EET 426

SPECIAL ELECTRIC
MACHINES
Module 4

DR.NAFEESA K
MESCE KUT TIPPURAM
 Syllabus Contd..

DC Servo motors – DC servo motors – construction– principle of

operation - transfer function of field and armature controlled dc servo
motors -permanent magnet armature controlled dc servo motor- series
split field dc servo motor- applications.
AC Servo motors -Construction – principle of operation- performance
characteristics - damped ac servo motors - Drag cup servo motors-
applications.
Servo Motor
 There are some special types of application of electric motor where
rotation of the motor is required for just a certain angle.
 For these applications, we require some special types of motor with
some special arrangement which makes the motor to rotate a certain
angle for a given electrical input (signal).
 The motors that are used in automatic control system is called Servo
Motor. This is nothing but a simple electric motor, controlled with the
help of Servomechanism.
 The other way around!! Servo motor 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.
 DC Motor & DC servomotor

Servo motor has an assembly of four things DC motor, gearing set,

control circuit and a position sensor.
DC Motor does not comprise of any assembly. Servo motor does not
rotate freely and continuously like DC motor.
Its rotation is limited to 180⁰ whereas DC motor rotates continuously.
Servo motors are used in robotic arms, legs or radar control system and
toy cars. DC motors are used in fans, car wheels, etc
Feedback control system
TYPES

 A DC motor by means of servomechanism is referred as DC servo

motor.
 Similarly, a AC motor by means of servomechanism is referred as AC
servo motor.
 AC servo-motors are generally preferred for low power use.
 For high-power use DC servomotors are preferred because they
operate more efficiently than AC servo-motors.
 There are various types of dc servomotors which are
 1)Series motors, 2)Split series motors, 3)Shunt
control motor & 4)Permanent magnet shunt motor.
Servo Motor Applications
Used in application where precise and automatic control
especially position control is required.
Widely used in radars, computers, robots, machine
tools,tracking system, process controllers etc.
Inkjet printers and RC helicopters.
To drive conveyors used in Industrial manufacturing and
assembling units to pass an object from one assembly
station to another.
Used in solar tracking system.
DC servomotors are widely used in robots, toy cars and
other position controlled devices.
REQUIREMENT OF A GOOD
SERVOMOTOR
1. Linear relationship between electrical control signal and
rotor speed, over a wide range.
2. Inertia of rotor should be as small as possible. A
servomotor must stop running without any time delay, if
control signal to it is removed.
For low inertia, it is designed with large length to
diameter ratio, for rotors. Compared to its frame size, the
rotor of a servo motor has very small diameter. From its
low diameter rotor only, the servomotor is distinguished
from other motors in practice.
3. It should be quickly reversible.
 Cont…
4. Its response should be very fast. For quickly changing
error signals, it must react with good response.
This is achieved by keeping torque to weight ratio
high. Hence these motors can be started, stopped or
reversed very quickly compared to normal motors.
5. It should have linear torque-speed characteristics.
6. The output torque at any speed should be roughly
proportional to the applied control signal.
7. Its operation should be stable without any oscillations
or overshoots.
 DC SERVOMOTORS
The d.c. servomotors is more or less
same as normal d.c. motor.
All d.c. servomotors which are generally
Used are separately excited type.
This ensures the linear nature
of torque-speed characteristics.
Basic Working Principle
 The d.c. servomotor is basically a torque transducer
which converts electrical energy into the mechanical
energy. It works on the principle that a current carrying
conductor placed in a magnetic field experiences a force.
Cont…
 The torque developed on the motor shaft is directly
proportional to the field flux and the armature current.
Tm=KmΦIa …….(1)
where Tm = Motor Torque
Km = Proportionally torque constant
Φ = Field flux and Ia = Armature current
 In addition to the torque developed, when armature
conductors rotate in the field flux, they cut the flux and
e.m.f. gets induced in the armature.
 This e.m.f. is called as back e.m.f. in case of d.c. motors.
It is directly proportional to the shaft velocity ωm
rad/sec.
Cont…

Em=KbΦωm …..(2)
where Eb = Back e.m.f. and Kb = Back e.m.f. constant
ωm = Motor angular speed in rad/sec
 As back e.m.f. opposes the supply voltage, the voltage
equation of the d.c. motor is given by
V=Eb+IaRa ….(3)
where V = Supply voltage
Ra = Armature resistance
The equations (1), (2) and (3) form the basis of d.c.
servomotor operation.
Cont…
Basic Classification
The d.c. servomotors are classified as
1. Variable magnetic flux motors i.e. field controlled
motors.
2. Constant magnetic flux motors i.e. armature controlled
motors.
3. Permanent magnet armature-controlled DC servomotor
4. Series split field DC servomotor.
 Field controlled DC Servomotor …
1. It is preferred for small
rated motors
2. It has large field
inductance to resistance
ratio. The ratio of
inductance to
resistances determines
the time constant and
hence the time constant
of field controlled d.c.
servomotor is large.
3. The overall operation is
an open loop system.
4. The control circuit is
simple to design.
 Armature controlled d.c. Servomotor

1. It is suitable for large rated

motors.
2. 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.
3. The overall operation is a
closed loop system.
4. The back e.m.f. provides
internal damping which makes
the motor operation more
stable.
5. The efficiency and overall
performance is better than
field controlled motor.
Comparison Between armature Controlled and Field
Controlled D.C. Servomotors
 Transfer function of field and
armature controlled dc servo motors
Transfer function of DC servomotor in two modes, armature controlled and field controlled
Modes are explained s follows.
Transfer function of Field Controlled DC servo motors
These equations are used to develop the block diagram as shown below
Transfer function of armature controlled DC Servomotor
Laplace transforms are given by

Above equations are used to develop the block diagram

 Permanent magnet armature-
controlled DC servomotor
 Instead of field winding permanent
Magnets used

T α ΦI
 Since it is permanent magnet,
flux is constant
Hence
T= KΦI
K’ = K Φ
T = K’I
 Armature is energized by the amplified
Error signal
 Series split field DC
servomotor
 Operates as separately excited Field controlled motor

 Armature is supplied with a constant current source

 Field winding divided into 2 parts

One half of the winding wound in clockwise direction
and other half in anticlockwise direction

 Magnetic field of both halfs opposes each other

 Direction of rotation altered by split fields

 Has high starting torque.

Cont…
Characteristics of a d.c. Servomotor
Cont…
Other Performance Characteristics
Cont…
Applications of dc servomotor
 Servostabilizer
Cont…
 Position Control System
Cont…
The other applications of d.c. servomotors are:
1. Air craft control systems
2. Electromechanical actuators
3. Process controllers
4. Robotics
5. Machine Tools
 AC SERVOMOTOR

 CONSTRUCTION
The a.c. servomotor is
basically consists of a stator
and a rotor. The stator carries
two windings, uniformly
distributed and displaced by
90o in space, from each other.
The schematic is shown in the
Fig.
Cont…
Rotor
The rotor is generally of two types. The two types of rotors are,
1. Squirrel cage rotor
2. Drag cup type rotor
Squirrel Cage Rotor
 The usual squirrel cage rotor has aluminimum bars which are
shorted at the ends with the help of the end rings.
 The overall construction looks like a cage. The construction is
similar to the squirrel cage rotor used for the three phase
induction motors.
Cont…

Fig. Cage type rotor construction

Cont…
Drag cup type rotor
 To reduce the inertia further, a drag cup type of rotor
construction is used. There are two air gaps in this
construction.
 The drag cup is made up of nonmagnetic material like
copper, aluminium or an alloy. The slotted rotor
laminations in this construction.
 These are wound for as many number of poles as
possible so that operating speed of motor is very low.
Such a construction is used in very low power
applications.
Cont…
A drag cup type rotor construction is shown in the Fig.

Fig. Drag cup type rotor construction

Cont…
Operating Principle
The operating principle of two phase a.c. servomotor is
same as that of normal three phase induction motor.
The control voltage applied to the control winding and the
voltage applied to the reference winding are 90o out of
phase.
Hence the flux produced by current through control
winding is also 90o out of phase with respect to the flux
produced by the current through the reference winding.
Cont…
 The resultant flux in the air gap is hence rotating flux
sweeps over the rotor, the e.m.f. gets induced in the rotor.
 In the two phase a.c. servomotors, the polarity of the
control voltage determines the direction of rotation.
 A change in the sign of the control voltage reverses the
direction of rotation of the motor. Since the reference
voltage is constant, the torque and the angular speed are
the functions of the control voltage.
 Cont…
Torque-Speed Characteristics
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.
Cont…
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. 5 shows the torque-speed characteristics for
various control voltages.
Cont…
Cont…
Cont…
Features of A.C. Servomotor
1.Light in weight for quick response.
2.Robust in construction.
3.It is reliable and its operation is stable in nature.
4.Smooth and noise free operation.
5.Large torque to weight ratio.
6.Large resistance to reactance ratio.
7.No brushes or slip rings are required. Hence maintenance
free.
 Cont…
8. Driving circuits are simple to design.
9.The negative slope of the torque-slip characteristics adds
more friction improving the damping. This improves the
stability of the motor. This features is called internal
electric damping of two phase a.c. servomotor.
10. The response of the motor to a light control signal is
improved by reducing the weight and inertia of the motor
with Drag Cup rotor design.
11. The curve is linear for almost various control voltages.
Cont…
Applications of A.C. Servomotor
Cont…
 The other applications of a.c. servomotors are,
1. Instrument servos
2. Process controllers
3. Robotics
4. Self balancing recorders
5. Machine tools
Comparison Between A.C. and
D.C. servomotors