Chapter 3

3 Servo Motor
3.1 Introduction
The electrical motor is a device that has brought about one of the biggest
advancements in the fields of Motoring and technology ever since the invention of
electricity. A motor is an electro-mechanical device which converts electrical energy to
mechanical energy. Lot of advancements has taken place in this field of Motoring since
the invention of motors. This Electric motors impact almost every aspect of modern
living. Refrigerators, vacuum cleaners, air conditioners, fans, computer hard drives,
automatic car windows, and multitudes of other appliances and devices all use electric
motors. Electric motors are also responsible for a very large portion of industrial
processes and manufacturing process.
Electric motors are approximately divided to two classes which are as follows:
i. DC Motors.
ii. AC Motors.

3.2 DC motors
DC motor is driven by direct current. It’s the most primitive version of the electric
motor where rotating torque is produced due to flow of current through the conductor
inside a magnetic field. This DC motor works on the principle, when a current carrying
conductor is placed in a magnetic field, it experiences a torque and has a tendency to
move. The direction of rotation of this motor is given by Fleming’s left hand rule.
Applications in paper delivering machines, and steel plant moving machines.

3.3 AC motors
An AC Motor is driven by alternating current. The AC Motor is utilized as a
part of the change of electrical energy into mechanical energy. This mechanical energy
is produced using the power that is applied by the turning attractive fields delivered by
the rotating current that moves through its curls. The AC Motor is comprised of two
parts: the stationary stator that is on the outside and has curls supplied with AC
42
 current, and within rotor that is joined to the output shaft. The AC motor stator has
loops that are supplied with the AC which produces a pivoting attractive field. The AC
Motor rotor turns inside the electric Motors loops and is appended to an output shaft
that creates torque by the pivoting attractive field.

3.3.1 Classification of AC motors:

i. Synchronous Motors
These motors have the rotor rotating at the same speed as the speed of rotation
of the stator current. In other words, we can say these motors don't have slip with
respect to the stator current. These kind of motors are used even in high precision
positioning devices like modern robots. They can also act as stepper motors.
ii. Asynchronous Motors
The most common form of motor which is used in everyday life from pumping
water up the overhead tank to power plant boiler feed pumps. These motors are very
flexible to use and matches the load demand almost for everything. The most widely
used Induction Motors are very important for many industries due to their load bearing
capacity and flexibility. These motors, unlike synchronous motors, slip when
compared to the stator current field. They are generally used for various types of
pumps, compressors and acts as prime movers for many types of machinery.
iii. Single & Three Phase Motors
The A.C Motors can find their usage in 2 forms based on their power supply.
The single phase motors are generally found their use in low power
requirements/domestic appliances like ceiling fans, mixer grinders, portable power
tools etc. The three phase motors are generally found for high power requirements like
power drives for compressors, hydraulic pumps, air conditioning compressors,
irrigation
iv. Constant, Variable & Adjustable Speed Motors
As already said, A.C. Motors are highly flexible in many ways including their
speed control. There are motors which should be run at a constant speed for air
compressors. Certain cooling water pumps driven by A.C. motors can be run at two or

43
three speeds by just switching the number of poles used. If the number of poles are
changed then the speed also changes. These serve best for sea water cooling pumps in
marine Motor room applications & many power plants. The speed of the motors can
also be varied continuously by some electronic arrangements thus this can be suited for
certain applications like a ship's cargo pump, whose discharge rate has to lowered as
per the terminals requirement.

3.4 Servomotor
As the name recommends, a servomotor is a servomechanism. All the more
particularly, it is a servomechanism that uses position input to control its movement
and last position. The data to its control is some signal, either simple or advanced,
speaking to the position directed for the output shaft. The Motor is matched with some
sort of encoder to give position and speed input. In the least difficult case, just the
position is measured. The deliberate position of the output is contrasted with the
charge position, the outer information to the controller. On the off chance that the
output position varies from that required, a blunder sign is created which then causes
the Motor to pivot in either bearing, as expected to convey the output shaft to the
fitting position. As the positions approach, the mistake signal lessens to zero and the
Motor stops. The exceptionally most straightforward servomotors use position-just
detecting by means of a potentiometer and blast control of their Motor. The Motor
dependably pivots at full speed .This sort of servomotor is not generally utilized as a
part of mechanical movement control, but rather it frames the premise of the
straightforward and modest servos utilized for radio-controlled models. More modern
servomotors measure both the position and the velocity of the shaft. They might
likewise control the pace of their Motor, as opposed to continually running at full
speed. Both of these improvements, for the most part in mix with a PID control
calculation, permit the servomotor to be conveyed to its directed position all the more
rapidly and all the more decisively, with less overshooting.

3.4.1 Application of servomotor

Servo motors are small and efficient but critical for use in applications

44
requiring precise position control. The servo motor is controlled by a signal (data)
better known as a pulse-width modulator (PWM). Here are several of the more
common servo motor applications in use today.
i. Robotics: A servo motor at every joint of a robot is used to actuate movements,
giving the robot arm its precise angle.
ii. Conveyor Belts: Servo motors move, stop, and start conveyor belts carrying
product along to various stages, for example, in product packaging/bottling,
and labeling.
iii. Camera Auto Focus: A highly precise servo motor built into the camera
corrects a camera's lens to sharpen out-of-focus images.
iv. Robotic Vehicle: Commonly used in military applications and bomb
detonation, servo motors control the wheels of the robotic vehicle, generating
enough torque to move, stop, and start the vehicle smoothly as well as control
its speed.
v. Solar Tracking System: Servo motors adjust the angle of solar panels
throughout the day so that each panel continues to face the sun, harnessing
maximum energy from sunup to sundown.
vi. Metal Cutting & Metal Forming Machines: Servo motors provide precise
motion control for milling machines, lathes, grinding, centering, punching,
pressing, and bending in metal fabrication for such items as jar lids to
automotive wheels.
vii. Antenna Positioning: Servo motors are used on both the azimuth and elevation
drive axis of antennas and telescopes such as those used by the National Radio
Astronomy Observatory (NRAO).
viii. Woodworking/CNC: Servo motors control woodturning mechanisms (lathes)
that shape table legs and stair spindles, for example, as well as augering and
drilling the holes necessary for assembling those products later in the process.
ix. Textiles: Servo motors control industrial spinning and weaving machines,
looms, and knitting machines that produce textiles such as carpeting and

45
 fabrics as well as wearable items such as socks, caps, gloves, and mittens.
x. Printing Presses/Printers: Servo motors stop and start the print heads precisely
on the page as well as move paper along to print multiple rows of text or
graphics in exact lines, whether it's a newspaper, a magazine, annual report.
xi. Automatic Door Openers: Supermarkets and hospital entrances are prime
examples of automated door openers controlled by servo motors, whether the
signal to open is via push plate beside the door for handicapped access or by
radio transmitter positioned overhead.

3.4.2 Types of Servo Motors

i. AC Servo Motors
ii. DC Servo Motors

Table 3.1: Comparison of AC servo with DC servo

Serial No AC Servo Motors DC Servo Motors

1. Works on AC supply Works on DC supply

2. Deal with higher current surges Not intended for high current
and have a tendency to be utilized surges and are typically more
as a part of mechanical hardware qualified for littler applications.

3. Less Costly Costlier

46
 Figure 3.1: Servo motor and an assembled servo
In the present work single phase AC servo motor is used. AC servo motors are
basically two-phase squirrel cage induction motors and are used for low power
applications. Nowadays, three phase squirrel cage induction motors have been
modified such that they can be used in high power servo systems. The main difference
between a standard split-phase induction motor and AC motor is that the squirrel cage
rotor of a servo motor has made with thinner conducting bars, so that the motor
resistance is higher .Based on the construction there are two distinct types of AC servo
motors, they are synchronous type AC servo motor and induction type AC servo
motor.

3.4.2.1 Synchronous-type AC servo motor

Synchronous-type AC servo motor consist of stator and rotor. The stator
consists of a cylindrical frame and stator core. The armature coil wound around the
stator core and the coil end is connected to with a lead wire through which current is
provided to the motor. The rotor consists of a permanent magnet. And hence these are
also called as brushless servo motors because of structural characteristics. When the
stator field is excited, the rotor follows the rotating magnetic field of the stator at the
synchronous speed. If the stator field stops, the rotor also stops. With this permanent
47
magnet rotor, no rotor current is needed and hence less heat is produced. These motors
have high efficiency due to the absence of rotor current. In order to know the position
of rotor with respect to stator, an encoder is placed on the rotor and it acts as a
feedback to the motor controller.

3.4.2.2 Induction-type AC servo motor

The induction-type AC servo motor structure is identical with that of general
motor. In this motor, stator consists of stator core, armature winding and lead wire,
while rotor consists of shaft and the rotor core that built with a conductor as similar to
squirrel cage rotor. The working principle of this servo motor is similar to the normal
induction motor. Again the controller must know the exact position of the rotor using
encoder for precise speed and position control.

3.4.2.3 Construction
AC. servomotor is basically consisting of a stator and a rotor. The stator has
two windings, uniformly distributed and displaced by 90 degree in space, from each
other. On winding is called as main winding. The reference winding is excited by a
constant voltage AC supply. The other winding is called as control winding. It is
excited by variable control voltage, which is obtained from a servo amplifier. The
winding is 90 degrees away from each other and control voltage is 90 degrees out of
phase with respect to the voltage applied to the reference winding. This is necessary to
obtain rotating magnetic field. The fig.3 shows the schematic of stator of servo motor
is shown in the Figure. 3.2.

48
 Figure 3.2: schematic of stator of servo motor

3.4.2.4 Features of A.C. Servomotor

The various features of A.C servomotor
i. Light in weight for quick response.
ii. Robust in construction.
iii. It is reliable and its operation is stable in nature.
iv. Smooth and noise free operation.
v. Large torque to weight ratio.
vi. Large resistance to reactance ratio.
vii. No brushes or slip rings are required. Hence maintenance free.
viii. Driving circuits are simple to design.
ix. The negative slope of the torque-slip characteristics adds more friction
improving the damping. This improves the stability of the motor. This
features are called internal electric damping of two phase A.C
servomotor.

3.4.2.5 Applications of AC Servomotor

As mentioned earlier AC servomotor is preferred for low power applications.
Consider an AC position control system where load position is to be maintained
constant. The driving motor used is two phase AC servomotor. The potentiometer
49
arrangement compares the actual position with the reference position to generate the
error voltage. The error voltage is amplifier which generates control voltage. This
voltage is applied to the control winding of two phase AC servomotor. This control the
torque and in turn controls the output position of the load. As driving motor is AC
servomotor, the system is called as AC position control system.
The other applications of AC servomotors are,
i. Instrument servos
ii. Process controllers
iii. Robotics
iv. Self-balancing recorders
v. Machine tools where precise angular motion is necessary servo motors are used

3.4.2.6 Working of Servomotor

Inside servo motor there is DC Motor, control circuit and potentiometer. The
Motor is appended by riggings to the control wheel. As the Motor turns, the
potentiometer's resistance changes, so the control circuit can accurately manage the
amount of development there is and in which bearing. At the point when the pole of
the Motor is at the craved position, power supplied to the motor is halted. If not, the
Motor is turned in the proper course. The sought position is sent by means of electrical
pulses The Motor's pace is corresponding to the distinction between its genuine
position and fancied position. So if the Motor is close to the coveted position, it will
turn gradually, else it will turn quick. This is called relative control. This implies the
Motor will just keep running as hard as important to fulfill the current workload.

3.4.2.7 Controlling mechanism

Servos are controlled by sending an electrical pulse of variable width PWM
through the control wire. Servo Motor can generally just turn 90° in either heading for
an aggregate of 180° developments. The Motors unbiased position is characterized as
the position where the servo has the same measure of potential pivot in the both the
clockwise or counter-clockwise course. The PWM sent to the Motor decides position
of the pole and in light of the term of the pulse sent through the control wire the rotor
50
 will swing to the craved position. The servo Motor hopes to see a pulse each 20 ms
and the length of the pulse will decide how far the Motor turns. For instance, a 1.5ms
pulse will make the Motor swing to the 90° position. Shorter than 1.5ms moves it to 0°
and any more than 1.5ms will turn the servo to 180°, as charted beneath.

Figure 3.3: Variable Pulse Width Control Servo Position

3.5 Methods of control

3.5.1 Direct torque control
Direct torque control (DTC) is one strategy utilized as a part of variable
recurrence drives to control the torque (and therefore at last the rate) of three-stage AC
Motors. This includes ascertaining an appraisal of the Motor's attractive flux and
torque taking into account the deliberate voltage and current of stator flux linkage is
51
evaluated by incorporating the stator voltages. Torque is evaluated as a cross result of
assessed stator flux linkage vector and measured Motor current vector. The assessed
flux greatness and torque are then contrasted and their reference values. In the event
that either the evaluated flux or torque digresses from the reference more than
permitted resistance, the transistors of the variable recurrence drive are killed and on in
a manner that the flux and torque will return in their tolerant groups as quick as could
reasonably be expected. Along these lines direct torque control is one type of the
hysteresis control.

Figure 3.4 : Direct torque control paradigm

In this proposed research the immediate torque control (DTC) has been thought
about for rate control utilizing multilayer neural system.
i. The properties of DTC can be portrayed as takes after
ii. Torque and flux can be changed quick by changing the references
iii. High productivity and low misfortunes - exchanging misfortunes are
minimized on the grounds that the transistors are exchanged just when it is
expected to keep torque and flux inside of their hysteresis groups
iv. The step reaction has no overshoot
v. No coordinate changes are required, all counts are done in stationary
direction framework

52
 vi. No separate modulator is required, the hysteresis control characterizes the
switch control flags straight forwardly
vii. There are no PI current controllers. Along these lines no tuning of the
control is required
viii. Digital control hardware must be quick keeping in mind the end goal to
have the capacity to keep the flux and torque from going amiss a long way
from the resistance groups. Ordinarily the control calculation must be
performed with 10 - 30 microseconds or shorter interims. Be that as it may,
the measure of figuring’s required is little because of the
straightforwardness of the calculation
ix. The current measuring gadgets must be astounding ones without clamor
since spikes in the deliberate flags effortlessly cause wrong control
activities. Further inconvenience is that no low-pass sifting can be utilized
to evacuate commotion on the grounds that separating causes delays in the
subsequent genuine qualities that demolishes the hysteresis control
x. The stator voltage estimations ought to have as low balanced blunder as
would be prudent with a specific end goal to keep the flux estimation
mistake down. Thus the stator voltages are typically evaluated from the
deliberate DC transitional circuit voltage and the transistor control signals
xi. In higher velocities the strategy is not touchy to any Motor parameters. In
any case, at low speeds the mistake in stator resistance utilized as part of
stator flux.

3.6 Servo Control Oriented ANN utilization

In modern software implementations of artificial neural networks, the approach
inspired by biology has been largely abandoned for a more practical approach based on
statistics and signal processing. In some of these systems, neural networks or parts of
neural networks (like artificial neurons) form components in larger systems that
combine both adaptive and non-adaptive elements. While the more general approach
of such systems is more suitable for real-world problem solving, it has little to do with

53
the traditional artificial intelligence connectionist models. What they do have in
common, however, is the principle of non-linear, distributed, parallel and local
processing and adaptation. Historically, the use of neural networks models marked a
paradigm shift in the late eighties from high-level (symbolic) artificial intelligence,
characterized by expert systems with knowledge embodied in if-then rules, to low-
level (sub-symbolic) machine learning, characterized by knowledge embodied in the
parameters of a dynamical system.
Perhaps the greatest advantage of ANNs is their ability to be used as an
arbitrary function approximation mechanism that 'learns' from observed data.
However, using them is not so straightforward, and a relatively good understanding of
the underlying theory is essential.

i. Choice of model: This will depend on the data representation and the
application. Overly complex models tend to lead to problems with learning.

ii. Learning algorithm: There are numerous trade-offs between learning

algorithms. Almost any algorithm will work well with the correct hyper
parameters for training on a particular fixed data set. However, selecting and tuning
an algorithm for training on unseen data requires a significant amount of
experimentation.

iii. Robustness: If the model, cost function and learning algorithm are selected
appropriately the resulting ANN can be extremely robust.

With the correct implementation, ANNs can be used naturally in online

learning and large data set applications. Their simple implementation and the existence
of mostly local dependencies exhibited in the structure allows for fast, parallel
implementations in hardware. The neural controls have been put into use in various
fields owing to their capability of on line learning and adaptability. In recent years,
many learning strategies for neural control have been proposed and applied to some
specified nonlinear control systems to overcome the unknown model and parameters
variation problems.

54
 The predominant objective of this chapter was to provide research oriented
subject or domain discussion so that a flexible and easy to understand thesis can be
provided for further study and analysis for the proposed research and algorithm
developed in Chapter5. The system implementation has been given in the next chapter
(Chapter-5) of the presented thesis.

55