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Mechanical Engineering Series
Frederick F. Ling
Editor-in-Chief
Mechanical Engineering Series

R. Firoozian, Servo Motors and Industrial Control Theory

G. Genta, Vibration Dynamics and Control
G. Genta and L. Morello, The Automotive Chassis, Volumes 1 & 2
F. A. Leckie and D. J. Dal Bello, Strength and Stiffness of Engineering Systems
Wodek Gawronski, Modeling and Control of Antennas and Telescopes
Makoto Ohsaki and KiyohiroIkeda, Stability and Optimization of Structures: Generalized
Sensitivity Analysis
A.C. Fischer Cripps, Introduction to Contact Mechanics, 2nd ed.
W. Cheng and I. Finnie, Residual Stress Measurement and the Slitting Method
J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods and
Algorithms, 3rd ed.
J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms,
2nd ed.
P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and Theory
J.M. Berthelot, Composite Materials: Mechanical Behavior and Structural Analysis
I.J. Busch Vishniac, Electromechanical Sensors and Actuators
J. Chakrabarty, Applied Plasticity
K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 1: Linear Systems
K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 2: Nonlinear
Systems and Applications
G. Chryssolouris, Laser Machining: Theory and Practice
V.N. Constantinescu, Laminar Viscous Flow
G.A. Costello, Theory of Wire Rope, 2nd ed.
K. Czolczynski, Rotordynamics of Gas Lubricated Journal Bearing Systems
M.S. Darlow, Balancing of High Speed Machinery
W. R. DeVries, Analysis of Material Removal Processes
J.F. Doyle, Nonlinear Analysis of Thin Walled Structures: Statics, Dynamics, and Stability
J.F. Doyle, Wave Propagation in Structures: Spectral Analysis Using Fast Discrete Fourier
Transforms, 2nd Edition
P.A. Engel, Structural Analysis of Printed Circuit Board Systems
A.C. Fischer Cripps, Introduction to Contact Mechanics
A.C. Fischer Cripps, Nanoindentation, 2nd ed.
J. Garcı́a de Jalón and E. Bayo, Kinematic and Dynamic Simulation of Multibody Systems:
The Real Time Challenge
W.K. Gawronski, Advanced Structural Dynamics and Active Control of Structures
W.K. Gawronski, Dynamics and Control of Structures: A Modal Approach
G. Genta, Dynamics of Rotating Systems
(continued after index)
Riazollah Firoozian

Mechanical Engineering
Series

13
Riazollah Firoozian
Firoozian Electronics
and Electro Technique Co
Tehran, Iran
[email protected]

ISSN 0941 5122

ISBN 978 0 387 85458 8 e ISBN 978 0 387 85460 1
DOI 10.1007/978 0 387 85460 1
Library of Congress Control Number: 2008933316

# Springer ScienceþBusiness Media, LLC 2009

All rights reserved. This work may not be translated or copied in whole or in part without the written
permission of the publisher (Springer ScienceþBusiness Media, LLC, 233 Spring Street, New York,
NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in
connection with any form of information storage and retrieval, electronic adaptation, computer
software, or by similar or dissimilar methodology now known or hereafter developed is forbidden.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if they
are not identified as such, is not to be taken as an expression of opinion as to whether or not they are
subject to proprietary rights.

Printed on acid free paper

springer.com
Mechanical Engineering Series

Frederick F. Ling
Editor-in-Chief

The Mechanical Engineering Series features graduate texts and research

monographs to address the need for information in contemporary mechanical
engineering, including areas of concentration of applied mechanics,
biomechanics, computational mechanics, dynamical systems and control,
energetics, mechanics of materials, processing, production systems, thermal
science, and tribology.

Advisory Board/Series Editors

Applied Mechanics F.A. Leckie
University of California,
Santa Barbara
D. Gross
Technical University of Darmstadt
Biomechanics V.C. Mow
Columbia University
Computational Mechanics H.T. Yang
University of California,
Santa Barbara
Dynamic Systems and Control/ D. Bryant
Mechatronics University of Texas at Austin
Energetics J.R. Welty
University of Oregon, Eugene
Mechanics of Materials I. Finnie
University of California, Berkeley
Processing K.K. Wang
Cornell University
Production Systems G. A. Klutke
Texas A&M University
Thermal Science A.E. Bergles
Rensselaer Polytechnic Institute
Tribology W.O. Winer
Georgia Institute of Technology
Series Preface

Mechanical engineering, and engineering discipline born of the needs of the

industrial revolution, is once again asked to do its substantial share in the call
for industrial renewal. The general call is urgent as we face profound issues of
productivity and competitiveness that require engineering solutions, among
others. The Mechanical Engineering Series is a series featuring graduate texts
and research monographs intended to address the need for information in
contemporary areas of mechanical engineering.
The series is conceived as a comprehensive one that covers a broad range of
concentrations important to mechanical engineering graduate education and
research. We are fortunate to have a distinguished roster of series editors, each
an expert in one of the areas of concentration. The names of the series editors
are listed on page v of this volume. The areas of concentration are applied
mechanics, biomechanics, computational mechanics, dynamic systems and
control, energetics, mechanics of materials, processing, thermal science, and
tribology.
Preface

In recent years, there has been an increased activity in the field of automation,
as manufacturers demand increased performance requirements from servo feed
drive control systems and acceleration input. The selection of a servo system has
become a technology of its own right. This book investigates the performance,
characteristics, and design of various types of servo control systems, including
electrical, DC, AC, Stepping, and Electrohydraulic servo motors. It is hoped
that the topics discussed in this book will help designers achieve optimum
performance for the required applications.
When designing servo control systems, several key parameters must be
considered, including the effect of input signal (such as steady state error),
the following error, and the effect of disturbance (such as external load).
Several parameters will be introduced for each servo control system discussed
in the book, so that the designer can easily compare several servo control
systems.
A chapter is dedicated to Electro-rheological fluid-based servo control sys-
tems. These fluids have become commercially available and several parameters
have been established for designing such systems, which are discussed in this
book. Electro-rheological fluids are fluids that become solids when a voltage is
placed across two plates with the gap of 0.5 to 1 mm. In this form, they can be
used as valves, clutches, and catches. The design parameters for clutches and
torque control are discussed.
The types of servo motors available in the market for high performance
applications can be classified in two versions: electric and hydraulic. In the
hydraulic category, the performance of the axial motor is considered.
These motors are controlled with electrohydraulic servo valve. In the
electric category, stepping, AC, and DC motors are discussed. For the
stepping motors, the hybrid design is most suitable for high performance
applications. These motors are controlled by transistor controlled switch-
ing devices.
In the DC motors’ category, normal design, brushless, and moving coil
motors will be discussed, as well as the four versions of controllers: Thyristor
controlled with current frequencies of 50, 100, and 150 Hz, and the Pulse Width
Modulated drive system, which has superior performance.

vii
viii Preface

There has been an increase in the development of high power transistors and
thyristors, thereby offering a method of controlling high current. Electric
motors now can compete with electrohydraulic servo motors, which still have
a wide range of applications, specifically in mining and heavy equipments, due
to their high power to mass ratios. AC motors are still the first choice for
constant speeds. DC motors, now at small to medium power requirements,
are available for speed and position control. The invention of invertors allow
AC motors to compete with DC motors.
As it was discussed earlier, the choice of a servo motor feed-drive for a
specific application requires careful investigation at the design stage. This
book analyzes the performance of each type of servo motor and estab-
lishes models of different complexity. For each type of velocity, feedback,
and lead-lag network will be studied with the view of practical
difficulties.
The mathematical model for all servo motors is similar and certain para-
meters will influence the design. This is discussed in detail for each type of servo
motor. The mathematical model for a simple system will be considered first,
however, as the required performance increases, the complexity of the mathe-
matical model also increases, and computer programs are, therefore, developed
for each type of servo system.
The root locus method will be considered for each servo motor with various
mathematical complexities. The governing differential equations are then
solved for step, velocity, and acceleration input. In this way, the steady state
and following error will be calculated. The effect of disturbance such as external
torque will also be calculated. In this way, various servo motors can be
compared.
The first and second chapters of this book are dedicated to the modern
control theory relevant to servo motors, so that prior knowledge of control
theory is not required for understanding the book. Only feedback and state
variable feedback control theory techniques are discussed. For digital control,
the reader is referred to the relevant digital control books. Due to the wide-
spread use of personal computers and software which makes detailed calcula-
tions simple, tedious graphical methods have been omitted.
The third chapter is dedicated to multivariable control theory. Servo control
systems are inherently two input variable control systems, that is, input signal
and external torque/force input. Chapter 4 is dedicated to electrical DC servo
motors. The application of state variable feedback control strategy to high
performance servo motors are discussed in detail in this chapter.
In Chapter 5, the characteristic behavior of stepping motors are investigated.
In Chapter 6, the properties of AC motors controlled by variable frequency
converters are discussed. The dynamic and static behavior of electrohydraulic
servo motors are discussed in Chapter 7. The applications of Electrorheological
fluids to servo motor applications are discussed in Chapter 8, while Chapter 9
gives a comparison of various types of servo motors and a design strategy for
selecting a servo motor is discussed.
Preface ix

This book is the result of PhD work undertaken by the author at the
University of Aston in Birmingham and several years of research and teaching
work at the University of Liverpool and The University of Sheffield, UK, and
Sharif University of Technology, Iran. This book is meant to serve as a practical
guide for students or engineers, and includes an appendix with appropriate
problems.

Tehran Riazollah Firoozian

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