Servo Motor

A SEMINAR
ON
Servo Motors
Submitted to:
Presented By:
Mr.Hemant kaushik
SITARAM
Lecturer (EE Dept) Roll No.
08EMEEE048
B.Tech. Final
Index
 Definition
 Over View
 What makes a Servo
 Inside a Servo
 Types of servo
 Control
 PPM
 Modified Servos
 Programming Servo Control
 Uses
 CONCLUSION
 Bibliography.
Definition
•A Servo is a small device that has an output shaft.
• This shaft can be positioned to specific angular
positions by sending the servo a coded signal.
• As long as the coded signal exists on the input line,
the servo will maintain the angular position of the shaft.
• As the coded signal changes, the angular position of
the shaft changes.
Over View
•A Servo is a small device that has an output shaft.
• This shaft can be positioned to specific angular
positions by sending the servo a coded signal.
• As long as the coded signal exists on the input line,
the servo will maintain the angular position of the shaft.
• As the coded signal changes, the angular position of
the shaft changes.
• Servo motors are used for angular
positioning, such as in radio control
airplanes. They typically have a
movement range of 60 deg but can
go up to 90 deg.
• The output shaft of a servo does not
rotate freely, but rather is made to
seek a particular angular position
under electronic control.
• They are typically rated by torque
and speed. A servo rated 40 ounce-
in/.21 means that at 1 inch from the
hub, the servo can exert 40 ounces of
force and move 60 deg in 0.21 sec.
What makes a Servo
Servo motors and are constructed out of basic DC
motors, by adding:
• some gear reduction
• a position sensor for the motor shaft
• an electronic circuit that controls the motor's
operation
• The basic hobby servo has a
180:1 gear ratio. The motor is
typically small.
• Typically, a potentiometer
(variable resistor) measures the
position of the output shaft at all
times so the controller can
accurately place and maintain it’s
setting.
Inside a Servo
Types of servo
1) D.C. Servomotor:-
• Shunt wound d.c. motor

• Series wound d.c. motor
• Compound wound d.c. motor
2) A.C. Servomotors:-
Induction motor a.c. motor

Synchronous a.c. motor
DC Servomotors
DC Servomotors are separately excited dc
motor or permanent magnet dc motor.
They are controlled by armature voltage.
The armature is designed to have large
resistance so that the torque-speed
characteristics are linear and have a large
negative slope as shown below. Therefore,
a step change in the armature voltage
results in a quick change in the position or
speed of the motor.
AC Servomotors
•It is a two phase a.c. induction motor. There are
two winding, one fixed or reference winding is
supplied with a fixed voltage and frequency from a
constant voltage source. Second winding is called
control winding, with variable supply voltage of
same frequency.
•The stator has two distributed windings displaced
90 electrical degree apart.
• One winding is the reference phase and is
connected to a constant voltage source.
•The other winding is the control phase and is
supplied with a variable voltage of the same
frequency as the reference phase but is phase-
displaced by 90 electrical degree.
•For balanced two-phase voltages (Va=Vb), the
motor torque-speed characteristic is similar to
that of a three-phase induction motor.
• For low rotor resistance this characteristic is
non-linear.
• Such characteristic is unacceptable in control
systems, however if the rotor resistance is high
the characteristic will be linear
•over a wide range of speed, as shown in the
figure.
Control
• An external controller (such as the Basic
Stamp) tells the servo where to go with a
signal know as pulse proportional
modulation (PPM) or pulse code modulation
• PPM uses 1 to 2ms out of a 20ms time period

to encode its information.
PPM
• A control wire communicates the desired
angular movement. The angle is determined
by the duration of the pulse applied to the
control wire.
• The amount of power applied to the motor is

proportional to the distance it needs to travel. So,
if the shaft needs to turn a large distance, the
motor will run at full speed. If it needs to turn only
a small amount, the motor will run at a slower
speed.
• The servo expects to see a pulse every 20
milliseconds (.02 seconds).
• The length of the pulse will determine how
far the motor turns.
•A 1.5 millisecond pulse will

make the motor turn to the
90 degree position (often
called the neutral position).
Modified Servos
• Servo motors can also be retrofitted to provide

continuous rotation:
– remove mechanical limit (revert back to DC
motor shaft)
– remove pot position sensor (no need to tell
position)
– apply 2 resistors to make the servo to “think” it
is fully turning.
•The idea is to make the servo think that the

output shaft is always at the 90 degree mark.
• This is done by removing the feedback
sensor, and replacing it with an
equivalent circuit that creates the
same readings as the sensor being at
90 degrees.
• Then, giving it the signal for 0 degrees
will cause the motor to turn on full
speed in one direction. The signal for
180 degrees will cause the motor to go
the other direction.
• Since the feedback from the output
shaft is disconnected, the servo will
continue in the appropriate direction
as long as the signal remains.
Programming Servo
Control
• The servos is controlled by bursts of
signals spaced 20mS apart. A high signal
can last between 1mS to 2mS.
• The PULSOUT instruction is used to send

the signals:
PULSOUT pin, duration
pin: Defines which I/O pin to use.
duration: defines how long the pulse
should last, but it in NOT in mS.
Uses
• Position control
• Speed control
Conclusion
In this exercise, you familiarized yourself with
servo system operation in closed loop speed
control. You learned how to calculate and
measure the steady state speed of the Digital
Servo in closed loop speed control. You also
learned to calculate the error value between the
reference speed and the actual speed and how to
minimize it by increasing the controller gain.
Bibliography
•www. cdtltd.co.uk
•www. research.philips.com
•www. covion.com
•www.ieee.com

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A SEMINAR

• Shunt wound d.c. motor

Induction motor a.c. motor

• PPM uses 1 to 2ms out of a 20ms time period

• The amount of power applied to the motor is

•A 1.5 millisecond pulse will

• Servo motors can also be retrofitted to provide

•The idea is to make the servo think that the

• The PULSOUT instruction is used to send

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