SERVO

MOTORS
Presented by:

Rajesh Dopplapudi

Sc.no:142113214
 Contents:

1. Introduction

2. Servo structure

3. Servo terms

4. Servo centering

5. Mechanism

6. Servo types

7. Modified servos

8. Applications

9. Servo drives
 Introduction:

 A servo motor is a mechanical motorized device that can be

instructed to move the output shaft attached to a servo wheel or
arm to a specified position.

 Inside the servo box is a DC motor mechanically linked to a

position feedback potentiometer, gearbox, electronic feedback
control loop circuitry and motor drive electronic circuit.

 servo looks like a plastic rectangular box with a rotary shaft

coming up and out the top of the box and three electrical wires
out of the servo side to a plastic 3 pin connector.
Structure of servomotor
 Servos are controlled by sending pulse width signals (PWM) from
an external electronic device that generates the PWM signal
values, such as a servo controller.

 PWM signals sent to the servo are translated into position values
by electronics inside the servo.

 A pulse width signal (PWM) of approximately 1.5 mS (1500 uS) is

the "neutral" position for the servo.
 BASIC TERMS:
 neutral is defined to be the point where the servomotor has
exactly the same amount of potential rotation in the counter
clockwise direction as it does in the clockwise direction.

 Servo Speed is defined as the amount of time ( in seconds) that a

servo arm attached to the servo output shaft will move from 0 to
60 degrees.

 Servo Torque is defined as the total push / pull power a servo can
apply on a 1" servo arm when moving.

 Servo Power is defined as the amount of DC Voltage needed to

operate a Servo without damage.
Servo Centering:

1. Automated Servo Center Position:

 The best and easiest way to set a servo's center position is to

connect the servo to a servo checker or tester.

2. Manual Servo Center Position:

 Obtained by drawing reference lines through the servo arm or

servo wheel center point at different positions.
 Carefully remove the servo arm from the servo if not needed for
instillation or place the servo arms on top of the servo shaft,
secure it with servo screw and install the servo as needed.
 Mechanism
 As the name suggests, a servomotor is a servomechanism.

 It is a closed-loop servomechanism that uses position feedback

to control its motion and final position.

 The motor is paired with some type of encoder to provide

position and speed feedback. In the simplest case, only the
position is measured.
 The very simplest servomotors use position-only sensing via
a potentiometer and bang-bang control of their motor; the motor
always rotates at full speed (or is stopped).

 Present servomotors measure both the position and also the

speed of the output shaft. They may also control the speed of
their motor, rather than always running at full speed.

 These servo motors uses position control in addition with PID

algorithm.
 Servo motors and are constructed out of basic DC motors, by
adding:
 Some gear reduction.

 A position sensor for the motor

shaft.
 An electronic circuit that controls
the motor's operation.
 Types of servo motors:

 Servos come in many sizes and in three basic

types:

1. Positional rotation servo motor:

 The output shaft rotates in about half of a circle, or 180 degrees.

 It has physical stops placed in the gear mechanism to prevent

turning beyond these limits to protect the rotational sensor.

 Radio-controlled cars and water- and aircraft, toys, robots,

and many other applications.
2. Continuous rotation servo motor

 It can turn in either direction indefinitely.

 The control signal, rather than setting the static position of the
servo, is interpreted as the direction and speed of rotation.

 You might use a servo of this type on a radar dish if you mounted
one on a robot. Or you could use one as a drive motor on a
mobile robot.

:
3. Linear servo motor:

 This is also like the positional rotation servo motor, but with
additional gears (usually a rack and pinion mechanism) to change
the output from circular to back-and-forth.

 These servo motors are not easy to find, but we can sometimes find
them at hobby stores where they are used as actuators in larger
model airplanes.
Types of servo motors by electrical analogy:

1. D.C. Servomotor:-

a. Shunt wound d.c. motor

b. Series wound d.c. motor
c. Compound wound d.c. motor

2. A.C. Servomotors:-

a. Induction motor a.c. motor

b. Synchronous a.c. motor
DC Servo motors:

 DC servo motors are controlled by DC command signals applied

directly to coils.

 The magnetic fields that are formed interact with permanent

magnets and cause the rotating member to turn.

 One type of PM uses a wound armature and brushes like a

conventional DC motor, but uses magnets as pole pieces.

 Another type uses wound field coils and a permanent magnet

rotor.
AC Servo Motors:

 Controlled by AC command signals applied to the coils.

 AC Brushless Servo Motor

 Operates on the same principle as single-phase

induction motor.
 The stator has two distributed windings displaced
90 electrical degree apart.
 One winding is the reference phase and is connected to
a constant voltage source.

 The other winding is the control phase and is supplied

with a variable voltage of the same frequency as the
reference phase but is phase-displaced by 90 electrical
degree.
 Servomotors vs Steppermotors:

 A servomotor consumes power as it rotates to the commanded

position but then the servomotor rests.

 Stepper motors run warm to the touch because they continue

to consume power to lock in and hold the commanded
position.

 Servomotors are generally used as a high performance

alternative to the stepper motor.

 The lack of feedback of a stepper motor, it can only drive a load

that is well within its capacity, otherwise missed steps under load
may lead to positioning errors and the system may have to be
restarted or recalibrated.
 Modified Servos:

Servo motors can also be retrofitted to provide continuous rotation:

 remove mechanical limit (revert back to DC motor

shaft)
 remove pot position sensor (no need to tell
position)
This is done by removing the feedback sensor, and replacing it with an
equivalent circuit that creates the same readings as the sensor being
at 90 degrees
 Applications of Servo motor

 Machine Tool (Metal Cutting)

 Metal forming

 Antenna Positioning

 Woodworking

 Textiles

 Printing

 Rope/Twine manufacturing

 Medical equipment
 Servo drives :

 Servo drives are designed to offer among other things, exact

control, optimum torque as well as a rich set of features to
complement the linear positioning systems and rotary
servomotors.

 Servo drives can be used by a machine to offer excellent

quality motion control in a very dynamic application.