SERVO MOTOR

Servo motor is the part of close loop system and comprised several parts
Parts of this loop system
1) Control circuit
2) Shaft
3) Amplifier
4) Encoder
5) Motor
A servo motor is self-containing device, it rotates parts of a machine with high efficiency and
with great precision.
The output shaft of motor can be moved to a particular angle position and velocity
The servo motor utilize a regular motor and couples it with a sensor for position feed back
The controller is the most important part of servo motor which designed specifically for this
purpose
The servo motor is a close loop mechanism that incorporates positional feedback in order to
control rotational or linear speed and position
The motor is controlled with an electrical signal either analog or digital which determine the
amount of movement which represents the final command position for the shaft.
a type of encoder serves as a sensor, providing speed and position feed back
this circuit is built in motor housing usually fitted with gear system

types of servo motor are classified into different types based on their application. Such as the
AC servo motor and DC servo motor

servo motors are used in robotics in line manufacturing and other industrial applications where
high repetitions and high precision is required

There are three main considerations to evaluate the servo motor

1)based on current type AC or DC
2) Based on accumulation brushed or brushless.
3) synchronous or Asynchronous

Detail of considerations
(i) AC and DC
There is most important classification of motor based on a type of current
Primary difference between AC and DC motor is the inhering ability to control speed
In dc motor the speed is directly proportional with apply voltage with a constant load
And in ac motor speed is determined by the frequency of the applied voltage
Both AC and DC motors are used in servo systems.
(ii) Brushed and Brushless
A dc servo motor is accumulated mechanically with brushes using accumulator or electronically
without brushes

Accumulator is a rotary electrical switch which periodically reverse the current direction
between the rotor and drive circuit it consists on cylinder composed of metal contact segment
on the rotor two or more electrical contact called brushes which are made of soft conductive
material such as carbon press against the accumulator making a sliding contact with the
segment of accumulator as it rotates.
Majority of motors used in servo system are ac brushless designed and brushed permanent
magnet DC motors
The most common type of brushed permanent magnet DC servo motors are used in servo
application
Brushless DC motors replace the physical brushes accumulator with an electronic source to
achieving accumulation typically it uses hall effect sensor or encoder

(iii) Synchronous or Asynchronous

DC motors are generally categorized as brushed or brushless

AC motors are more often differentiate by the speed of rotating Synchronous or Asynchronous
field

In AC motors speed is determined by the frequency of applied voltage and the number of
magnetic poles the speed is refer to as the Synchronous speed there for in Synchronous motor
the rotor rotates at the same speed as the stator rotating magnetic field
However, in Asynchronous normally referred to as an induction motor the rotor rotates at the
speed slower then stator rotating magnetic field
However, the speed of an Asynchronous can be vary utilizing servo control method

Working principle of DC servo motor

Working principle of DC servo motor is construction of 4 major components
1) DC motor
2) position sensing device
3) gear assembly
4) control circuit
The desire speed of a DC motor is based on apply voltage in order to control the motor speed
A potential meter produces a voltage which is applied in one of the input to error amplifier
 In some circuits a control pulse used to produce DC reference voltage corresponding to desired
position or speed of the motor and it is applied to a pulse width convertor. The length of the
pulse decides the voltage applied at the error amplifier as a desired voltage to produce the
desired speed and position for digital control a PLC or other motion controller is used for
generate the pulses in terms of duty cycles to produce more accurate control.
The feedback signal sensor is normally a potentiometer that produces a voltage corresponding
to the absolute angle of the motor shaft through the gear mechanism then the feedback
voltage value is applied at the input of error comparator amplifier. The amplifier compares the
voltage generated from the current position of the motor resulting from the potentiometer
feedback and the desired position of the motor producing an error either of a positive or
negative voltage.
This error voltage is applied to the armature of the motor.
As the error increases so does the output voltage applied to the motor armature. As long as
error exists, the comparator.
Amplifier amplifies the error voltage and correspondingly powers the armature. The motor
rotates until the error becomes zero.
If the error is negative the armature voltage reverses and hence the armature rotates in the
opposite direction.