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A New Model for Analog Servo Motors. Simulations and Experimental Results

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

A New Model for Analog Servo Motors.

Simulations and Experimental Results
Claudio Urrea, and John Kern

Abstract — This work a new dynamic model for analog
servomotors is proposed. In order to do that, an analytical
model is initially developed, after which, the obtained
theoretical results are validated through computer
simulations. Those results are contrasted with practical
implementations, by employing a real analog servo motor.
This new model can capture the dynamics resulting from the
servomotor spindle by including the internal position
feedback; as well as considering the increased torque on the
load spindle, by means of their gear train. The development of
this new proposed model permits the recovery of relevant
properties of servo motors. This will allow the study and
development of more advanced control techniques, compared
to those currently used by employing a classic DC motor
model1.
Key Words — Servo Motors, Dynamical Models, DC Motors,
Controllers.
I. INTRODUCTION
Currently, servomotors are widely used for building up
robotic systems with many degrees of freedom and varied
morphologies, thanks to their reduced size, movement
accuracy and low cost. Physically, servomotors are constituted
by a direct current motor, a gear train for spin speed reduction
and torque increase in the drive axle (spindle); a potentiometer
connected to this output shaft, used for knowing position, and
a feedback control circuit that converts an input PWM signal
into voltage, comparing it with the feedback position, and then
amplifying it to activate an H-Bridge to produce spin with a
determined speed.
Servomotors present significant position adjustment errors
and zero position variations caused by changes in temperature
and supply voltage. In order to overcome those difficulties,
digital servomotors were introduced, around twice times more
expensive than analog ones. Nevertheless, the majority of
1
This work was supported by the Department for Scientific and
Technologic Research of the Universidad de Santiago de Chile, by means of
Project 060713UO, Santiago, Chile.
Claudio Urrea is with the Departamento de Ingeniería Eléctrica of the
Universidad de Santiago de Chile, Santiago, Chile. (e-mail:
claudio.urrea@usach.cl).
John kern is with the Departamento de Ingeniería Eléctrica of the
servomotors now available in markets are still analog.
The features of a robotic manipulator are particularly
determined by mechanical accuracy of its movement and the
exercise capacities, the number of degrees of freedom, the end-
effector manipulation level, the sensors, and sophistication and
reliability of the controller. Input signals for the manipulator
plus controller complex use to be desired movement
trajectories or desired applied forces. Although, inputs directly
applied to manipulator joints are generally currents and
electric tensions, or flows and hydraulic or pneumatic
pressures. In the market, the basic architecture of most
manipulators is fundamentally the same, where electric motors
and servomotors are widely employed as actuator elements
coupled to the links’ power train [1]-[7]. In view of the
widespread application of servomotors, we present here the
development of a new dynamic model for analog servomotors.
II. MODEL OF A DC MOTOR WITHOUT CHARGE
In Fig. 1 it is shown the schematic diagram of a Direct
Current (DC) motor without external charge coupled to its
spindle. If field current if keeps constant, the motor can be
controlled by armature (va).
Fig. 1. Schematic representation of a DC motor
The magnetic flux ψ generated by the motor field circuit is
proportional (kf) to the field current if :
ψ = k f if (1)
The torque τm developed by the motor is proportional (k1) to
the magnetic flux and the armature current ia:
τ m = k1iaψ (2)
If the field current is constant, the magnetic flux becomes a
constant (k2), so (2) can be written as:

τ m = ( k1k2 ) ia
Universidad de Santiago de Chile, Santiago, Chile. (e-mail:
johnkernm@gmail.com). (3)

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

and considering ka = k1k2 , where ka: motor torque constant, the Va =

( La s + Ra )( J m s + Bm ) sΘm + ka kb sΘm
(14)
ka
torque developed by the motor can be written as:

τ m = kaia (4) Θm ka
=
( La s + Ra )( J m s + Bm ) + ka kb  s
(15)
When the armature rotates, a voltage is induced on it, called Va
inverse electromotive force (vb) that is proportional (k) to the
product between the magnetic flux and angular speed (θɺm ) , in
Equation (15) points the relationship between the DC motor
the form: spindle position and the supply voltage applied on its
vb = kψ θɺm (5) armature, what is represented in a block diagram in Fig. 2.

For a constant magnetic flux, the inverse electromotive

force is directly proportional to the angular speed, considering
kb = kψ , the inverse electromotive force can be written as:

vb = kψ θɺm (6)

where kb: constant of inverse electromotive force. Applying Fig. 2. Block diagram of a DC motor
Kirchhoff laws to the armature circuit, we obtain:
III. MODEL OF A DC MOTOR WITH LOAD COUPLED BY
dia GEARS
va = La + Ra ia + vb (7) If we couple a load to the motor spindle through a gear
dt
train, the load will be transmitted to the spindle accordingly to
In the domain s and clearing the armature current in (7), we the gear ratio of the gears participating in the coupling. Fig. 3
have: shows a DC motor with external load coupled to its spindle.
Va − Vb
Ia = (8)
vf
La s + Ra Rf
Ra La if
Lf Gear train

else: m m

V − kb sΘm n1
= a
va vb
Ia (9) Load
La s + Ra ia Jm Bm n2 L

the motor torque equation is: L

JL BL
τ m = J mθɺɺm + Bmθɺm (10)
Fig. 3. Schematic diagram of a DC motor with external load coupled by
where: gears
Jm : Motor inertial momentum.
Bm : Motor viscous friction. As mentioned early, when we maintain the field current
constant, the motor torque can be controlled by the armature
When matching equations (4) and (10), we have: voltage as input; this case is shown in the block diagram
presented in Fig. 4.
kaia = J mθɺɺm + Bmθɺm (11)

In the domain s and clearing the armature current in (11) we Va

have:
J m s 2 Θm + Bm sΘm
Ia = (12)
ka

Matching equations (8) and (12), we obtain: Fig. 4. Block diagram of a DC motor with external load coupled by gears

kaVa − ka kb sΘm = ( La s + Ra )( J m s + Bm ) sΘm (13)

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

If we consider the effect of the load coupled by gears to the ΘL n

=
motor spindle, accordingly with the hatch area of the scheme, To ( o Bo ) s
J s +
(21)
it is possible to draw the diagram shown in Fig. 5:

Va Va - Vb 1 Ia To 1 s m 1 m L
ka n
+ La s + Ra J o s + Bo s
-
Vb

kb

Fig. 5. Scheme showing the load effect reflected on the motor spindle Fig. 6. Equivalent block diagram of a DC motor with external load
coupled by gears

The transference function that relates the unloaded motor Accordingly with the equivalent block diagram shown in
torque To with the load position ΘL is: Fig. 6, the associated transference function is presented in
equation (22).
n ΘL ka n
=
( J m s + Bm ) s ( La s + Ra )( J o s + Bo ) + ka kb  s
(22)
ΘL Va
= (16)
n
To 1+ ⋅ ns ( J L s + BL )
( J m s + Bm ) s IV. MODEL OF A DC SERVOMOTOR WITH LOAD
If we provide position feedback to the complex DC motor and
load coupled by gears, considered in Fig. 3, it will be enough to add a
ΘL n control circuit to form what is known as servomotor, as seen in Fig.
=
To ( J m + n 2 J L ) s + ( Bm + n 2 BL )  s (17) 7. A servomotor has the ability to reach a desired position,
  accordingly to its spin capability, and to keep stable in such position.
The control signals applied to this kind of actuators to set the
where: position of the output gear spindle in a certain angle are PWM pulse
width modulation type.
n1
n = (18)
n2 vf
Servomotor Rf
Ra La if Gear
Lf
n1 :
Number of teeth of the input gear (motor). kp2
Amplificator
H-Bridge
train

ve
n2 :
Number of teeth of the output gear (load). PWM
m m

Vi ' A va vb n1
n :
Gear ratio. PWM to Voltage
V i’ ks
ia Jm Bm
Comparator n2 L
JL :
Inertial momentum of the load. converter

BL :
Viscous friction of the load. kp1 Feedback
position L

n2JL :
Inertial momentum of the load referred to the motor Vi
PWM p
Vi
spindle. Voltage to PWM
converter

n2BL : Viscous friction of the load referred to the motor

spindle. Fig. 7. Schematic diagram of a servomotor coupled as load to a robotic
manipulator

Defining: In Fig. 8 we can see a block diagram of a servomotor coupled as

J o = J m + n2 J L (19) load to a robotic manipulator.

Bo = Bm + n2 BL (20)

where:
Jo : Total inertial momentum referred to the motor spindle.
Bo : Total viscous friction referred to the motor spindle,

and replacing (19) and (20) in equation (17), the new

transference function relating the unloaded motor torque To
with the load position ΘL can be written in the form presented Fig. 8. Block diagram of a servomotor coupled as load to a robotic
in equation (21). The complete equivalent block diagram is manipulator
shown in Fig. 6.

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

Accordingly to the block diagram of a servomotor coupled ka L L 

to a robotic manipulator shown in Fig. 8, the no load torque τo va = a J mɺɺɺ
qm +  a Bm + J m  qɺɺm + ...
Ra Ra  Ra 
(or total torque) can be written as the sum of the motor torque (31)
τm plus the load torque transferred to the motor spindle nτL, as  ka kb  L
 + Bm  qɺm + a nτɺL + nτ L
seen in equation (23).  aR  Ra

τ o = τ m + nτ L (23)
and clearing τɺL in (31) we obtain,
Rewriting equations (6) and (10), in terms of position
generalized coordinate qm, we have: k L L  1 R
τɺL =  a va − a ⋅ J mɺɺɺ
qm −  a Bm + J m  qɺɺm 
n L
a
...
R
 a R R
 a  
vb = kb qɺm
a a
(24) (32)
 k k   1 Ra
−   a b + Bm  qɺm + nτ L 
 R n L
τ m = J m qɺɺm + Bm qɺm (25)  a   a

Now, equation (4) can be written as: If we express motor spindle position in terms of loaded
spindle position (output gear spindle position, now denoted by
τ o = ka ia (26) q), accordingly to relationship (33), we have:

The gear train included in a classic servomotor can be seen 1

qm = q (33)
in Fig. 9. n

 ka L 1  1 Ra
τɺL =  va − a J m ɺɺɺ
q − ...
R
 a Ra n  n La
 La  1 1 Ra
 Bm + J m  qɺɺ − ... (34)
R
 a  n n La
  ka kb 1  1 Ra
  + Bm  qɺ + nτ L 
  Ra n  n La

Equation (34) corresponds to a differential equation of third

Fig. 9. Gear train of a classic servomotor (perspective view)
order, and it can be simplified if we consider that in many
Replacing equation (24) in equation (7) and equation (25) in applications the armature inductance La is negligible [2].
equation (23), we obtain: Therefore, by neglecting armature inductance in expression
(31) and considering (33), we arrive to:
dia
va = La + Ra ia + kb qɺm (27) ka 1 k k 1
dt va = J m qɺɺ +  a b + Bm  qɺ + nτ L (35)
Ra n  Ra n
τo = J m qɺɺm + Bm qɺm + nτ L (28)
and clearing τL in expression (35), we obtain:
Replacing equation (26) in equation (27),
1  ka 1  k a kb 1 
L R τL =  va − J m qɺɺ −  + Bm  qɺ  (36)
va = a τɺo + a τ o + kb qɺm (29) n  Ra n  Ra n 
ka ka
In Fig. 10 it is shown the gear ratio of a classic servomotor.
and equation (28) in equation (29), we have:

La
va = ( J mɺɺɺ
qm + Bm qɺɺm + nτɺL ) + ...
ka
(30)
Ra
( J m qɺɺm + Bm qɺm + nτ L ) + kb qɺm
ka

Rearranging equation (30), we have:

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

In order to avoid the discontinuity of Coulomb friction in

the zero crossing, it is possible to employ the function stated in
(41), where k is a constant used to increase or reduce the curve
slope in this zero crossing.

fec ( qɺ ) = Fec1 tanh ( kqɺ )

(1 + sgn ( qɺ ) ) + ...
2
(41)
Fec 2 tanh ( kqɺ )
(1 − sgn ( qɺ ) )
2

V. SIMULATIONS AND RESULTS

Fig. 10. Gear ratio of a classic servomotor
After obtaining the servomotor dynamic model, expressed in
Considering static and Coulomb friction losses: fec , we equations (40) and (41), it is developed a simulation
obtain: environment using MatLab/Simulink software tools, as pointed
in Fig. 11.
For the development of this simulator we considered
1  ka 1 
τL =  va − J m qɺɺ  − ... extreme values in order to include a wide range of servomotor
n  Ra n  parameters, covering the behavior of many analog servomotors
(37) of different models and manufacturers (Hitec, Futaba, Hobico,
1   k a kb 1  1 
  + Bm  qɺ + f ec  qɺ   etc.) generally ascribing to a common schematic circuit, as
n   Ra n  n  seen in Fig. 12. Those values are listed in TABLE I.

If we observe the block diagram presented in Fig. 8, where

position feedback and servomotor control circuit is considered,
we can write the DC motor armature supply voltage as:

va = Aks k p1k p 2vi − Aks pq (38)

where:
A : Current amplifier gain (H-Bridge).
ks : Comparator sensibility.
kp1 : Voltage to PWM converter gain.
kp2 : PWM to voltage converter gain.
p : Position sensor gain (potentiometer).

Replacing expression (38) in equation (35), and considering

static and Coulomb friction losses, we have:
Fig. 11. Schematic diagram of the servomotor simulation environment
ka k
Ak s k p1k p 2 vi − a Ak s pq = ... Vbat
6,5-11,5V
Ra Ra VCC
+6V
(39) LM2940-
1 k k 1 1 
+ CT5
J m qɺɺ +  a b + Bm  qɺ + f ec  qɺ  + nτ L Ge 10k 10k
n R
 a  n n  Ge
B1412 B1412

VCC VCC
If we consider that kp1kp2 = kp in expression (39) and we +6V
M +6V
clear τL, we arrive to our new servomotor dynamic model, 1k 10k 10k 1k
given by:
D2118 5k D2118
22k

1 k 1  6 16 2
τL
9
=  a Ak s k p vi − J m qɺɺ  − ... 7 10 VCC +6V
n  Ra n  PPM 4 HT7003 6
1
(40) 270
15 13 15k
1   k a kb 1 k  1  + 14 3
+ Bm  qɺ + a Ak s pq + f ec  qɺ  
11

n   Ra  n R a  n  
Fig. 12. Schematic diagram of a standard analog servomotor

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

TABLE I
EXTREME VALUES: SERVOMOTOR OPERATION
q (°) ta(useg) vo(V)
0 500 0,5
180 2500 2,0

where:
q : Servomotor spindle position.
ta : Time of PWM pulse width.
vo : Feedback voltage of the servomotor internal potentiometer. Fig.16. Servomotor feedback voltage

The simulator presented here provides position, speed, For the validation of those results we considered the
torque and feedback voltage curves, shown in Figs. 13, 14, 15 servomotor Hitec HS 755 HB from which we obtain the
and 16, respectively, for the evolution of servomotor spindle internal potentiometer feedback voltage, as can be seen in
position from 0º to 180 º when applying a step function. Figs. 18 and 19, respectively.

Fig. 17. Servomotor feedback voltage in terms of position

Fig. 13. Servomotor spindle position

Fig. 14. Servomotor spindle speed

Fig. 18. Inner view of servomotor HS 755 HB

Fig. 15. Torque on the servomotor spindle

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

Fig. 19. Inner view of servomotor HS 755 HB where we can see how it is
obtained the feedback voltage

For carrying out the essays we employed a circuit composed
by a Microchip microcontroller, with its respective attached
hardware, acting as a PWM generator proportional to an
analog input voltage signal; besides, it allows to read the
position feedback voltage from the servomotor internal
potentiometer and display the information on a LCD screen;
such information is corroborated through a Parallax digital
oscilloscope, as seen in Fig. 20.
Fig. 21. Graduated unit containing the servomotor and LCD information
display
In Figs. 22, 23 and 24 are shown the PWM curves obtained
with the digital oscilloscope for servomotor spindle positions
of 0º, 90º and 180º, respectively.

Fig. 20. Equipment employed in the servomotor essays

The information provided by the system corresponds to:

vi : Input excitation voltage.
ADCi : Value of the digital-analog converter. Fig. 22. PWM curve corresponding to 0º of the servomotor spindle
vo : Potentiometer feedback voltage.
ADCo: Value of the digital-analog converter.
f : PWM signal frequency.
q : Servomotor spindle position.
ta : Time of high pulse.

as can be seen in Fig. 21.

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

Fig. 23. PWM curve corresponding to 90º of the servomotor spindle
VI. CONCLUSION
Measurements obtained from the work developed here in
order to determine the behavior of servomotor HS 755 HB
show that the model described in equations (40) and (41)
represents the dynamics of an analog servomotor, within the
range established in TABLE I. The obtained curves (shown in
Figs. 25, 26 and 27) exhibit a predominantly linear behavior,
as established by the model and the simulation. It is observed
in the servomotor response a reaction of integral proportional
type, this can be explained if we consider the sensibility of the
internal comparator of the HT7003 controller circuit (the
manufacturer does not provide information on this chip),
present in the servomotor Hitec HS 755 HB, along with the
gain associated to the excitation of the H-Bridge; all this
joined with the ability of the position feedback potentiometer
to maintain a given value when the servomotor spindle
movement is suspended. This behavior is represented in the
proposed model by considering the sensibility ks and gain A
along with speed integration (see Fig. 8). It is also important to
remark that, in the context of implementation initially
developed, the servomotor presented vibrations and little
jumps when positioning in a specific angle. Such situation was
resolved by supplying the servomotor with a voltage source
independent from the control circuit power source, since the
internal H-Bridge commutation generated high voltage peaks,
contaminating the supply of the whole system. Besides, it was
necessary to reduce the sample time for the analog excitation
voltage signal, by incorporating little delays between each
sample in order to give some time for the extinction of
persistent transitory noises caused by commutation of the H-
Bridge and the motor operation. In addition to these measures,
we employed a high stability external reference (LM336z2.5)
for the operation of the analog-digital converter in the micro-
controller device.

Servomotor spindle p osition

200 2,246
180
160 1,827
Position: q (°)

140
120
Fig. 24. PWM curve corresponding to 180º of the servomotor spindle 1,425
100
80
Obtained data are summarized in TABLE II and Figs. 25, 26 60 1,002
40
and 27. 20 0,609
TABLE II 0
Summary of Data Obtained for Servomotor HS 755 HB 0,000 0,500 1,000 1,500 2,000 2,500
q (°) Vi (V) ADCi ta (useg) f (Hz) Vo (V) ADCo Input voltage: Vi (V)
0 0,609 250 646 61 0,590 212 Fig. 25. Servomotor spindle position in terms of input voltage
45 1,002 411 1078 61 0,912 350
90 1,425 582 1526 61 1,253 497
135 1,827 748 1974 61 1,572 636
180 2,246 920 2438 61 1,908 782

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Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

Servomotor spindle p osition

200 2438
Position : q (°)

150 1974

1526
100
1078
50
646
0
0 500 1000 1500 2000 2500 3000
Pulse width: ta (us)

Fig. 26. Servomotor spindle position in terms of the pulse width PWM

Servomotor feedback voltage

Feedback voltage: Vo (V)

2,500
180
Fig. 29. SCARA-type robot (six DOF), DIE-USACH
2,000
135
1,500 90
45
1,000
0
0,500

0,000
0 50 100 150 200
Position: q (°)

Fig. 27. Servomotor potentiometer feedback voltage in terms of position

VII. FURTHER DEVELOPMENTS

From results obtained in the work presented in this chapter,
laboratory tests are being carried out relative to the
development of control techniques for SCARA type robots
with and without link redundancy, like the SCARA-type robots
shown in Fig. 28 and Fig. 29, respectively; mobile robots (see
Fig. 30), etc. Fig. 30. Mobile robot, DIE-USACH

ACKNOWLEDGMENT

This work had the support of the Department for Scientific

and Technologic Research of the Universidad de Santiago de
Chile, by means of Project 060713UO, Santiago, Chile.

REFERENCES
[1] R. Kelly, V. Santibáñez, and A. Loría, “Control of Robot Manipulators
in Join Space,” London : Springer-Verlag London Ltd. 2005.
[2] F. Lewis, D. Dawson, and Ch. Abdallah, “Robot Manipulator Control
Theory and Practice,” New York : Marcel Dekker, Inc. 2004.
Fig. 28. SCARA-type redundant robot, DIE-USACH [3] M. Spong, S. Hutchinson, and M. Vidyasagar, “Robot Modeling and
Control, First Edition,” New York : John Wiley & Sons, Inc. 2005.
[4] H. Kawano, H. Ando, T. Hirahara, C. Yun, and S. Ueha, “Application
of a Multi-DOF Ultrasonic Servomotor in an Auditory Tele-existence
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[5] R. Shahnazi, H.M. Shanechi, and N. Pariz, “Position Control of
Induction and DC Servomotors: A Novel Adaptive Fuzzy PI Sliding
Mode Control,” IEEE Transactions on Energy Conversion, vol. 23, no.
1, pp. 138–147, Feb. 2008.

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 Canadian Journal on Automation, Control and Intelligent Systems, Vol. 2, No. 2, March 2011

[6] H. Wei-Sheng, L. Chun-Wei, H. Pau-Lo, and Y. Syh-Shiuh, “Precision

Control and Compensation of Servomotors and Machine Tools via the
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BIOGRAPHIES

Claudio Urrea was born in Santiago, Chile. He received

the M.Sc. Eng. and the Dr. degrees from Universidad de
Santiago de Chile, Santiago, Chile in 1999, and 2003,
respectively; and the Ph.D. degree from Institut National
Polytechnique de Grenoble, France in 2003. Ph.D. Urrea is
currently Professor at the Electrical Engineering
Department, Universidad de Santiago de Chile, from 1998.
He has developed and implemented a Robotics Laboratory,
where intelligent robotic systems are development and investigated.

John Kern was born in Santiago, Chile. He received the

M.Sc. Eng. degree from Universidad de Santiago de Chile,
Santiago, Chile in 2010. John Kern is currently Professor
of electronic engineering in the areas of automatic control
and robotics, since 1999. He has developed laboratories:
theory and control systems, signals and communication
system, and electronics.

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