MODULE 4

SERVO MOTORS
 SERVOMOTOR
• Servomotor is a special type of motor which is automatically
operated up to a certain limit for a given command with the
help of error-sensing feedback to correct the performance.

• Servomechanism–A feedback control system which is used to

control the position of the object.
• A servo motor is a type of motor that can rotate with great
precision. Normally this type of motor consists of a control
circuit that provides feedback on the current position of the
motor shaft, this feedback allows the servo motors to rotate
with great precision.
• These motors are low power rating motors and can drive the
load directly.
SERVOMOTOR
REQUIREMENT OF A GOOD
SERVOMOTOR
 APPLICATIONS

Radars, computers, robots, machine tools, tracking system etc.

Used in solar tracking system.

Dc servomotors are widely used in robots, toycars and other

position controlled devices.
TYPES OF SERVO MOTORS
AC SERVOMOTOR
AC SERVO MOTOR CONSTRUCTION
Fig: Stator of AC servomotor
OPERATING PRINCIPLE cont…
 Characteristics Curves of AC
servomotor cont…
• The usual torque-speed characteristics of an induction motor
with high inductance to resistance ratio are not suitable for the
servomotor. A servomotor must have
• 1. Linear torque-speed characteristics
• 2. Slope of the torque-speed characteristics must be negative.
• 3. The characteristics must be parallel to one another for
various values of the control voltage applies.
Characteristics Curves of AC
servomotor cont…
 Characteristics Curves of AC
servomotor cont…
• It is seen that when rotor resistance is increased the torque-
speed characteristics becomes more and more linear. In general
for low inductance to resistance ratio, the torque-speed
characteristics are almost linear. This is shown in the Fig. 4(a)
and (b).
 Characteristics Curves of AC
servomotor cont…
• In practice, design of the motor is so as to get almost linear
torque-speed characteristics. A servomotor rotates only when a
detectable error occurs at low voltage and it rarely operates at
high speeds. Hence for a given value of control voltage,
torque-speed characteristics are almost linear. Fig. shows the
torque-speed characteristics for various control voltages.
• The performance characteristics other than the torque-
speed characteristics of a two phase a.c. servomotor are
shown

• As torque developed increases, current drawn and the

power input increases. Power factors also improves upto
certain limit. While the efficiency increases upto certain
limit and then starts decreasing.
 Drag cup servo motor
• The stator of the Two Phase AC Servo Motor has the two distributed windings
which are displaced from each other by 90 degrees electrical. One winding is
known as a Reference or Fixed Phase, which is supplied from a constant voltage
source. The other one is known as Control Phase, and it is provided with a
variable voltage.
• The connection diagram of the two Phase AC Servo motor is,
• The control phase is usually supplied from a servo amplifier. The speed
and torque of the rotor are controlled by the phase difference between
the control voltage and the reference phase voltage. By reversing the
phase difference from leading to lagging or vice versa, the direction of the
rotation of the rotor can be reversed.

• The negative slope represents a high rotor resistance and provides the
motor with positive damping for better stability. The curve is linear for
almost various control voltages.
• The response of the motor to a light control signal is improved by
reducing the weight and inertia of the motor in a design known as
the Drag Cup Servo motor as shown in the figure below,

• The rotor of the Drag cup servo motor is made of a thin cup of the
nonmagnetic conducting material. A stationary iron core is placed in
the middle of the conducting cup. This arrangement completes the
magnetic circuit. As the rotor of the motor is made of thin material,
its resistance will be high, which results in the high starting torque.
Application of AC Servomotor
• AC servomotor are preferred for low power
applications. Consider an a.c. position control system
where load position is to be maintained constant. The
driving motor used is two phase a.c. servomotor. The
potentiometer arrangement compares the actual
position with the reference position to generate the
error voltage. The error voltage is amplifier which
generates control voltage . This voltage is applied to
the control winding of two phase a.c. servomotor. This
control The torque and inturn controls the output
position of the load. As driving motor is a.c.
servomotor, the system is called as a.c. position control
system.
 Application of AC Servomotor
The other applications of a.c. servomotors are,
 Instrument servos
 Process controllers
 Robotics
 Self balancing recorders
 Machine tools
 D.C. SERVOMOTORS
The DC servomotors is more or less same as normal
DC motor. There is some minor constructional
difference between the two. All DC servomotors are
essentially separately excited type. This ensures the
linear nature of torque-speed characteristics.
 D.C. SERVOMOTORS

 Basic Principle

 The DC servomotor is basically a torque transducer which

converts electrical energy into the mechanical energy.

 The torque developed on the motor shaft is directly

proportional to the field flux and the armature current.
D.C. SERVOMOTORS
D.C. SERVOMOTORS
Construction of DC Servomotor
Construction of DC Servomotor
Working principle Cont…
Basic Classification
Field controlled DC servomotors
 Features of Field Controlled D.C.
Servomotor
o It is preferred for small rated motors
o It has large field inductance to resistance ratio.
o The ratio of inductance to resistances determines the
time constant and hence the time constant of field
controlled d.c. servomotor is large.
o The overall operation is an open loop system.
o The control circuit is simple to design.
Armature controlled DC servomotors
Features of Armature Controlled D.C.
Motor
o It is suitable for large rated motors.
o The value of armature inductance is small. Hence its
time constant is small. Hence motor can give quick
response to the changes in the control signal.
o The overall operation is a closed loop system.
o The back e.m.f. provides internal damping which
makes the motor operation more stable.
o The efficiency and overall performance is better
than field controlled motor.
Comparison Between armature Controlled and
Field Controlled D.C. Servomotors
 Characteristics of a DC. Servomotor
• The torque-speed characteristics of a d.c. motor basically describes
the static torque producing capability of the motor with respect to
applied voltage and motor speed.
• The effect of armature inductance is negligible in the steady state
and hence the torque equation for a d.c. servomotor can be written
as
 Characteristics of a DC. Servomotor
• From the above equation (IV), it can be seen that the graph of
Tm against ωm is a straight line which is dropping in nature,
for constant value of Va . This line represents torque-speed
characteristics of a d.c. servomotor, for constant Va .
 Characteristics of a DC. Servomotor
• The slope of the characteristics can be obtained from
the equation (IV), which is expressed as,

• The slope of such characteristics is negative.

As torque developed increases, the current and power input
increases while the efficiency increases upto certain limit and then
starts decreasing.
 Permanent magnet armature
controlled DC servomotor

•It is a fixed excitation

shunt motor
•Field is supplied by a
permanent magnet
• Hysteresis and eddy
current effects are
generally negligible.

• Performance is similar
to that of a armature
controlled fixed field
motor.
 Series split field DC Servomotor
• Armature is connected to a
constant current source.
• Field winding is split in to
two- auxiliary and main
winding.
• Each winding for one
direction of rotation
• Adv: dynamic response of
armature is improved since
the fields are always excited
Applications of dc servomotor
Servostabilizer
• The stabilizer is a device which keeps the output voltage constant,
accepting a variable voltage.
• In a servostabilizer there is a transformer whose secondary can be
smoothly tapped using a servomotor drive.
• The servomotor drives the shaft and controls the position of tap on
the secondary as per the control signal, to keep output constant.
• The armature controlled d.c. servomotor is used for such
servostabilizer.
• Any change in the secondary voltage is fed back to the error
detector.
• The error signal is generated, comparing it with a reference input.
This is given to the controller which decides proper controlling
action.
• The signal from the controller is not enough to drive the
servomotor.
• Hence the signal obtained from the controller is amplified and then
given to the armature of the servomotor, which inturn adjusts the
tapping on the secondary to keep voltage constant.
Applications of dc servomotor
Position Control System
• In such application, it is required to keep the position of the load
constant. Such a system where output position is kept constant is
called as position control system.
• The output position is sensed and fedback to the potentiometer
used as an error detector.
• For any change in the output position θL, the potentiometer
generates an error signal proportional to the difference θr and
θL.
• The θr is the reference position corresponding to the ideal
output position.
• The error signal is given to the amplifier and the output of the
amplifier is given to the armature of a d.c. motor.
• The d.c. motor maintains the output shaft position constant.
 Applications of DC Servomotor
1. Air craft control systems
2. Electromechanical actuators
3. Process controllers
4. Robotics
5. Machine Tools
Comparison Between A.C. and D.C.
servomotors