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D.C. Servomotors: Construction and Working Concept

DC servo motors are used for precise speed and position control at high torques in applications like radar, machine tools, and process controllers. They have either separately excited DC motors or permanent magnet DC motors designed with a large negative slope in the torque-speed characteristics for viscous damping. The document describes the construction and working of both field controlled and armature controlled DC servo motors through their equations of motion, block diagrams, and transfer functions.

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265 views15 pages

D.C. Servomotors: Construction and Working Concept

DC servo motors are used for precise speed and position control at high torques in applications like radar, machine tools, and process controllers. They have either separately excited DC motors or permanent magnet DC motors designed with a large negative slope in the torque-speed characteristics for viscous damping. The document describes the construction and working of both field controlled and armature controlled DC servo motors through their equations of motion, block diagrams, and transfer functions.

Uploaded by

2692rimmi
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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D.C.

SERVOMOTORS
Construction and working concept

By-Vishakha Vaish EE-Third year

DC SERVO MOTOR

GENERAL OVERVIEW
They are called control motors. They have high torque capabilities. They are used for precise speed and precise position control at high torques. They find wide applications in radar , tracking and guidance systems , process controllers,computers and machine tools.

FEATURES
Either separately excited dc motors or permanent-magnet dc motors. Their armature is deliberately designed to have large negative slope so that torquespeed characteristics are linear & have a large negative slope. The negative slope provides viscous damping for the servo drive system.

D.C. MOTOR

Field controlled dc motor

FIELD CONTROL Terminology used


TM= developed motor torque if = field current Kf =motor torque constant in Nm/A Vf =input voltage m=angular shift resulting in the motor shaft Jm =moment of inertia fm = coefficient of viscous friction at the motor shaft

EQUATIONS
The related dynamic equations are The corresponding Laplace transformed equations are Vf(s) =R fi f(s) +sLfif(s) TM(s)=Kfif(s) TM(s)=s 2Jmm(s)+ sfmm(s) TM(s) =sJmm(s) +fmm(s)

Vf=R fi f+Lf dif/dt TM= Kfif TM=Jmd2/dt2+ fmdm/dt TM=Jmdm /dt +fmm

BLOCK DIAGRAM AND TRANSFER FUNCTION


Vf(s) m(s)
1/(Rf+sLf)

If(s)

Kf

TM(s)

1/(Jms2+fms)

m(s)/Vf(s)=Kf/s(Rf+sLf)(sJm+fm)

ARMATURE CONTROLLED Terminology Used


TM= developed motor torque ia = armature current KT =motor torque constant in Nm/A Kb =back e.m.f. constant in V/(rad/s) Va =applied input voltage m=angular shift resulting in the motor shaft Jm =moment of inertia fm = coefficient of viscous friction at the motor shaft

Armature controlled

EQUATIONS
The related dynamic equations are Va-eb=Ra+ia+Ladia/dt eb=Kbdm/dt TM=KTia TM=Jmd2/dt2+ fmdm/dt TM=Jmdm /dt +fmm The corresponding Laplace transformed equations are Va(s)Eb(s)=RaIa(s)+sLaIa(s) Eb(s)=sKbm(s) TM(s)=KTIa(s) TM(s)=s 2Jmm(s)+ sfmm(s)

BLOCK DIAGRAM
Vs (s) + Vs (s)-Eb (s) Ia (s) 1/(Ra+sLa) KT TM (s) 1/(s2 Jm +sfm)

sKb

TRANSFER FUNCTION
Forward Path transfer function G(s)=KT /s(sJm+fm)(Ra+sLa) And the feedback transfer function is H(s)=sKb Overall Transfer function m/Va(s)= KT /s Ra (sJm+fm)+sKTKb (if armature inductance is neglected)

THANKYOU

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