor, magnetic field
strength of one half dominates other
depending upon the value of amplified error
signal fed between these halves.

Armature Controlled DC Servo Motor

Theory:
The figure below shows the schematic diagram for
an armature controlled DC servo motor. Here the
armature is energized by amplified error signal and
field is excited by a constant current source.
The field is operated at well beyond the knee point of
magnetizing saturation curve. In this portion of the
curve, for huge change in magnetizing current, there
is very small change in mmf in the motor field. This
makes the servo motor is less sensitive to change in
field current. Actually for armature controlled DC
servo motor, we do not want that, the motor should
response to any change of field current.

Continued
Again, at saturation the field fux is maximum.
As we said earlier, the general torque equation
of DC motor is, torque T Ia.
Now if is large enough, for every little change
in armature current Ia there will be a prominent
changer in motor torque. That means servo
motor becomes much sensitive to the armature
current.
As the armature of DC motor is less inductive
and more resistive, time constant of armature
winding is small enough. This causes quick
change of armature current due to sudden
change in armature voltage. That is why
dynamic response of armature controlled DC
servo motor is much faster than that of field

Working:
1. The servo motor has some control circuits and a
potentiometer (a variable resistor, aka pot) that is
connected to the output shaft.
2. The potentiometer allows the control circuitry to monitor
the current angle of the servo motor. If the shaft is at the
correct angle, then the motor shuts off.
3. If the circuit finds that the angle is not correct, it will turn
the motor the correct direction until the angle is correct.
4. The output shaft of the servo is capable of travelling
somewhere around 180 degrees. Usually, its somewhere in
the 210 degree range, but it varies by manufacturer.
5. A normal servo is used to control an angular motion of
between 0 and 180 degrees. A normal servo is
mechanically not capable of turning any farther due to a
mechanical stop built on to the main output gear.
6. The amount of power applied to the motor is proportional
to the distance it needs to travel.
7. So, if the shaft needs to turn a large distance, the motor
will run at full speed. If it needs to turn only a small

Working using PCM:

1.
2.
3.
4.
5.
6.

The control wire is used to communicate the angle.

The angle is determined by the duration of a pulse that is applied to
the control wire. This is called Pulse Coded Modulation.
The servo expects to see a pulse every 20 milliseconds (.02
seconds). The length of the pulse will determine how far the motor
turns.
A 1.5 millisecond pulse, for example, will make the motor turn to the
90 degree position (often called the neutral position).
If the pulse is shorter than 1.5 ms, then the motor will turn the shaft
to closer to 0 degrees.
If the pulse is longer than 1.5ms, the shaft turns closer to 180
degrees.

Torque-Speed Characteristics:
The torque-speed characteristics of separately excited
dc servo-motor is shown in bellow mentioned figure.
Their armature is deliberately
designed to have large resistance
so that torque speed
characteristics are linear and have
large negative slope as shown in
figure. The negative slop serves the
purpose of providing the viscous
damping for the servo drive system

As shown in figure the armature mmf and excitation

field mmf are in quadrature this fact provides the fast
torque response because torque and fux become
decoupled accordingly a step change in armature
voltage or current a quick change in the position or
speed of the rotor.

Some other Characteristics:

The motor output torque
is proportional to the
voltage applied to it (i.e.
controlled voltage
developed by amplifier in
response to an error
signal).
The instantaneous
polarity of control voltage
governs the direction of
torque developed by
servomotors.
The variation in torquespeed characteristics due
to variation in
temperature is shown in

Some controlling circuits

used:

PID PROPORTIONAL INTERGRAL DERIVATIVE

Feedback sensor used:

Performance Specifications:
DC servomotors share many performance specifications that are
applicable to all types ofDC motors. To properly sizea motor,
these specifications must be matched according to the load
requirements of the application.
Shaft speed (RPM) defines the speed at which the
shaft rotates, expressed in rotations per minute (RPM).
Typically, the speed provided by the manufacturer is the noload speed of the output shaft, or the speed at which the
motor's output torque is zero.
Terminal voltage refers to the design voltage of the DC
motor. Essentially the voltage determines the speed of a DC
motor, and speed is controlled by raising or lowering the
voltage supplied to the motor.
Torque is the rotational force generated by the motor
shaft.The torque required for the motor is determined by the
speed-torquecharacteristics of thevarious loads experienced
in the targetapplication.
Starting torque - The torque required when startingthe
motor, which istypically higher than the continuous torque.

Some ratings of dc servo-motor available:

Shaft Speed:
Less than 1,610 rpm
1,610 to 3,187 rpm
3,187 to 4,700 rpm
4,700 to 7,090 rpm
7,090 rpm and up

Continuous Torque:
Less than 0.45 Nm
0.45 Nm to 1.70 Nm
1.70 Nm to 5 Nm
5 Nm to 17 Nm
17 Nm and up

Terminal Voltage:
Less than 20 VDC
20 to 50 VDC
50 to 100 VDC
100 to 180 VDC
180 VDC and up

Continuous Output
Power:
Less than 0.4 HP
0.4 to 1 HP
1 to 2 HP
2 to 6 HP
6 HP and up

Continuous Current:
Less than 1 amps
1 to 4 amps
4 to 8 amps
8 to 17 amps
17 amps and up

Some name-plates of dc servomotor available:

High output power relative to motor size

and weight.
Advantages:
Encoder determines accuracy and
resolution.
High efficiency. It can approach 90% at light
loads.
High torque to inertia ratio. It can rapidly
accelerate loads.
Has "reserve" power. 2-3 times continuous
power for short periods.
Has "reserve" torque. 5-10 times rated
torque for short periods.
Motor stays cool. Current draw proportional
to load.
Usable high speed torque. Maintains rated
torque to 90% of NL RPM

Disadvantages:
Requires "tuning" to stabilize feedback loop.
Motor "runs away" when something breaks.
Safety circuits are required.
Complex. Requires encoder.
Brush wear out limits life to 2,000 hrs. Service
is then required.
Peak torque is limited to a 1% duty cycle.
Motor can be damaged by sustained overload.
Bewildering choice of motors, encoders, and
servo-drives.
Power supply current 10 times average to use
peak torque.
Motor develops peak power at higher speeds.
Gearing often required.
Poor motor cooling. Ventilated motors are
easily contaminated.

Applications:
DC servomotors finds its applications in various
domain. Some of them are given below:
For very high voltage power systems, dc motors
are preferred because they operate more
efficiently than comparable ac servomotor.
It has also find its application in inkjet printers
and RC helicopters.
To drive conveyors used in Industrial
manufacturing and assembling units to pass an
object from one assembly station to another.
It is also used in solar tracking system.
DC servomotors are widely used in robots, toy
cars and other position controlled devices.
Widely used in radars, computers, robots,
machine tools tracking system, process
controllers etc.

ome animations showing Applications:

k
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T u
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Prepared by:

Solanki Jeegnesh
(120230109048)