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Servo Mechanism

The document provides an overview of servo mechanisms, defining them as closed-loop control systems that manage motor position and velocity. It discusses the benefits of servo systems, such as improved response times and reduced errors, and outlines the components of a servo motor, including the motor type, gearbox, and control circuits. Additionally, it covers PID parameter tuning using the Ziegler-Nichols method for optimizing control systems.

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Hossam Mohamed Ahmed ahmed
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58 views18 pages

Servo Mechanism

The document provides an overview of servo mechanisms, defining them as closed-loop control systems that manage motor position and velocity. It discusses the benefits of servo systems, such as improved response times and reduced errors, and outlines the components of a servo motor, including the motor type, gearbox, and control circuits. Additionally, it covers PID parameter tuning using the Ziegler-Nichols method for optimizing control systems.

Uploaded by

Hossam Mohamed Ahmed ahmed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd

Servo Mechanism

Prepared By:
Dr. Youssef Fawzy
1- What is Servo System?
The servo originates from the Latin word servus meaning slave.

Servo System (Mechanism): is a closed-loop control system


designed to control the position and velocity of a motor.
2- Why servo mechanism:

This system is designed for these reasons:


 Improve the transient response time
(Faster response times mean quicker settling allowing for higher machine
productivity)
Reduce the steady state error
(Increasing accuracy)
 Reduce the sensitivity to load parameters
fluctuations
(Include real-time change in load inertia or mass, and unexpected
shaft torque disturbances)
3- Servo Control Classes:
Servo control problem can be divided into two classes:
1. Command Tracking
[ It solves the problem of how the actual motion follows what is being
commanded]. The commands in rotary motion are position, velocity,
acceleration, and torque. (force with linear motion).
2. Disturbance Rejection:
Disturbances can be anything from torque disturbances on the motor shaft
to incorrect motor parameter estimations.
4- Servo Motor:
Components:
1. DC/AC Motor
In industrial servos, it may be a brushless DC (BLDC) or AC synchronous
motor.
2. Gearbox - Reduces the speed of the motor and increases torque.
3. Position Sensor
4. Control Circuit (PID)
5. Drive Circuit
`
Industrial Servo Motor

Servo Motor Driver Controller


5- DC Motor Model:
`
DC Motor parameters and final model:
Position Control
6- PID Parameters Tuning using
Ziegler-Nichols Method: Continuous Oscillation
7- Continuous Oscillation at: Ku=84.05, Pu=0.459
PID Parameters Tuning: Ku=84.05, Pu=0.459 sec
Kp=84.05/1.7=49.5
Ti=Pu/2=0.459/2=0.2295 , Td =Pu/8=0.459/8=0.0573
Ki=Kp/Ti=49.5/0.2295=215.68
Kd=Td*Kp=0.0573*49.5=2.836
Put Kp=49.5, Ki=215.68, Kd=2.836 in the closed loop control system:
Step Response –Closed Loop
Now, try to improve the response using your sense:
Step Response at kp=49.5, Ki=216.68/10 Kd=2.836*10
8- Real-Time Motor Speed Control
References:
1. Thomas, N., & Poongodi, D. P. (2009, July). Position control of DC motor using genetic algorithm based PID
controller. In Proceedings of the world congress on engineering (Vol. 2, pp. 1-3).
2. Kaiser, D., & Compumotor, P. (2001). Fundamentals of servo motion control. Motion System Design, 43(9), 22.
3. Bansal, U. K., & Narvey, R. (2013). Speed control of DC motor using fuzzy PID controller. Advance in Electronic
and Electric Engineering, 3(9), 1209-1220.
4. Tan, K. K., Lee, T. H., & Huang, S. (2007). Precision motion control: design and implementation. Springer Science &
Business Media.

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