Controls Lab

Lab Report Number: 10

“Introduction to AC-Servo Control Trainer and

RPM control of AC Servo Motor”

Section: ME-14 (C)

Name CMS ID
Muhammad Ahmad Nadeem 416175
Table of Contents
Objectives ............................................................................................................... 2
Equipment............................................................................................................... 2
Theoretical Background............................................................................................ 3
Procedure ............................................................................................................... 5
Circuit Representation ............................................................................................. 5
Data Tabulation ....................................................................................................... 6
Graphical Representation ......................................................................................... 6
Discussion .............................................................................................................. 7
Conclusion .............................................................................................................. 7
Safety Precautions ................................................................................................... 8

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 Objectives

• To gain an understanding of how AC Servo Motor operates.

• To learn about the RPM control of an AC Servo Motor.
• To become familiar with the software interface for motor control.

Equipment
• Servo Control Training System

Servo

Voltmeter

Figure 1: Apparatus

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 Figure 2: Apparatus PC

Theoretical Background
Servo Motor Overview:

A servo motor is a rotary actuator or linear actuator that allows for precise control of
angular position, speed (RPM), and angular velocity. It is commonly used in control
systems where accurate motion or positioning is required, such as robotics, CNC
machinery, and aircraft controls. Servo motors are equipped with a feedback mechanism
that continuously monitors their output and adjusts it to match the desired values set by
the user.

Structure of a Servo Motor:

The main components of a servo motor include:

DC or AC Motor: Provides the primary rotational motion.

Gear Assembly: Reduces high-speed rotation of the motor shaft to the desired speed
and torque.

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Feedback Device: Typically, an encoder or potentiometer, it measures the motor's
actual position or speed and provides feedback to the control system.

Control Circuit: Processes the feedback signal and generates the appropriate control
signals to adjust the motor's operation.

Working Principle:

Servo motors operate based on closed-loop control systems. A reference value (e.g.,
desired position or RPM) is compared to the motor's actual output via a feedback
mechanism. The difference, or error signal, is processed by a controller, which adjusts
the motor's operation to minimize the error. The process involves the following steps:

• The desired value (reference signal) is set by the user.

• The motor's current position, speed, or velocity is continuously measured.
• A comparator calculates the error signal by subtracting the actual output from the
reference value.
• The controller adjusts the motor's input to reduce the error.

Controllable Parameters:

Position Control: The servo motor can precisely reach and hold a target position. This is
achieved by continuously monitoring the angular position via feedback and applying
corrections.

RPM Control: The speed of the servo motor is adjusted by varying the input voltage or
pulse width modulation (PWM) signal, allowing it to operate at a desired rotational speed.

Angular Velocity Control: Angular velocity, or the rate of change of angular position, is
controlled to ensure smooth and consistent motion.

Applications:

Servo motors are widely used in applications requiring precision and control, such as:

• Industrial automation

• Robotic arms

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 • UAV control systems

• Antenna positioning systems

Procedure:
1. Establish the connections as shown in the circuit diagram.
2. Turn on the apparatus
3. Then turn on the PC so that we can make the interface of the experiment at the
compatible software.
4. Now open the software and setup the file for the RPM control experiment.
5. This RPM file can be accessed from the G folder of the PC.
6. Now after opening the RPM file, we can see different parameters effecting the
experiment.
7. Now just upload the following file onto the system and start taking readings.
8. After the file has been successfully uploaded now take 10 readings with the
difference of 2V per reading in both clockwise and anticlockwise direction.
9. Now make the graph for both directions of RPM with respect to the Voltage.

Circuit Representation

Figure 3: Circuit

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Data Tabulation
Table 1: Data Table

Voltage (V) RPM

10 -3312

8 -2665

6 -2000

4 -1334

2 -668

-2 668

-4 1335

-6 2000

-8 2666

-9 3023

Graphical Representation
RPM vs Voltage
3500
3000
2500
2000
RPM

1500
1000
500
0
-10 -5 0 5 10 15
Voltage (V)

Figure 4: Graph

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Discussion
In this experiment, we analyzed the behavior of a servo motor's motion when both
positive and negative voltages were applied. The graph illustrates a clear relationship:

RPM is directly proportional to the applied voltage.

Higher positive voltages resulted in increased clockwise RPM, while higher negative
voltages generated increased anticlockwise RPM. Interestingly, the RPM values for
equivalent magnitudes of positive and negative voltages were nearly symmetrical. This
suggests the motor exhibits consistent performance in both rotational directions.

However, slight variations were observed, such as a marginally lower RPM at -9V
compared to the corresponding positive voltage of 10V. These deviations may be
attributed to factors like motor efficiency, friction, or minor inaccuracies in
measurement.

Furthermore, when the voltage applied was negligible or near zero, the motor remained
stationary or exhibited minimal movement, as indicated by the data points close to zero
voltage.

Overall, the findings indicate that the motor's performance is largely symmetrical and
reliable across both positive and negative voltage inputs, with minor discrepancies likely
caused by inherent mechanical or measurement limitations.

Conclusion:
The experiment confirmed the servo motor's RPM control in both clockwise and
counterclockwise directions, demonstrating symmetrical performance and a nearly
linear relationship between voltage magnitude and RPM. This highlights the motor's
dependability and suitability for precise control in real-world applications. Small
variations emphasize the importance of accounting for measurement errors and system
inefficiencies in practical scenarios.

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Safety Precautions:
• Personal Protective Equipment (PPE): Ensure that all lab personnel wear
appropriate PPE, including safety goggles, lab coats, gloves, and closed-toe shoes
to protect against chemical splashes, electrical hazards, or mechanical injuries.
• Equipment Inspection: Regularly inspect all lab equipment and apparatus for any
signs of damage or wear. Report any defects immediately and ensure that faulty
equipment is taken out of service until repaired or replaced.
• Emergency Procedures: Familiarize all lab members with emergency procedures,
including the location of fire extinguishers, eyewash stations, safety showers, and
emergency exits. Conduct regular safety drills.
• Hazardous Materials Handling: Follow proper procedures for handling, storing,
and disposing of hazardous materials, such as chemicals and solvents. Use fume
hoods and ventilation systems as needed.
• Electrical Safety: When working with electrical circuits and equipment, ensure
that power sources are disconnected before making connections or adjustments.
Avoid contact with exposed wires and use insulated tools.
• First Aid Kit: Maintain a well-equipped kit in the lab and ensure lab personnel are
trained in basic first aid procedures. Display emergency contact numbers and
locations prominently.
• Equipment Safety: Follow the manufacturer's guidelines and instructions for
operating lab equipment and machinery. Ensure that the equipment is properly
grounded and that safety interlocks are functional.