Servo motors

What is a servo motor and its function?

• Servo motors or “servos”, as they are known, are electronic devices and rotary or linear
actuators that rotate and push parts of a machine with precision. Servos are mainly
used on angular or linear position and for specific velocity, and acceleration.
• The servo motor is a closed-loop mechanism that incorporates positional feedback
to control the rotational or linear speed and position.
• A servo motor is defined as an electric motor that allows for precise
control of angular or linear position, speed, and torque. It consists of a
suitable motor coupled to a sensor for position feedback and a
controller that regulates the motor’s movement according to a desired
setpoint.
What is the application of servo motor in control system?

Applications of Servo Motor

uses in radio-controlled airplanes to control the positioning and movement of
elevators. In robots because of their smooth switching on and off and accurate
positioning. In the aerospace industry to maintain hydraulic fluid in their hydraulic
systems. uses in many radio-controlled toys.

What is the servo mechanism in a control system?

servomechanism, automatic device used to correct the performance of a mechanism
by means of error-sensing feedback. The term servomechanism properly applies only
to systems in which the feedback and error-correction signals control mechanical
position or one of its derivatives such as velocity or acceleration.

What is called servo motor?

A servomotor (or servo motor or simply servo) is a rotary or linear actuator that allows
for precise control of angular or linear position, velocity, and acceleration in a
mechanical system.

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What are the advantages of a servo motor?

Advantages of Servo Motors

• High efficiency.
• High output power relative to their size.
• More constant torque at higher speed.
• Closed-loop control.
• Quiet operation.
• Highly reliable.
• High ratio of torque to inertia.
• High acceleration.
What are the two main types of servo motors?

Generally, there are two main types of this motor based on the supply used for its
function. They are AC servo motors & DC servo motors.

What is the maximum weight of servo motor?

The servo motors usually provide control over 180° range. This angular position
control is performed by PWM technique so by varying its duty cycle you can control

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the angular position of the motor. This servo motor can lift a maximum of 1.6 kg when
suspended at 1cm distance from the shaft.

• Servo Motor: A servo motor is defined as an electric motor that

provides precise control of angular or linear position, speed, and
torque using a feedback loop system.
• Control Systems: The servo motor utilizes advanced control
systems like PID and fuzzy logic to adjust movement according to
input and feedback signals for optimal performance.
• Types of Motors: Different types include AC and DC servo
motors, with subtypes like synchronous, asynchronous, brushed,
and brushless, each tailored for specific applications.
• Feedback Mechanism: Effective use of sensors such as
potentiometers and encoders help in precise monitoring and
adjustments of motor positions, speeds, or torques.
• Applications Insight: Servo motors are crucial in high-precision
fields such as robotics, CNC machinery, and automated
manufacturing for their ability to handle complex motions and
tasks.
Servo motors are essential in industries like robotics, CNC machinery, and
automated manufacturing due to their precision, quick responsiveness, and
fluid motion.

What is a Servo Motor?

A servo motor is an electric motor that adjusts its position, speed, or torque in response
to controller inputs.

A servo motor consists of three main components:

• A motor: This can be either a DC motor or an AC motor

depending on the power source and the application
requirements. The motor provides the mechanical power to
rotate or move the output shaft.
• A sensor: This can be either a potentiometer, an encoder, a
resolver, or another device that measures the position, speed, or
torque of the output shaft and sends feedback signals to the
controller.

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 • A controller: This can be either an analog or a digital circuit that
compares the feedback signals from the sensor with the desired
setpoint signals from an external source (such as a computer or
a joystick) and generates control signals to adjust the
motor’s voltage or current accordingly.
The controller employs a closed-loop feedback system, adjusting the motor’s
movement to closely align with the desired setpoint, maintaining strict
accuracy.

The controller can also implement various control algorithms, such as

proportional-integral-derivative (PID) control, fuzzy logic control, adaptive
control, etc., to optimize the performance of the servo motor.

How Does a Servo Motor Work?

The basic working principle of a servo motor involves the controller receiving
two types of input signals:

• A setpoint signal: This is an analog or digital signal that represents

the desired position, speed, or torque of the output shaft.
• A feedback signal: This is an analog or digital signal that represents
the actual position, speed, or torque of the output shaft measured by
the sensor.
The controller compares these two signals and calculates an error signal that
represents the difference between them.

The error signal is then processed by a control algorithm (such as PID) that
generates a control signal that determines how much voltage or current should be
applied to the motor.

The control signal is sent to a power amplifier that converts it into an appropriate
voltage or current level for driving the motor.

The motor then rotates or moves according to the control signal and changes its
position, speed, or torque, and sends a new feedback signal to the controller.

The process repeats until the error signal becomes zero or negligible, indicating
that the output shaft has reached the desired setpoint.

Types of Servo Motors

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Servo motors can be classified into different types based on their power source, construction,
feedback mechanism, and application.

AC Servo Motors
AC servo motors are electric motors that operate on alternating current (AC).
They have a stator that generates a rotating magnetic field and a rotor that follows
the field.
AC servo motors, powered by alternating current, feature a stator that creates a
rotating magnetic field, with a rotor that synchronizes with this field for efficient
operation.
AC servo motors can be further divided into two types: synchronous and
asynchronous.

•Synchronous AC servo motors have a permanent magnet rotor

that rotates at the same speed as the stator field. They are more
efficient, precise, and responsive than asynchronous motors,
but they require a more complex controller and a position
sensor.
• Asynchronous AC servo motors have a wound rotor that
induces a current and a magnetic field that lags behind the
stator field. They are simpler, cheaper, and more rugged
than synchronous motors, but they have lower efficiency,
accuracy, and speed.
AC servo motors are suitable for high-power applications that require high
speed, torque, and reliability. They are commonly used in industrial
machines, robotics, CNC machines, etc.

DC Servo Motors
DC servo motors are electric motors that operate on direct current (DC). They
have a permanent magnet stator that generates a fixed magnetic field and a
wound rotor that rotates when a current is applied.
DC servo motors can be further divided into two types: brushed and brushless.

• Brushed DC servo motors have a commutator and brushes that

switch the current direction in the rotor windings. They are simple,
inexpensive, and easy to control, but they have lower efficiency,
lifespan, and speed due to friction and wear of the brushes.
• Brushless DC servo motors have an electronic controller that
switches the current direction in the stator windings. They are more

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 efficient, durable, and fast than brushed motors, but they require a
more sophisticated controller and a position sensor.
DC servo motors are suitable for low-power applications that require high
precision, responsiveness, and smooth motion. They are commonly used in
hobby projects, toy cars, CD/DVD players, etc.

Generally, there are two types of control signals that can be used to control
a servo motor: analog and digital.

• Analog control signals are continuous voltage or current signals

that vary proportionally to the desired setpoint. They are
typically used for simple or low-cost servo systems that do not
require high accuracy or resolution.
• Digital control signals are discrete pulses or bits that represent
the desired setpoint in a coded form. They are typically used for
complex or high-performance servo systems that require high
accuracy, resolution, or communication. For example, a pulse-
width modulation (PWM) signal can be used to generate a
digital control signal for a brushless DC servo motor.

SYNCHROS
A commonly used error detector of mechanical positions of rotating shafts
in AC control systems is the Synchro.
It consists of two electro mechanical devices.
o Synchro transmitter
o Synchro receiver or control transformer.
The principle of operation of these two devices is same but they differ
slightly in their construction.
The construction of a Synchro transmitter is like a phase alternator.
The stator consists of a balanced three phase winding and is star connected.
The rotor is of dumbbell type construction and is wound with a coil to
produce a magnetic field.
When a no voltage is applied to the winding of the rotor, a magnetic field
is produced.
The coils in the stator link with this sinusoidal distributed magnetic flux
and voltages are induced in the three coils due to transformer action.
The three voltages are in time phase with each other and the rotor voltage.
The magnitudes of the voltages are proportional to the cosine of the angle

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between the rotor position and the respective coil axis.
The position of the rotor and the coils are shown in Fig.

Figure: synchros rotor

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What is a stepper motor used for?

Stepper motors convert electricity into rotation. Not only does a stepper motor
convert electrical power into rotation, but it can be very accurately controlled in terms
of how far it will rotate and how fast. Stepper motors are so named because each
pulse of electricity turns the motor one step.

What is the working principle of a stepper motor?

The basic working principle of the stepper motor is the following: By energizing one
or more of the stator phases, a magnetic field is generated by the current flowing in
the coil and the rotor aligns with this field.

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What are the applications of stepper motor in control system?

Applications of Stepper Motors

• 3D printing equipment.
• Textile machines.
• Printing presses.
• Gaming machines.
• Medical imaging machinery.
• Small robotics.
• CNC milling machines.
• Welding equipment.
What are two advantages of stepper motor?
Advantages of stepper motors:

Stepper motors offer excellent speed control, precise positioning, and

repeatability of movement. Stepper motors are highly reliable since there are
no contact brushes in the motor. This minimizes mechanical failure and
maximizes the operation lifespan of the motor.

Stepper Motor Basics

A stepper motor is an electric motor whose main feature is that its shaft rotates by
performing steps, that is, by moving by a fixed amount of degrees. This feature is obtained
thanks to the internal structure of the motor, and allows to know the exact angular position
of the shaft by simply counting how may steps have been performed, with no need for a
sensor. This feature also makes it fit for a wide range of applications.

Stepper Motor Working Principles

As all with electric motors, stepper motors have a stationary part (the stator) and a moving
part (the rotor). On the stator, there are teeth on which coils are wired, while the rotor is
either a permanent magnet or a variable reluctance iron core. We will dive deeper into the
different rotor structures later. Figure 1 shows a drawing representing the section of the
motor is shown, where the rotor is a variable-reluctance iron core.

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 Figure 1: Cross-Section of a Stepper Motor

The basic working principle of the stepper motor is the following: By energizing one or more
of the stator phases, a magnetic field is generated by the current flowing in the coil and the
rotor aligns with this field. By supplying different phases in sequence, the rotor can be rotated
by a specific amount to reach the desired final position. Figure 2 shows a representation of
the working principle. At the beginning, coil A is energized and the rotor is aligned with the
magnetic field it produces. When coil B is energized, the rotor rotates clockwise by 60° to
align with the new magnetic field. The same happens when coil C is energized. In the pictures,
the colors of the stator teeth indicate the direction of the magnetic field generated by the
stator winding.

Figure 2: Stepper Motor Steps

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Stepper Motor Uses and Applications

Due to their properties, stepper motors are used in many applications where a
simple position control and the ability to hold a position are needed,
including:

Printers: Printheads, Paper Feed, Scan Bar

3D Printers: XY Table Drive, Media Drive

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 Robots: Arms, End Effectors

DSLR Cameras: Aperture/Focus Regulation

Video Cameras: Pan, Tilt, Zoom, Focus

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 Engraving Machines: XY Table Motion

ATM Machines: Bill Movement, Tray Elevators

Magnetic amplifier

A magnetic amplifier is an electromagnetic device that amplifies

electrical signals utilizing a transformer's core saturation principle,

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and the core non-linear property. It consists of an iron core with two
or more coils wound around it.

Magnetic Amplifier is a device consisting of combination of saturable reactors,

rectifiers, and conventional transformers, used to control large AC loads with a
small DC current control. In magnetic amplifiers, the load current in the circuit is
controlled by a DC magnetizing current, which is comparatively very low as
compared with load current. A large current value is controlled by a small current
value; hence such type of circuits is termed as current amplifiers. The saturable
reactor is sued as the interface between the load circuit and control circuit. The
reactance of the reactor depends upon the DC control current. Thus, the load
current is controlled by using magnetic property and hence the term magnetic
amplifier.

Magnetic Amplifier Theory: Saturable reactor works on the principle by varying the
saturation of the core the current flow through a coil wound on a magnetic core can be varied.
By saturating the magnetic core, the current to can be increased and by desaturating the
magnetic core the current to the load can be decreased.

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