Professional Documents
Culture Documents
Bachelor of Technology
In
Electrical Technology
BY
Muhammad Adeel (19E2-113010)
2013-2014
\
CERTIFICATE
PENNEL OF EXAMINERS
Assigned by:
____________________________
Internal Examiner:
____________________________
External Examiner:
_________________________
ABSTR
ABSTRACT
motor.
ACKNOWLEDGEMENT
sincere thanks to our respected Prof. Eng Toseef Abid for his
like to thank to my parents for their time and help with our project.
Muhammad Adeel (19E2-113010)
Contents
Chapter 1. Introduction Of Servo Motor
1) The Servo System……………………………………8
2) Servo Mechanism……………………………………9
3) Servo Motor…………………………………….........14
4) Dc Servo Motor Model…………………………........17
5) Analysis of Armature Circuit…………………..........18
6) Mechanical Model of Motor…………………………19
7) Electrical Time Constant of a DC Servomotor……..21
8) Mechanical Time Constant of a DC Servomotor…...22
9) Control Aspects Of Servo Motor…………………….23
10) Applications…………………………………………...24
11) Local Speed Control Of DC Servo Motor…………...25
12) Running The Motor In Open Loop………………….26
13) Model Estimation…………………………...................33
14) Comparison Of The Open Loop Response Of The
Transfer Function And That Of The Motor………………43
15) Servo Motor Information…………………..................45
16) X-ray View Standard Servo Motor………...................46
17) SERVO RATINGS……………………………………47
18) SERVO SPEED……………………………………….48
19) SERVO TORQUE (Power)…………………………...48
20) SERVO POWER (4.5- 6.0 VDC)…………...................50
21) Servo Wire Code……………………………………….52
22) Servo Centering…………………………………...........53
23) How to Determine the Center Position……………….55
Automated Servo Center Position
24) Manual Servo Center Position - Steps……………….56
25) DC Servo Motor Performance Selection Guide……..58
Chapter 4 Conclusion
……………………………………………………………..95
REFERENCES…………………………………………….
The Servo System
A closed-loop control system is another name for a servo system. To
following:
feedback.
3. Comparing the desired result with the present conditions and
of energy than the input level, e.g. in the brakes and steering of
ratio between the power of the control signal and that of the device
usually from outside the system, that represents the desired position
usable by the system (such as a voltage) and is fed to the same error
Fig 1.1
FIG 1.2
Uses
Position control
output. Any difference between the actual and wanted values (an
Speed control
Other
they are needed for robotics. Say a robot moves its arm by turning a
degree of rotation on its axis back to the robot so the robot can keep
tabs on the position of its arm, so if something bumps its arm it will
and has magnet which establishes a field across the rotor the
current if, the magnetic flux is constant; the flux can be varied by
FIG 1.5
DC Servomotor Model
FIG 1.6
voltage, is such that it always opposes the applied voltage, The net
constant of the motor, (at least in the SI system of units). This is not
surprising since both terms are related to the geometry of the motor,
the field strength, and the length of wire moving through the
the sum of the applied torques is equal to the product of the mass
of inertia of the motor armature, and the load. The net torque
long it takes for the current to develop in the armature winding for
gain and the time constant. The transfer function representing the
indefinitely.
the various parameters are listed in the data sheet. They can be
summarized as follows:
kg m2
the motor viscous damping coefficient=1.8 × 10-6 N · m · s
the back EMF constant=3.11× 10-2V/rad/s
the torque constant of the motor=3.11×10-2N · m/A
The mechanical time constant is listed in the motor datasheet as
14.4 ms. Given that the electrical time constant is 22.6 times smaller
input for both the second‐order motor model (top) and first order
motor model (bottom) are shown below for the motor used in the
lab.
FIG1.7
under control to show that it even got the command or acted upon
closing of the loop will always take a set amount of time, and the
longer that time is the less responsive the controller will be to fast
Applications
In Automotive Market:
For the local speed control of DC servo motor, the following steps
have been followed:
1. Running the motor in open loop
2. Model estimation
3. Comparison of the open loop response of the transfer function
and that of the motor
4. Designing the PID controller for the estimated model
5. Real-time execution of the system in closed loop, and comparison
of the open-loop and closed-loop responses
These steps have been explained in detail, in the following sub-
sections:
Running The Motor In Open Loop
When a system operates in the open loop configuration, the desired
input is fed into the system, using only the current state and the
model of the system. The system does not need a feedback from the
output, as it does not observe the output of the process that it
controls. As a result, an open loop system cannot engage in machine
learning. It can neither compensate for disturbances in the system,
nor engage in error-correction.
Open loop configuration is suited for systems where the relationship
between the input and the resultant state can be modeled by a
mathematical formula, and the load is predefined and fixed. For
example, for a motor driving a constant load, the desired speed can
be easily obtained in open loop by appropriately changing the input
voltage. But, if the load were unpredictable, the motor-speed would
be a function of the input voltage as well as the load. In such a case,
open loop control would not give satisfactory results.
Thus, an open loop system is used because of its advantages of
simplicity and low cost, where the use of feedback is not critical. The
Simulink model for running the motor in open loop is shown below:
FIG1.8
Blocks Used:
1. Signal Generator
2. Analog IP/OP
3. Scope
Library
Description
The Analog Input block allows us to select and connect specific
Analog Input block to your model, we can enter the parameters for
its I/O driver. The following procedure is used to configure
FIG1.9
In the Sample time box, enter the same value you entered in
the analog input channels you are using on this board. The
1,2,3
From the Input range list, choose the input range for all of the
channels, you need to add an I/O block for each different input
range.
From the Block output signal list, choose from the following
options:
converted to 0 to +1.
Raw — Returns a value of 0 to 2n -1. For example, a 12-bit
Analog Output
Description
Analog Output block to our model, we can enter the parameters for
2. In the Sample time box, enter the same value you entered in the
Fixed step size box from the Configuration Parameters dialog box,
the analog output channels you are using on this board. The vector
analog input channels you entered in the Input channels box. The
Advantech 1716 board has input range of 15V to -15V. If you want
different analog channels, you need to add an I/O block for each
5. From the Block input signal list, choose from the following
6. Enter the initial value for each analog output channel you entered
in the Output channels box. For example, if you entered [1,2] in the
Output channels box, and you want an initial value of 0 volts, enter
[0,0].
7. Enter a final value for each analog channel you entered in the
Output channels box, and you want final values of 0 volts, enter
[0,0].
8. Click OK or Apply.
FIG . 1.11 Open loop response of the motor
Model Estimation
modeling the plant. In the given case, from the open loop response
of the motor, it is seen that the output of the motor in open loop,
does not track the input. So, the motor needs to be run in closed
system. The transfer function that relates the input voltage and the
workspace:
The analog input and output blocks are set with values as shown
previously.
The model is then run, to import the voltage input and speed output
to the workspace.
imported into the GUI. The model board contains icons which
icons can be dragged and dropped in the model board into open
dialog boxes. The current session may be closed by selecting File ->
Close Session. This prompts to save the current session, if it has not
domain data‖. The following window opens, where the name of the
the starting time is entered; and depending on the sampling time set
Step-4:
and output data from the model, have been imported into the data
Step-5:
following window opens, where the model has been chosen to have 1
Step-6:
Dialog Box
With the chosen configuration of 1 zero and 2 poles, and no delay or
followed
Step-8:
The model which gives the most satisfactory fit, is dragged and
dropped from the model board into the To Workspace area. This
moves the values of Kp, Tz, Tp1 and Tp2 to the workspace, from
For the fit of 97.68% shown above, the transfer function parameters
are:
Kp = 0.74153
Tp1 = 0.30208
Tp2 = 0.0012424
Tz = 0.039167
And the corresponding transfer function is:
0.02904 s + 0.7415
----------------------------
of the transfer function and that of the motor is shown on the next
page.
FIG 1.20: Simulink model for comparison of open-loop response of the transfer
The analog input and output blocks are se with values as shown
previously. And the transfer function block Is set with the transfer
From these results, it is seen that the transfer function‘s open loop
motor. But, neither open loop response successfully tracks the input
(or the reference) which is set as a square wave varying between -10
volts and +10 volts. This indicates the necessity of a closed loop
control system for the motor, so that the transfer function (and the
the help of a PID controller, which has been described in the next
sub-section.
FIG 1.23
FIG 1.24
SERVO RATINGS
The most common details available on a servo are its speed and
with brand name, model name/ number, speed, and torque output at
SERVO SPEED
60 Degrees
Servo Speed is defined as the amount of time ( in seconds)
that a servo arm attached to the servo output shaft will SERVO
60
can move an attached wheel or arm.Servo Speed is measured by the
amount of time (in seconds) it takes a 1 inch servo arm to sweep left
force given over a distance. For most servos in the USA, torque is
the amount of weight (in ounces) that a servo can hold at 1-inch out
on the servo output arm in the horizontal plane, again at either 5.0
or 6.0 volts to see when the servo stalls as it tries to lift the weight
Servo XYZ = 100 oz/in. @ 6.0 V. That means that Servo XYZ
is capable of holding 100 ounces using a 1 inch output arm
Examples:
(16 Ounces) Servo-B has 2.5 oz-in of torque 2.5 divided by 2 = 1.25
Note:
If you need to know how many pounds a servo can push or lift on a
1" servo arm, divide the oz-in by the number 16. Different sized
arms can be used. Use the length of the arm and divide the oz-in
operate a Servo without damage. Servo operate from 4.5 to 6.0 volts
with stress forces against the servo output shaft. Some servo
to deliver the higher 6.0 Vdc. The current drain (Amps required)
depends on the torque being put out by the servo motor and can be
calculate 1 Amp per servo when figuring power supply needs for
most servos
Servo Connector
(S)Si
gnal=Yellow(PWM Signal)
(+) 5 Vdc = Red
(-) Ground = Black
FIG 1.25
10 uF Capacitor
Heatsink
Hitec
Red Yellow Black
Centering
R/C servos are usually mechanically stopped from moving at full
block on the internal gearing and can rotate about 90 to 180 degrees
servos are self contained with control loop circuitry, drive circuits,
the servo will resist being moved out of that position or continue
to try and move to the instructed position, even if the servo arm is
incorrectly placed on the motor shaft, until powered off. It is for this
reason that every servo output arm or servo wheel used should be
placed into the neutral position before instillation into your project.
Setting the servo arm or wheel to the neutral position prevents
FIG 1.27
How to Determine the Center Position
Automated Servo Center Position
the servo to a servo checker or tester. There are several low cost
servo checkers worth purchasing and having in your tool box if you
plan to work with servos. To use a Servo Checker simple set the
pre-attached, you may have to remove the servo arm on top of the
servo shaft and re-position it back onto the servo shaft center point.
The servo is now ready for instillation.Once centered place the servo
arm on top of the servo shaft, secure it with servo screw and install
the servo as needed or carefully remove the servo arm from the
servo if not needed for instillation. Do not move the shaft at this
point, if it moves, simply repeat the above procedure to find the
Carefully place one of the servo arms or wheel onto the servo shaft,
point. Slowly and carefully rotate the servo arm or wheel by hand as
far to one side as it will go, do not force servo arm / wheel. Mark a
line on the servo base where the servo arm or wheel reference line
stops. Slowly and carefully rotate the servo arm or wheel by hand to
the opposite position, as far to one side as it will go, do not force
servo arm / wheel. Should travel about 180 degrees. Mark a line on
the servo base where the servo arm reference line stops. Rotate the
servo arm back to 90 degrees between the two end reference line
positions (A,B) marked on the servo base. You may have to remove
the servo arm on top of the servo shaft and re-position it back onto
the output shaft to get the center point if the arm is off center
position. This should put the servo arm close to center position.
Carefully remove the servo arm from the servo if not needed for
instillation or place the servo arms on top of the servo shaft, secure
it with servo screw and install the servo as needed. Do not move the
shaft at this point. If it moves, simply repeat the above steps to find
The signal that controls the servo motor in this example is given by
completely signals with high and low current within the hardware.
For PCBs, signals such as motor outputs, analog ground and power
supply voltage should be with wide area and low resistance and it is
• High level
• Medium level
Driver_Servo.h)
Driver_Motor.h)
• Low level
Driver_EMIOS.h)
• Driver_MPC5604B.h
Driver explanation
Medium level drivers
Function vfnSet_Servo Sets the servo motor to a position
relative to the maximum and
minimum values established. For
example, if a reading in SAIC has a
value of 10 as a minimum because
less is invalid, and a maximum of
510, then a call to vfnSet_Servo
(260,10,510) sets the servo motor
exactly at the middle,and
vfnSet_Servo(10,10,510) sets the
servo motor to the left (all left
possible).
Parameters • u16Position: The desired position of the servo motor, with
relative values to the minimum and maximum values.
• u16MinVal: The minimum value possible for u16Position (if
u16Position is equal to u16MinVal then the servo motor turns all
the way left).
• u16MaxVal: The maximum value possible for u16Position (if
u16Position is
equal to u16MaxVal then the servo motor turns all the way right).
Return Null
……………………………………………………………………………
Functions on Driver_Motor.c
Driver_eMIOS.c
SIU is the module that assigns functions to the physical pins. These
pin can have, so there are pad configuration register values for each
https://www.freescale.com ).
Driver_SIU.c
Setup.c
Driver_MPC5604B.h
This file has no functions, and contains only useful definitions that
to port C13, and the value that the SIU uses to assign that pin is 45
(which is the pad configuration register for that pin). For a complete
mode of operation are different. The rotors of this kind of motor are
designed with long rotor lengths and smaller diameters . They have
servomotors in brief.
Series motors
The series motor has a high starting torque and draws large current
field winding (i.e one winding for direction of rotation). This method
Split series motor are the dc series motor with split-field rated with
good damping.
FIG 1.30
Shunt control motor
FIG 1.31
human work force. One of the benefits is that this change provides
the human work force with the time to spend on more creative
very rapidly. The two most common stations are the GMAW (Gas
Metal Arc Welding) station and the GTAW (Gas Tungsten Arc
Welding) station. These two stations are the most common because
motion devices to move around the robot for a larger working range
and better weld positions, sensors, and safety devices. A typical arc
composed of yaw, pitch, and roll, similar to the human wrist. The
robot has the most effective motion when the center point of the
wrist is aligned with the center line of the upper arm. A robot with a
three-axis lower arm and a three-axis wrist will permit the torch
process. The torch can satisfy all the angle requirements, such as,
the work angle, the transverse angle, the travel angle, and the
longitudinal angle. Important factors, when considering
time between failure (MTBF), the average time for repair, and the
important issues are the robot work envelope, the reach of the robot
tip, the number of joints (i.e., the degrees of freedom), the travel
The controller is the brain of the robot arc welding system. This is
ensure that the robot can restore the programmed position without
short arc with less spatter for a good welding quality even at high
speeds.The arc sensor detects the current value so that the power
source can supply the correct amount of power to the wire feeder,
which then controls the wire feeding speed. The wire feeder has
wheel rollers to advance the wire. Some feeders have four rollers
Also, a wire feeder with shorter length to the torch is better in terms
of a response time. Therefore, a good location for the wire feeder for
a robot system is at the end of the upper arm of the robot. A slender
the connections for welding, such as, electric power, the wire, and
Manipulators
A robot has a limited working range and accessibility, therefore, in
device holding the work piece and is moved around (typically with
a manipulator include:
(1) A manipulator can easily be moved around the work piece for
(2) A manipulator can reduce the variation in the lead and the lag
manipulator.
type system has higher accuracy and variable speed control in both
motion and the degrees of freedom that are required, are shown in .
FIG1.35
of a work piece.
FIG1.36
Sensors
Sensors collect information from the robot, peripheral devices, and
available, see Table 1, and the right type must be chosen depending
on the application.
Optical systems for guiding a weld seam. Figure 6 shows a system that
will detect an upcoming weld joint. This sensor may be used for grooves
such as V and J, lap joints, fillet joints, butt joints, or corner joints.
However, since it is located near the torch there is a limitation in access.
The system in Fig. 7 is used for detecting minor changes of the joints
that lie ahead. This system can be used for thin welds and at high
speeds. The system is good for lap, fillet, or butt joints. However, it
is important to note that there is the possibility of a collision with
of work pieces and, thereby, increase the arc time. For efficient use
track as shown in Fig. .The track also this provides flexibility for the
track is useful when the breadth of the pieces is less than 1 meter
and a travel
doors, and computer racks. For increased arc time and productivity,
the concept of one robot with multiple work stations is used. This is
different sizes. A very large work piece can be welded with multiple
direction, the column may fix the robot or move the robot in a
space. Also, the wirings of welding wire, power and signal cables
geometry of a fixture is based upon the geometry of the work piece and
good welding position and should be protected against heat, smoke, and
Safety
vibrations will not produce a shaking effect on the system. Also, the
located at a position that is easily accessible. The switch should stop the
robot without shutting off the power. There should also be a safety fence
to protect the work force from spatter and arc flash. Figure 12 shows a
complete system of a safety fence. For safety, the robot operator should
provide the operator with the opportunity to become familiar with the
robot system. While designing the robot system, sufficient time for
that the operator can work safely on loading and unloading. This will
manual operation.
carried out for the tool center point (TCP) and the LCD display panel is
adopted for menu guide. It is easy to use but restricted in application and
extension. A teach pendant (such as the one shown in Fig. ) is the most
expert will hold the holder near the torch and program by manual lead-
through. This was common in first generation robots, however, in
The operation level language only describes the final goal of the
research stage.
and it is translated into the language of the robot. This is also referred to
as off-line programming.
(B) Welding Data. Welding data is special data of parameters that are
used for the welding process. The welding data is composed of start
data, main data, end data, and weaving data. Figure 14 shows an
and we had success in controlling servos which was our main purpose &
goal. I will have more projects coming which use servos so you can see
how they fit into projects which are doing many things at once.
for those of you who have been waiting to see it, a stepper motor tutorial