SERVO MO) © Te motos ter ore ysed im avtoratic Conkeel sysherns ase Called Sevvomotoys: @ Wha tke objective of Ke Systern js to Combe) the pasiticen Of an Object than Ke Systema Jp Galled Sexvomecthonism. @ The Sexvo-moboys awe ysed to Convert an Electvica| sigrol Ccontxe} Voll Jilied fo tkeme imto an angulw dicbbve- * age) atl Etter 2 “ wrenk of the hop - They Gansopemie fm 0 Continvovs dung ox step doty deprding on Construction: In Seve appltatoms, a de metey js seguixed to produce sabtd accelerations dom Stor still: @ thee fore, the bhysteal Seguixemerts of Sud a moter ose low tmerta owd high storing tere: @ low ferextia ts attained Olt seduced axmature diameter Lot a Comsequent . imeregse in armature hevgtk Sod~ that the desived Power outpuk j6 achieved: @ Thys, except for minor differences fon Comte Hormel, featowes, a dic: Senvomotoy ip Essentially an ovdterary dec mofox- @ Ty Combel Systerns, the dec motoys awe sed ten x0 differnt Combrel modes: (1) Axrrature- Combecl wrode woth fixed field tomb §& (Ki) Field corntrel mode ott fixed armature Gusvent- (© Remature Cocnkelled ge Sexierreter @ It ye a dc Short motor designed to satiety the, Sequinement of A Seiowoter: ae © scanned with OKEN Scanner@ Tye field je exdikd by & T Comstant De supply @ Ty the Speed field Gueee- is constant, ther speeds disectly frpovHeral +2 Ox mature Voltage ond torque dine tty profe Homd +0 Avmatore Curwenf. Tereue D eee @ Hence Hee tome ond Sheed Can be Combis by onmrabe Nettage- @ Reveysible Oexatienn i ossi ble by menesa ior Vee oxrrateve Nottege. @ In Small motoys, the avmature a Not 5 i Vege js Combxolled by e Nosiable sesistance: Bok im Loxge motors tmovder 4D yedoce. Pousex leak, armature Voltage ! is Combxelled by Thaywistoys: © We Steely take abating Chomoe texiztigs of an oxrratore Argulac sheed(uo) Combsclled De Sexvorrotex ove iMustiabed ian above Sign Troydex fonction of Avmtuw Conlled be Motor: @Coméider the awmratow -Comballed gic waster vet Fig.4 Th thie Sysrem, Roa = Meaststance of avmatuxe (1). Lea = Indoctance of axmatore wierd ing, wn). La = ovemnetuxe Cuwent (Ad, tye Held cent A) © scanned with OKEN Scanner= bak ems (v)- eb developed by Yee motor (N-m) T= fox eet @ = angels displace meet of motor—shos teed): ye Eouivalert rroment oF forex fia of rotor ord loed defersed Ao moley prods (gent) Jo = Eqartvaleat Viscous afte Hoy ee o} wrote load ovfenxed te moter hott & -Iecoe\ cae) i bo Ly Cconstort) ays Conpptocne mS tee dc wotope one quaccally yea mogret gation cue: Wexefore, field cusserk ot Sewoe epplicgtion4, ion tke Linear sore of Yee abv-gep flex > % \pxeposticenal of tre jee bet ig Whexe ky yo comstont - @ We 4orveue Ty developed by tee motor 16 pxcpor Hearn 4o tke product of tke armatere curser} ard ofe-gep fox, ie Thy edyla (de Ky ip) - xe Ky 16a Constant @ Tr the axmatur-Combolled dec. motoy, the fHeld Cusserk js Kept Comstant, So ti 2G) Com be k, da] —> @) Witter of Try = Where Ky i Frown 96 the motor -fewzu Cogastath - ay © scanned with OKEN Scanner@ The molow back Beams being propor Hooral 40 Speed -Yy Corgan Yel @iaun given o% eye Pere Gon Ay oe ey tb ey, x Ae. dt whee, Ky ie Known o% the role “owes Congo: Bock ear} eb = ky, $2 > hH) a @ Te differeentid Eevation of tee oxerature Grusth 2 La ote 4Rada +e, = ea[) de @ The mechanical Systean 30H OF the molov ip shown eT. im He oie 9-2 + The dibbevenHel Eanectom governing the, Mechanical System of motor is giver i E tee] @ ees, tke Leplece jransform ot &s @ to Qaeors Zero tified, ComditHoays, We Gee 4fom@> TW) = 1s) > fom e@s Eye) = Ks 6) pol) Be) Take ad >) Point fom &@ > 5} a Tol) + Rado(s) + Exfs) = EAS) => r6 [starr] = Eae-F#] +a - Fg) as => mG) i | QS t—> [Ewes] (Stata) BSS” 9 © scanned with OKEN Scannerfeomn"@) Vee Ky Tos) = TS e(s) + be FH HW Krds) = 08) [TS fos] OG) ker Te) 7 [s+ 44] Eos) a Te) [ky 5 & Last Rea Todos Ey Ke @ Te hapsfer fonctioe of the System 6 Obteined 96 ets) GS) = Ea 5 [RatstaKrs+ta)+ kr ¥) @ Tre tongfer -forction of armatore Coantralled de motor Con be Exprerded torn anctkey Stardaxd -forenn 96 shown below: oe) =a ET ses UEC Ee “Eas 5 [Rati BS) fol lezel tre sees Ets) a[0+ ENT + ‘ats | Joma, LalR= Tax Ele bite] Hane Coops Tyo = Tr= Mechanics Heme. pain she 3 aN | I © scanned with OKEN Scannerba Bi) Held Cor be sevonstey; t Touqute (T) a Tt DC Shunt motor designed ko satisdy Yee Seanixerrmk OF A Sexvomotox: @ Ty this moter, the axeratow Yb Supplied Witt, 0 cacpetork Geel eo Nottege- @ Whee tke axaratere Noltege be 3 Comstant the tovene tp disetly pean sree Porcher tiomal to Hell Hox: nore @ Stoce tKe Held creek [popes Fieeral +e Hox, the, tosee of the motx comtealled by Combecliion, tke field crsvert- co he @ Revevetble epuntan js possible PY wet tov Held Uaswe- The sespopse of Field Combeall Is hemwer Slowed by Held tendse tonto Tranagex fonction of Efeld combulled DE meters @ Comsider the oxqrectuve—Combdlled dec: motox shown jen Fig. . Ra= Resistance of oxcrotere Cn) Th ths Syste ome Lak tenductance of orcmratoe wigiw- © scanned with OKEN Scannerics-s- 4] Ry = Held Winding Spaistonce(.n-). Ie Ly = Held wirdiong inductance (H). € = Field Combat Voltage(v). ips Field cusxent A) Tr = tore developed by motor (N=). J = eepivalent momenr of inextia of meteor ond Rood oreferred to motor Shadt Ckg-nt) fe Comtvaler Viscous friction Coehbicie of rotor ond load spfewsed te wrotor shake Nom/eedis): © = angulax dishlacemart of moter Arakt Ged): In the field—Contelled motor, Whe armotee cassesh fed from a Conpstank Curcart Sooree Tere fost, the developed teeeue Tm by the rete \propoxticcrall to fhe product ob the oxenatere Caw ond abegeP fiox re, Ty — HE 7 fe T= | et Key 18 & Compton @ Tre Gesation efor the field Grait — Ly dit i= Sp + SE + Be @ The mgchanicad Systean of nfz ttt tke motor ig Shawn im Fig Ee e The diffesential Exuation Fig Serer niong je mechanics) “em Gt tke rotor 12 giver PY a se 49 92 =Tyq 0 at dt it © scanned with OKEN Scanner@ Tring Yee Laplace ransferm of Eguationyss (1) say opsomiong Bexo TetHal Comdi Hoans , We gek #26 frown 5 sly Yye+ Ry TYs) = Els) > Tp st+&] = Eo pies} eo (THs $5) OS) = HS) = KF TYG) ee). _& , | |} +s) Go sss) Bs) |oss4s)] 5) \ ye) er Lys ast) “> 06) From the above Easton’, tke transfer cfurcton of the motor 4 obteired ax eo 5 Suste as) Kt fe eere Ss segs) FCEse) = _/ RF a g wn 3 1 Sa s C+ Fs) C4 tng) es) = _ Km oS) = Fm ag. Es) 5 (su 41) (etm Sets forctiom rmetor Gey t = metor gain Comstant 5, t= Seg Here Comstar of field Gearit § Z " y = Mechanical fiane Comtp. —o~ © scanned with OKEN Scanner(Es-e-6] ee AcC. SER NOMATORS AO LRP PSD yoo @ An ac: Sexvorofor iA bysiclhy ie | © dh0- Phote induction mien g— 19.999. Excepr fox cer tatey sfer { 4 7 @ A Wwo-plgse Sexomolor : @ + : Figs Two ploze \eeeluc terns rater Tihbera fon the fellsieg 40 5: Too PI Ways from a noxmal fnduction TGrwe moter: 1s The “olor of Sexvorretey 1s built, Wit high seistarce, So tht its Yep, xatio 12 Small owicke aesolts ion Meneav Speed tore Choxactexjetcs- Bot Conventional jenductiony motows wilt hove Wigh Volve oF X/g Which sesolys ion o A high ebbiserd ond non-liereny Speed -torrue Chocnche eB: The speed — tosque Chare- CtexjZtics of nocmel tenduetioen motes Convey) od Ac Sexomotox Cunwe-b) ave Shown Ten tig-tb) 2+ We Excitation Neitege applied +o pwo Stator windings, Bhould hove a phase difference of 96 © the Syenbolic epweuntstion of Am At Sevemoter Os OW Combvol Sysrer Component jo Shoo ton Fig. c @ The mefevernce wierdiong je exited by a Constant Notte Source With a fry ion the Worge 5° +o \o00 Ha" a» AD © scanned with OKEN Scanner=—_hCU” 7 © By Usirg facguameies of MOONE eater tien note: to mode lau sus ceptible 40 \ sel gue to this Sertose, ae devters at eel fhe. en aivewaft ond mjssile Combeol Sytter” ne rejae and disterbance offen cxerte pe . o Achating -y -) ; 6") signal S ™ 9 L. Phos bist a Coprciter 0 1-8 ae soppy of fromepwe Depenne Prose e Teves (ia) exyee Tm) E,>E,> EZ Eo TAs) \ J ia o| 2 Ea \ Speed © | (ro-texa) Epecd 6 @ by, Seen from above tig, the Aorene - Sheed Curves ave SHIl Sorre hot Norlteneay. However, im the low - speed aAgion, the Gav ante nearly Vieneav ond Buidistant, jee the toxic Navies Vieneactey WS, Speed oy wall 0 wth, Combsal Nelhage + Simce A Sexvemotor Seldoan obexates ak Wig s thee enene’ : Tag, Be canis come Veneta chro te ofeantog © scanned with OKEN Scanner[es-s-6] Foncticen of eine Ty= te): @ The toreur Qemerated bok She By Ee meter ia dd ond ome Combe Aateg e . Exfarding tie eeunticen into 7 the Roymal obewsts OM. toe tesmye lows Sexies about 7A Pont Cmte, E5, 6,) ond deep pier OF Secomd — and higher onder derivatives, Tm = Tou. + s Bim oT Beat SEL CO) Ee, 6-0, 6-6, (os) Gy - Ture) = k(E-E)- $(6-6) ee a ond +H == there Taq Teles a b=e& ATy = KOE-f46} — sy) @ Ty the Load Consists of inertia ond Viscous frictiong , qi Resiation, Expressed Tn incremented notation, becomes Aly = 740+ foA6 = KAE-FaO oT Hing the Leplace shransform of above Eas tion we hove [ree $5]S08) = K AEG) F5 2e5) Ex [ta coreacw = aes) es ed ae EEL BEG) TH+ ot+Hs s[rs+eerd]] 4is0= 2 Eki) km 2G +1) s(tet) © scanned with OKEN ScannerTe imexemertel motor transfer fencton akovfan Applica Hoary 6 aa @ A Sewomolor at Every “Joint” of a vebot is sed to Actuate movements, aiveng the sokot axm its pregse omgle. © Sexvometoy applictions ase bso Comment Seen in Remote Combelled toy cays fox Combvelling. the divection oF motion ond tt 12 bso Neng Commonly ysed of the Moby WOK moves the. Away of & CD ex) DvD Boyer Besides these, there axe otker hondveds of Serve motoy opplictions We Aee im cov daily Ufe @ The woin Teton behivd ysierg @ Sexvo 1g th ih Provides omgolaw fe preston ive, 18 wil only tote Os MW We womb and Then Stop ond unit for next Sigral to take forttey acHon. Sesve-metort Sewomster js a Sheed type e+ motoy Which 14 avbmatially operated upto Cextain Vent for a giver Command Wilk the help of error~ Seuyingé feedback to covvect “Ke betforerance, © scanned with OKEN Scanner