Study Report of Dc Servo Motor

8/10/2019 Study Report of Dc Servo Motor

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(In The Name Of Allah,The Most Bene cent

The Most Merciful)


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STUDY REPORT OF DC SERVO MOTOR

A REPORT SUBMITTED IN PARTIAL FULFILLMENT OF

THE REQUIREMENTS FOR THE DEGREE OF

Bachelor of Technolo !

In

Elec"r#cal Technolo !

BY

M$ha%%a& A&eel '()E*+((,-(-.

/

De0ar"%en" of Elec"r#cal Technolo !

Pre1"on Un#2er1#"! Fa#1ala3a&

*-(,+*-(4


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CERTIFICATE

This is to certify Th at this Report entitled STUDY REPORT OF DC

1er2o %o"or5 submitted by Muhammad Adeel Sarwar in partialfulfillment of the requirements for the award of Bachelor of

Technology degree in Electrical Technology at Preston Uni ersity

!aisalabad is an authentic wor" carried out by him under my super ision

and guidance# To the best of my "nowledge the matter embodied in the

report not been submitted to any other Uni ersity$%nstitute for the

award of any degree or diploma#

PENNEL OF E6AMINERS


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Assigned by& ''''''''''''''''''''''''''''

%nternal E(aminer&

'''''''''''''''''''''''''''' E(ternal E(aminer&

'''''''''''''''''''''''''

ABSTR

ABSTRACT

The DC 1er2o %o"or ha1 a00l#ca"#on1 #n a$"o%o"#2e %ar7e" #n

a00l#ca"#on1 ran #n fro% hea"#n an& 2en"#la"#on "o 0o8er

%#rror 0o1#"#on#n 5 I" #1 al1o #n $1e #n In&$1"r#al an& Con1$%er

Mar7e"1 for en"er"a#n%en" e9$#0%en": HVAC 2en"#la"#on con"rol

an& %!r#a& n$%3er of o"her a00l#ca"#on15 In all "he1e a00l#ca"#on1:


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e#"her 10ee& or 0o1#"#on con"rol of "he DC 1er2o %o"or #1 $1e&5

In "h#1 Re0or": 8e ha2e ach#e2e& DC 1er2o %o"or $1#n For a %ore

eff#c#en" 10ee& con"rol: clo1e& loo0 con"rol 1!1"e% of "he 1er2o

%o"or5

AC;NOec"5


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Muhammad Adeel )*+E,-**./*/0

Con"en"1Cha0"er (5 In"ro&$c"#on Of Ser2o Mo"or

(. The Ser2o S!1"e%??????????????@*. Ser2o Mechan#1%??????????????),. Ser2o Mo"or??????????????555555555(44. Dc Ser2o Mo"or Mo&el??????????55555555(. Anal!1#1 of Ar%a"$re C#rc$#"???????5555555555(@. Mechan#cal Mo&el of Mo"or??????????(). Elec"r#cal T#%e Con1"an" of a DC Ser2o%o"or??55*(@.Mechan#cal T#%e Con1"an" of a DC Ser2o%o"or?555**). Con"rol A10ec"1 Of Ser2o Mo"or????????5*,(-. A00l#ca"#on1????????????????555*4((. Local S0ee& Con"rol Of DC Ser2o Mo"or????555*

(*. R$nn#n The Mo"or In O0en Loo0???????5*(,. Mo&el E1"#%a"#on??????????5555555555555555555,,(4. Co%0ar#1on Of The O0en Loo0 Re10on1e Of The

Tran1fer F$nc"#on An& Tha" Of The Mo"or??????4,( . Ser2o Mo"or Infor%a"#on???????5555555555555555554*10 6+ra! V#e8 S"an&ar& Ser2o Mo"or???55555555555555555554( . SERVO RATINGS??????????????4(@. SERVO SPEED???????????????54@

*+0 SERVO TORQUE 'Po8er.??????????5554@,/0 SERVO PO


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*(. Ser2o


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The Servo System

A clo1e&+loo0 con"rol 1!1"e% #1 ano"her na%e for a 1er2o 1!1"e%5 To

3e cla11#f#e& a1 a 1er2o: a con"rol 1!1"e% %$1" 3e ca0a3le of "he

follo8#n

(5 Acce0"#n an or&er "ha" &ef#ne1 "he &e1#re& re1$l"5*5 De"er%#n#n "he 0re1en" con"#on1 3! 1o%e %e"ho& of

fee&3ac75,5 Co%0ar#n "he &e1#re& re1$l" 8#"h "he 0re1en" con"#on1 an&

o3"a#n#n a fference or an error 1# nal545 I11$#n a correc"#n or&er '"he error 1# nal. "ha" 8#ll

0ro0erl! chan e "he e=#1"#n con"#on1 "o "he &e1#re& re1$l"5 O3e!#n "he correc"#n or&er5


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Servo Mechanism

A 0o8ere& %echan#1% 0ro&$c#n %o"#on or force1 a" a h# her le2el

of ener ! "han "he #n0$" le2el: e5 5 #n "he 3ra7e1 an& 1"eer#n of

lar e %o"or 2eh#cle1: e10ec#all! 8here fee&3ac7 #1 e%0lo!e& "o %a7e

"he con"rol a$"o%a"#c5 1er2o%echan#1%: a$"o%a"#c &e2#ce $1e& "o

correc" "he 0erfor%ance of a %echan#1% 3! %ean1 of an error+

1en1#n fee&3ac75 The "er% 1er2o%echan#1% 0ro0erl! a00l#e1 onl!

"o 1!1"e%1 #n 8h#ch "he fee&3ac7 an& error+correc"#on 1# nal1

con"rol %echan#cal 0o1#"#on or one of #"1 &er#2a"#2e1 1$ch a1 2eloc#"!

or accelera"#on5 Ser2o%echan#1%1 8ere f#r1" $1e& #n $nla!#n

'a#%#n . an& #n f#re+con"rol an& %ar#ne+na2# a"#on e9$#0%en"5

To&a!: a00l#ca"#on1 of 1er2o%echan#1%1 #ncl$&e "he#r $1e #n

a$"o%a"#c %ach#ne "ool1: 1a"ell#"e+"rac7#n an"enna1: cele1"#al+

"rac7#n 1!1"e%1 on "ele1co0e1: a$"o%a"#c na2# a"#on 1!1"e%1: an&

an"#a#rcraf"+ $n con"rol 1!1"e%15 In %an! a00l#ca"#on1:

1er2o%echan#1%1 allo8 h# h+0o8ere& &e2#ce1 "o 3e con"rolle& 3!

1# nal1 fro% &e2#ce1 of %$ch lo8er 0o8er5 The o0era"#on of "he

h# h+0o8ere& &e2#ce re1$l"1 fro% a 1# nal 'calle& "he error: or

fference: 1# nal. enera"e& fro% a co%0ar#1on of "he &e1#re&


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0o1#"#on of "he h# h+0o8ere& &e2#ce 8#"h #"1 ac"$al 0o1#"#on5 The

ra"#o 3e"8een "he 0o8er of "he con"rol 1# nal an& "ha" of "he &e2#ce

con"rolle& can 3e on "he or&er of 3#ll#on1 "o one5 All

1er2o%echan#1%1 ha2e a" lea1" "he1e 3a1#c co%0onen"1 a con"rolle&

&e2#ce: a co%%an& &e2#ce: an error &e"ec"or: an error+1# nal

a%0l#f#er: an& a &e2#ce "o 0erfor% an! nece11ar! error correc"#on1

'"he 1er2o%o"or.5 In "he con"rolle& &e2#ce: "ha" 8h#ch #1 3e#n

re $la"e& #1 $1$all! 0o1#"#on5 Th#1 &e2#ce %$1": "herefore: ha2e 1o%e

%ean1 of enera"#n a 1# nal '1$ch a1 a 2ol"a e.: calle& "he fee&3ac7

1# nal: "ha" re0re1en"1 #"1 c$rren" 0o1#"#on5 Th#1 1# nal #1 1en" "o an

error+&e"ec"#n &e2#ce5 The co%%an& &e2#ce rece#2e1 #nfor%a"#on:

$1$all! fro% o$"1#&e "he 1!1"e%: "ha" re0re1en"1 "he &e1#re& 0o1#"#on

of "he con"rolle& &e2#ce5 Th#1 #nfor%a"#on #1 con2er"e& "o a for%

$1a3le 3! "he 1!1"e% '1$ch a1 a 2ol"a e. an& #1 fe& "o "he 1a%e error

&e"ec"or a1 #1 "he 1# nal fro% "he con"rolle& &e2#ce5 The error

&e"ec"or co%0are1 "he fee&3ac7 1# nal 're0re1en"#n ac"$al 0o1#"#on.

8#"h "he co%%an& 1# nal 're0re1en"#n &e1#re& 0o1#"#on.5 An!

cre0anc! re1$l"1 #n an error 1# nal "ha" re0re1en"1 "he correc"#on

nece11ar! "o 3r#n "he con"rolle& &e2#ce "o #"1 &e1#re& 0o1#"#on5 The

error+correc"#on 1# nal #1 1en" "o an a%0l#f#er: an& "he a%0l#f#e&


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2ol"a e #1 $1e& "o &r#2e "he 1er2o%o"or: 8h#ch re0o1#"#on1 "he

con"rolle& &e2#ce5 A "!0#cal 1!1"e% $1#n a 1er2o%echan#1% #1 "he

co%%$n#ca"#on1+1a"ell#"e "rac7#n an"enna of a 1a"ell#"e Ear"h

1"a"#on5 The o3>ec"#2e #1 "o 7ee0 "he an"enna a#%e& rec"l! a" "he

co%%$n#ca"#on1 1a"ell#"e #n or&er "o rece#2e an& "ran1%#" "he

1"ron e1" 0o11#3le 1# nal5 One %e"ho& $1e& "o acco%0l#1h "h#1 #1 "o

co%0are "he 1# nal1 fro% "he 1a"ell#"e a1 rece#2e& 3! "8o or %ore

clo1el! 0o1#"#one& rece#2#n ele%en"1 on "he an"enna5 An! fference

#n "he 1"ren "h1 of "he 1# nal1 rece#2e& 3! "he1e ele%en"1 re1$l"1 #n a

correc"#on 1# nal 3e#n 1en" "o "he an"enna 1er2o%o"or5 Th#1

con"#n$o$1 fee&3ac7 %e"ho& allo81 a "erre1"r#al an"enna "o 3e

a#%e& a" a 1a"ell#"e , :-- 7% '*,:--- %#le1. a3o2e "he Ear"h "o an

acc$rac! %ea1$re& #n h$n&re&"h1 of a cen"#%e"re5

!ig *#*


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FIG (5*

Uses

Po1#"#on con"rol

A co%%on "!0e of 1er2o 0ro2#&e1 0o1#"#on con"rol5 Ser2o1 are

co%%onl! elec"r#cal or 0ar"#all! elec"ron#c #n na"$re: $1#n an

elec"r#c %o"or a1 "he 0r#%ar! %ean1 of crea"#n %echan#cal force5

O"her "!0e1 of 1er2o1 $1e h!&ra$l#c1: 0ne$%a"#c1: or %a ne"#c

0r#nc#0le15 Ser2o1 o0era"e on "he 0r#nc#0le of ne a"#2e fee&3ac7:

8here "he con"rol #n0$" #1 co%0are& "o "he ac"$al 0o1#"#on of "he

%echan#cal 1!1"e% a1 %ea1$re& 3! 1o%e 1or" of "ran1&$cer a" "he

o$"0$"5 An! fference 3e"8een "he ac"$al an& 8an"e& 2al$e1 'an

error 1# nal . #1 a%0l#f#e& 'an& con2er"e&. an& $1e& "o &r#2e "he

1!1"e% #n "he rec"#on nece11ar! "o re&$ce or el#%#na"e "he error5


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Th#1 0roce&$re #1 one 8#&el! $1e& a00l#ca"#on of con"rol "heor!5

Speed control

S0ee& con"rol 2#a a o2ernor #1 ano"her "!0e of 1er2o%echan#1%5

The 1"ea% en #ne $1e1 %echan#cal o2ernor1 ano"her earl!

a00l#ca"#on 8a1 "o o2ern "he 10ee& of 8a"er 8heel15 Pr#or "o $1" "hefoc$15 A %o&ern har& &r#2e ha1 a %a ne"#c 1er2o 1!1"e% 8#"h1$3+%#cro%e"re 0o1#"#on#n acc$rac!5 In #n&$1"r#al %ach#ne1: 1er2o1are $1e& "o 0erfor% co%0le= %o"#on: #n %an! a00l#ca"#on1


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Servo Motor

A 1er2o %o"or #1 an elec"r#c %o"or 8#"h a 3$#l" #n ro"a"#on 1en1or:

"he! are nee&e& for ro3o"#c15 Sa! a ro3o" %o2e1 #"1 ar% 3! "$rn#n a

1er2o %o"or: "he %o"or 8o$l& 1en& #nfor%a"#on concern#n "he

&e ree of ro"a"#on on #"1 a=#1 3ac7 "o "he ro3o" 1o "he ro3o" can 7ee0

"a31 on "he 0o1#"#on of #"1 ar%: 1o #f 1o%e"h#n 3$%01 #"1 ar% #" 8#ll

7no8 #" an& 1o+on5

Elec"r#c %o"or1 are "he co%%onl! $1e& ac"$a"or #n elec"ro%a ne"#c

1!1"e%1 of all "!0e15 The! are %a&e #n a 2ar#e"! of conf# $ra"#on1

an& 1# e1 for a00l#ca"#on1 ran #n fro% ac"#2a"#n 0rec#1#on

%o2e%en"1 "o 0o8er#n e1el+elec"r#c loco%o"#2e15 The la3ora"or!

%o"or1 are 1%all 1er2o%o"or1: 8h#ch %# h" 3e $1e& for 0o1#"#on#n

an& 10ee& con"rol a00l#ca"#on1 #n a 2ar#e"! of a$"o%a"e& %ach#ne15

The! are DC 'rec" c$rren". %o"or15 The ar%a"$re #1 &r#2en 3! an

e="ernal DC 2ol"a e "ha" 0ro&$ce1 "he %o"or "or9$e an& re1$l"1 #n

"he %o"or 10ee&5 The ar%a"$re c$rren" 0ro&$ce& 3! "he a00l#e&

2ol"a e #n"erac"1 8#"h "he 0er%anen" %a ne" f#el& "o 0ro&$ce

c$rren" an& %o"#on5 + 'Mo&el#n of DC Ser2o Mo"or.


15/99

The 1er2o DC %o"or #1 3a1#call! a "ran1&$cer "ha" con2er"1 elec"r#c

ener ! #n"o %echan#cal ener !5 The "or9$e &e2elo0e& on "he %o"or

1haf" #1 rec"l! 0ro0or"#onal "o "he f#el& fl$= an& "he ar%a"$re

c$rren"5 The &c 1er2o %o"or 1er2o %o"or1 are 2er! e=0en1#2e #n

co%0ar#1on "o ac 1er2o %o"or1 3eca$1e of 3r$1he1 an& co%%$"a"or1

5The1e %o"or1 ha2e rela"#2el! lo8 "or9$e "o 2ol$%e an& "or9$e "o

#ner"#a ra"#o: ho8e2er "he charac"er#1"#c1 of &c %o"or1 are 9$#"e

l#near an& are ea1! "o con"rol5


16/99

FIG (5,


17/99

FIG (54

FIG (5

DC Servomotor Model

FIG (5F# $re ( &e0#c"1 a ener#c %o&el of a DC %o"or "ha" #ncl$&e1 "8o

8#nn 1 a 1"a"#onar! f#el& 8#nn on "he 1"a"or an& a 1econ&

8#nn for "he ro"a"#n ar%a"$re5 Th#1 "!0e of %o"or can


18/99

3e con"rolle& 3! 2ar!#n e#"her "he f#el& c$rren" or "he ar%a"$re

c$rren"5 Mo1" %o&ern 1er2o%o"or1 are 1o%e8ha" fferen" #n

con1"r$c"#on5 The f#el& 8#nn #1 re0lace& 8#"h "8o or %ore

0o8erf$l rare ear"h %a ne"1 on "he 1"a"or5 S#nce "he f#el& 1"ren "h

of "he1e %o"or1 #1 con1"an": "he! can onl! 3e con"rolle& 3! 2ar!#n

"he ar%a"$re c$rren" In a 0er%anen" %a ne" %o"or "he o$"0$"

"or9$e: : #1 rec"l! 0ro0or"#onal "o "he ar%a"$re c$rren":5 The

con1"an" of 0ro0or"#onal#"! #1 referre& "o a1 "he "or9$e con1"an" of

"he %o"or an& #1 re0re1en"e& 3! 5 The "ran1fer f$nc"#on rela"#n

%o"or "or9$e "o ar%a"$re c$rren" can 3e e=0re11e& a1 follo81

Analysis of Armature Circuit

The ar%a"$re c$rren": can 3e e=0re11e& #n "er%1 of "he a00l#e&

%o"or 2ol"a e :3! a00l!#n ;#rchhoff 1 Vol"a e La8 ';VL. "o "he

ar%a"$re c#rc$#" #n F# $re 5 A1 8#"h %o1" 8#nn 1: "he #%0e&ance

of "he ar%a"$re can 3e re0re1en"e& 3! a re1#1"#2e co%0onen": : #n

1er#e1 8#"h an #n&$c"#2e co%0onen": The 2ol"a e: re0re1en"1 "he

3ac7 Elec"ro%o"#2e Force '3ac7 EMF.5 Mo1" 0er%anen" %a ne"


19/99

DC %o"or1 can al1o o0era"e enera"or15 In o"her 8or&1: #f "he %o"or

1haf" #1 ro"a"#n : a 2ol"%e"er connec"e& acro11 "he %o"or "er%#nal1

8#ll #nca"e a 2ol"a e "ha" #1 0ro0or"#onal "o "he an $lar 2eloc#"! of

"he %o"or 1haf": 5 Th#1 J enera"or 0heno%enonK occ$r1 e2en 8hen

"he %o"or #1 o0era"#n #n "he nor%al %anner '#5e5: a1 a %o"or.5

Accorn "o Len 1 la8: "he 0olar#"! of "he #n&$ce& 3ac7 EMF

2ol"a e: #1 1$ch "ha" #" al8a!1 o00o1e1 "he a00l#e& 2ol"a e: The ne"

re1$l" #1 "ha" a DC %o"or 8#"h no loa& 'an& #n "he a31ence of

fr#c"#on. 8#ll reach a %a=#%$% 1"ea&! 1"a"e an $lar 2eloc#"!

corre10onn "o "he o0era"#n 0o#n" 8here "he #n&$ce& 2ol"a e:

co%0le"el! off1e"1 "he a00l#e& 2ol"a e:The 3ac7 EMF 2ol"a e: can

3e e=0re11e& a1 a f$nc"#on of "he an $lar 2eloc#"! of "he %o"or The

3ac7 EMF con1"an": : #1 of"en n$%er#call! #&en"#cal "o "he "or9$e

con1"an" of "he %o"or: 'a" lea1" #n "he SI 1!1"e% of $n#"1.5 Th#1 #1 no"

1$r0r#1#n 1#nce 3o"h "er%1 are rela"e& "o "he eo%e"r! of "he %o"or:

"he f#el& 1"ren "h: an& "he len "h of 8#re %o2#n "hro$ h "he

%a ne"#c f#el&5 All "hree "er%1 are con1"an" #n a 0er%anen" %a ne"

DC %o"or5 An e=0re11#on rela"#n "he ar%a"$re c$rren": "o "he

a00l#e& %o"or 2ol"a e: an& "he an $lar 2eloc#"! of "he %o"or


20/99

Mechanical Model of Motor

In or&er "o co%0le"e "he "ran1fer f$nc"#on of "he %o"or: a %ean1

of rela"#n "or9$e "o an $lar 2eloc#"! %$1" 3e fo$n&5 Th#1 can 3e

acco%0l#1he& 3! con1#&er#n "he %echan#cal %o&el of "he %o"or5

The "or9$e enera"e& 3! "he %o"or accelera"e1 "he ar%a"$re of "he

%o"or a1 8ell a1 an! a&"#onal loa& #ner"#a on "he %o"or 1haf"5

So%e of "he "or9$e al1o oe1 "o8ar&1 o2erco%#n fr#c"#on5 In or&er

"o %a#n"a#n a l#near 1!1"e% %o&el: onl! "he 2#1co$1 %o"or fr#c"#on

8#ll 3e con1#&ere& for "he "#%e 3e#n 5 For a %echan#cal 1!1"e%

$n&er o#n 0$re ro"a"#onal %o"#on: Ne8"on 1 1econ& la8 1"a"e1 "ha"

"he 1$% of "he a00l#e& "or9$e1 #1 e9$al "o "he 0ro&$c" of "he %a11

%o%en" of #ner"#a: an& "he an $lar accelera"#on of "he 3o&!: In "he

ca1e of "he DC 1er2o%o"or: #1 e9$al "o "he 1$% of "he %a11 %o%en"

of #ner"#a of "he %o"or ar%a"$re: an& "he loa&5 The ne" "or9$e

enera"e& 3! "he %o"or #1 e9$al "o "he %o"or "or9$e: %#n$1 "he

ro"a"#onal 2#1co$1 fr#c"#on5 The ro"a"#onal 2#1co$1 fr#c"#on a11oc#a"e&

8#"h "he %o"or #1 0ro0or"#onal "o "he %o"or an $lar 2eloc#"!: 8here

#1 "he %o"or 2#1co$1 &a%0#n coeff#c#en"5 Re0lac#n "he an $lar


21/99


22/99

%a=#%$% of ,5* A5 The %a=#%$% %o"or 0o8er #0a"#on #1

"herefore @< al"ho$ h "h#1 0o8er le2el canno" 3e "olera"e&

#n&ef#n#"el!5

Mechanical Time Constant of a DC Servomotor

A1 &e%on1"ra"e& a3o2e: a DC 1er2o%o"or can 3e %o&ele& a1 a

1econ&or&er "ran1fer f$nc"#on5 If "he elec"r#cal "#%e con1"an" of "he

%o"or #1 2er! 1%all: #" can 3e ne lec"e& an& "he %o"or can

3e %o&ele& a1 a f#r1" or&er "ran1fer5 Ne lec"#n "he elec"r#cal "#%e

con1"an" #%0l#e1 1e""#n "he %o"or #n&$c"ance: "o ero 8h#ch !#el&1

In "he ca1e of "he %o"or $1e& #n "he la3ora"or! 'P#""%an )*,*S--,.

"he 2ar#o$1 0ara%e"er1 are l#1"e& #n "he &a"a 1hee"5 The! can 3e

1$%%ar# e& a1 follo81

"he ar%a"$re re1#1"ance 5,@ "he %a11 %o%en" of #ner"#a of "he %o"or ar%a"$re (5) (- +

7 % * "he %o"or 2#1co$1 &a%0#n coeff#c#en" 1.8 10 -6 N m s "he 3ac7 EMF con1"an" ,5(( (- +*V ra& 1 "he "or9$e con1"an" of "he %o"or ,5(( (- +* 2 3 m$A


23/99

The %echan#cal "#%e con1"an" #1 l#1"e& #n "he %o"or &a"a1hee" a1

(454 %15 G#2en "ha" "he elec"r#cal "#%e con1"an" #1 **5 "#%e1 1%aller

"han "he %echan#cal "#%e con1"an": #" can 3e

Ne lec"e& #n %an! a00l#ca"#on1 an& "he %o"or can 3e effec"#2el!

%o&ele& a1 a f#r1" or&er 1!1"e%5 The no loa& re10on1e "o a *4V 1"e0

#n0$" for 3o"h "he 1econ& or&er %o"or %o&el '"o0. an& f#r1" or&er

%o"or %o&el '3o""o%. are 1ho8n 3elo8 for "he %o"or $1e& #n "he

la35

FIG(5

Control Aspects Of Servo Motor

An o0en+loo0 1!1"e% ha1 no fee&3ac7 fro% "he 1!1"e% 3e#n

con"rolle&5 Th#1 #1 1or" of 1hoo" an& for e" a00roach "o con"rol5 An

#n0$" 1# nal or 2al$e #1 0ro2#&e& an& "he con"roller co%%an&1 "he

1!1"e% "o o "o a &ef#n#"e 10ee&: 8ha"e2er: an& ho0e1 "ha" "he 1!1"e%


24/99

re10on&1 accorn l!5 There #1 no #nfor%a"#on fro% "he 1!1"e%

$n&er con"rol "o 1ho8 "ha" #" e2en o" "he co%%an& or ac"e& $0on

#"5 In a clo1e&+loo0 con"rol 1!1"e% "here #1 fee&3ac75 If 10ee& #1 3e#n

con"rolle&: a 1%all a%o$n" of "he c$rren" 10ee& #1 0ro2#&e& 3ac7 "o

"he con"roller: allo8#n #" "o a&>$1" #"1 co%%an&1 a1 "he 1!1"e%

re10on&1 "o "he co%%an&15 L#7e8#1e "r$e 8#"h 0o1#"#on5

The 0erfor%ance of a clo1e&+loo0 1!1"e% #1 0ar"#all! a f$nc"#on of

"he 10ee& a" 8h#ch "he fee&3ac7 #1 re"$rne& "o "he con"roller5 Th#1

clo1#n of "he loo0 8#ll al8a!1 "a7e a 1e" a%o$n" of "#%e: an& "he

lon er "ha" "#%e #1 "he le11 re10on1#2e "he con"roller 8#ll 3e "o fa1"

chan #n con"#on15 De0enn on "he 0erfor%ance re9$#re%en"1

of "he a00l#ca"#on: e#"her a clo1e&+loo0 or o0en+loo0 con"rol 1!1"e%

can 3e $1e& "o con"rol %o"or 0o1#"#on: 10ee&: or o"her 1#%#lar

a00l#ca"#on5+ 'Ser2o Mo"or Con"rol.

ApplicationsIn A$"o%o"#2e Mar7e" (5 Po8er %#rror 0o1#"#on#n 5

*5 Po8er 1ea"1 0o1#"#on#n %o"or15

,5 Po8er &oor an& "r$n7 loc7 %echan#1%15


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45


26/99

Running The Motor n Open Loop


27/99

FIG(5@

Bloc"s Used&

*# Signal 4enerator

,# Analog %P$5P

.# Scope

Analog nput !loc"

Selec" an& connec" analo #n0$" channel1

Li#rary

Real+T#%e


28/99

#"1 I O &r#2er5 The follo8#n 0roce&$re #1 $1e& "o conf# $re

A&2an"ech ( ( PCI car&

6ouble-clic" the Analog %nput bloc"# The Bloc" Parameters&Analog %nput dialog bo( opens

!%4*#+

In "he Sa%0le "#%e 3o=: en"er "he 1a%e 2al$e !o$ en"ere& #n

"he F#=e& 1"e0 1# e 3o= fro% "he Conf# $ra"#on Para%e"er1

alo 3o=: or an #n"e er %$l"#0le of "ha" 2al$e5 In "he In0$" channel1 3o=: en"er a channel 2ec"or "ha" 1elec"1

"he analo #n0$" channel1 !o$ are $1#n on "h#1 3oar&5 The

2ec"or can 3e an! 2al#& MATLAB 2ec"or for%5 To 1elec" all


29/99

1#="een analo #n0$" channel1 on "he A&2an"ech ( ( 3oar&:

en"er (:*:,:4: : : :@:):(-:((:(*:(,:(4:( :( or ( ( If !o$ 8an" "o $1e "he f#r1" "hree analo #n0$" channel1: en"er

(:*:,Fro% "he In0$" ran e l#1": choo1e "he #n0$" ran e for all of "he

analo #n0$" channel1 !o$ en"ere& #n "he In0$" channel1 3o=5

The A&2an"ech ( ( 3oar& ha1 #n0$" ran e of ( V "o +( V5 If

!o$ 8an" "he #n0$" ran e "o 3e fferen" for fferen" analo

channel1: !o$ nee& "o a&& an I O 3loc7 for each fferen" #n0$"

ran e5 Fro% "he Bloc7 o$"0$" 1# nal l#1": choo1e fro% "he follo8#n

o0"#on1

Vol"1 Re"$rn1 a 2al$e e9$al "o "he analo 2ol"a e5Nor%al# e& 3#0olar Re"$rn1 a f$ll ran e 2al$e of +( "o (

re ar&le11 of "he #n0$" 2ol"a e ran e5Nor%al# e& $n#0olar Re"$rn1 a f$ll ran e 2al$e of - "o (

re ar&le11 of "he #n0$" 2ol"a e ran e5 For e=a%0le: an analo

#n0$" ran e of - "o 2ol"1 an& + "o 2ol"1 8o$l& 3o"h 3e

con2er"e& "o - "o (5Ra8 Re"$rn1 a 2al$e of - "o *n +(5 For e=a%0le: a (*+3#"

A D con2er"er 8o$l& re"$rn 2al$e1 of - "o *(* +( '- "o 4-) .5


30/99

The a&2an"a e of "h#1 %e"ho& #1 "he re"$rne& 2al$e #1 al8a!1

an #n"e er 8#"h no ro$n&+off error15Se" O$"0$" &a"a "!0e "o 10ec#f! "he "!0e of &a"a "ha" "he 3loc7

8#ll o$"0$" "o "he %o&el5Cl#c7 O; or A00l!5

Analog Output

Selec" an& connec" analo o$"0$" channel1 Li#rary Real+T#%e


31/99

FIG (5(- Analo In0$" Bloc7 Para%e"er1 D#alo Bo=

*5 In "he Sa%0le "#%e 3o=: en"er "he 1a%e 2al$e !o$ en"ere& #n "he

F#=e& 1"e0 1# e 3o= fro% "he Conf# $ra"#on Para%e"er1 alo 3o=:

or an #n"e er %$l"#0le of "ha" 2al$e5

,5 In "he O$"0$" channel1 3o=: en"er a channel 2ec"or "ha" 1elec"1

"he analo o$"0$" channel1 !o$ are $1#n on "h#1 3oar&5 The 2ec"or

can 3e an! 2al#& MATLAB 2ec"or for%5 To 1elec" 3o"h analo

o$"0$" channel1 on "he A&2an"ech ( ( 3oar&: en"er (:* or ( *


32/99

45 Fro% "he O$"0$" ran e l#1": choo1e "he #n0$" ran e for all of "he

analo #n0$" channel1 !o$ en"ere& #n "he In0$" channel1 3o=5 The

A&2an"ech ( ( 3oar& ha1 #n0$" ran e of ( V "o +( V5 If !o$ 8an"

"he #n0$" ran e "o 3e fferen" for

fferen" analo channel1: !o$ nee& "o a&& an I O 3loc7 for each

fferen" #n0$" ran e5

5 Fro% "he Bloc7 #n0$" 1# nal l#1": choo1e fro% "he follo8#n

o0"#on1 Sa%e a1 "he Analo IP Bloc7 c$11e& earl#er5

5 En"er "he #n#"#al 2al$e for each analo o$"0$" channel !o$ en"ere&

#n "he O$"0$" channel1 3o=5 For e=a%0le: #f !o$ en"ere& (:* #n "he

O$"0$" channel1 3o=: an& !o$ 8an" an #n#"#al 2al$e of - 2ol"1: en"er

-:- 5

5 En"er a f#nal 2al$e for each analo channel !o$ en"ere& #n "he

O$"0$" channel1 3o=5 For e=a%0le: #f !o$ en"ere& (:* #n "he

O$"0$" channel1 3o=: an& !o$ 8an" f#nal 2al$e1 of - 2ol"1: en"er

-:- 5

@5 Cl#c7 O; or A00l!5


33/99

FIG 5 (5(( O0en loo0 re10on1e of "he %o"or

Model Estimation For "he 0$r0o1e of an! for% of anal!1#1 on a 0lan": 3e #" &e1# n#n a

con"roller for #": or 1"$&!#n #"1 re10on1e: a con2en#en" 8a! #1

%o&el#n "he 0lan"5 In "he #2en ca1e: fro% "he o0en loo0 re10on1e

of "he %o"or: #" #1 1een "ha" "he o$"0$" of "he %o"or #n o0en loo0:

&oe1 no" "rac7 "he #n0$"5 So: "he %o"or nee&1 "o 3e r$n #n clo1e&

loo0 conf# $ra"#on5 To &e1# n "he con"roller for clo1e& loo0

o0era"#on: f#r1": %o&el#n of "he 0lan" ha1 3een &one: a1 e=0la#ne& #n

&e"a#l: #n "he follo8#n 1$3+1ec"#on15 Tran1fer f$nc"#on %o&el#n of


34/99


35/99

FIG(5(* S#%$l#n7 Mo&el "o e" "he 1!1"e% re10on1e5

The analo #n0$" an& o$"0$" 3loc71 are 1e" 8#"h 2al$e1 a1 1ho8n

0re2#o$1l!5

The %o&el #1 "hen r$n: "o #%0or" "he 2ol"a e #n0$" an& 10ee& o$"0$"

"o "he 8or710ace5

S"e0+* S"ar"#n a ne8 1e11#on #n "he S!1"e% I&en"#f#ca"#on Tool

GUI: or o0en#n a 1a2e& 1e11#on A ne8 1e11#on can 3e 1"ar"e& 3!

e#"her "!0#n #&en" #n "he MATLAB co%%an& 8#n&o8: or 3!

1elec"#n S"ar" +W Tool3o=e1 +W S!1"e% I&en"#f#ca"#on +W S!1"e%

I&en"#f#ca"#on Tool3o= GUI #n "he MATLAB De17"o0


36/99

F# (5(, S!1"e% I&en"#f#ca"#on Tool

F# (5(4 S!1"e% I&en"#f#ca"#on Tool D#alo Bo=


37/99

The &a"a 3oar& con"a#n1 rec"an $lar #con1 8h#ch 1ho8 "he &a"a

#%0or"e& #n"o "he GUI5 The %o&el 3oar& con"a#n1 #con1 8h#ch

re0re1en" "he %o&el1 e1"#%a"e& or #%0or"e& #n"o "he GUI5 Mo&el

#con1 can 3e &ra e& an& &ro00e& #n "he %o&el 3oar& #n"o o0en

alo 3o=e15 The c$rren" 1e11#on %a! 3e clo1e& 3! 1elec"#n F#le +W

Clo1e Se11#on5 Th#1 0ro%0"1 "o 1a2e "he c$rren" 1e11#on: #f #" ha1 no"

alrea&! 3een 1a2e&5

S"e0+, In "he I%0or" Da"a &ro0&o8n %en$: 1elec" T#%e

&o%a#n &a"a 5 The follo8#n 8#n&o8 o0en1: 8here "he na%e of "he

#n0$" an& o$"0$" To


38/99

F# (5( I%0or" Da"a D#alo Bo=

S"e0+4

Cl#c7 on I%0or" 5 The follo8#n 8#n&o8 o0en1: 8here "he #n0$"

an& o$"0$" &a"a fro% "he %o&el: ha2e 3een #%0or"e& #n"o "he &a"a

3oar& 3! "he na%e of %!&a"a


39/99

FIG (5( S!1"e% I&en"#f#ca"#on Tool D#alo Bo=

S"e0+

In "he E1"#%a"e &ro0+&o8n %en$: cl#c7 on Proce11 Mo&el15 The

follo8#n 8#n&o8 o0en1: 8here "he %o&el ha1 3een cho1en "o ha2e (

ero an& * 0ole1: 3$" no &ela! an& #n"e ra"or


40/99

F# (5( Proce11 Mo&el1 D#alo Bo=

The "ran1fer f$nc"#on of "he %o&el: #n a31"rac" for%: #1 al1o #2en #n

"he 8#n&o8 on "he "o0 lef" corner5

S"e0+

Cl#c7 on E1"#%a"e5 The follo8#n 8#n&o8 o0en15


41/99

F# (5(@ S!1"e% I&en"#f#ca"#on Tool D#alo Bo=S"e0+A1 1ho8n #n "he a3o2e 8#n&o8: chec7 Mo&el O$"0$"5 The

follo8#n e1"#%a"e of "he 0lan": #1 o3"a#ne& #n a ne8 8#n&o8

Fig 1.19: Model Output

Dialog Box


42/99


43/99

An& "he corre10onn "ran1fer f$nc"#on #1

-5-*)-4 1 -5 4(

++++++++++++++++++++++++++++

-5---, , 1 * -5,-,, 1 (

Comparison Of The Open Loop

Response Of The Transfer Function

And That Of The Motor

The S#%$l#n7 3loc7 a ra% for co%0ar#1on of o0en+loo0 re10on1e

of "he "ran1fer f$nc"#on an& "ha" of "he %o"or #1 1ho8n on "he ne="

0a e5


44/99

FIG (5*- : Simulink model for compari on of open!loop re pon e of t"e tran ferfunction and t"at of t"e motor

The analo #n0$" an& o$"0$" 3loc71 are 1e 8#"h 2al$e1 a1 1ho8n

0re2#o$1l!5 An& "he "ran1fer f$nc"#on 3loc7 I1 1e" 8#"h "he "ran1fer

f$nc"#on o3"a#ne& #n "he 0re2#o$1 1$3+1ec"#on5

F# (5*( Tran1fer f$nc"#on o$"0$"


45/99

F# (5** Plan" o$"0$"

Fro% "he1e re1$l"1: #" #1 1een "ha" "he "ran1fer f$nc"#onZ1 o0en loo0

re10on1e #1 %ore or le11: 1a%e a1 "he o0en loo0 re10on1e of "he

%o"or5 B$": ne#"her o0en loo0 re10on1e 1$cce11f$ll! "rac71 "he #n0$"

'or "he reference. 8h#ch #1 1e" a1 a 19$are 8a2e 2ar!#n 3e"8een +(-

2ol"1 an& (- 2ol"15 Th#1 #nca"e1 "he nece11#"! of a clo1e& loo0

con"rol 1!1"e% for "he %o"or: 1o "ha" "he "ran1fer f$nc"#on 'an& "he

0lan". o$"0$" 1$cce11f$ll! "rac71 "he reference5 Th#1 #1 ach#e2e& 8#"h

"he hel0 of a PID con"roller: 8h#ch ha1 3een &e1cr#3e& #n "he ne="

1$3+1ec"#on5

Servo Motor nformation

A 1er2o #1 a %echan#cal %o"or# e& &e2#ce "ha" can 3e #n1"r$c"e& "o

%o2e "he o$"0$" 1haf" a""ache& "o a 1er2o 8heel or ar% "o a

10ec#f#e& 0o1#"#on5 In1#&e "he 1er2o 3o= #1 a DC %o"or %echan#call!


46/99


47/99

#n #" for a""ach#n 0$1h 0$ll ro&1: 3all >o#n"1 or o"her %echan#call#n7a e &e2#ce1 "o "he 1er2o5 The "hree elec"r#cal connec"#on 8#re1o$" of "he 1#&e are V+ 'Gro$n&.: V 'Pl$1 2ol"a e. an& S Con"rol'S# nal.5 The con"rol S 'S# nal. 8#re rece#2e1 P$l1e


48/99

The %o1" co%%on &e"a#l1 a2a#la3le on a 1er2o are #"1 10ee& an&

"or9$e ra"#n 5 Nearl! all 1er2o 0ac7a e1 are l#1"e&

8#"h 3ran& na%e: %o&el na%e n$%3er: 10ee&: an& "or9$e o$"0$" a"

45@ 2ol"1 an& 5- 2ol"15 So%e #nfor%a"#on a3o$"

%e"al: 0la1"#c ear1 or 3all 3ear#n 1 %a! al1o 3e l#1"e&5

SER&O S*EED

- De ree1Ser2o S0ee& #1 &ef#ne& a1 "he a%o$n" of "#%e ' #n 1econ&1.

"ha" a 1er2o ar% a""ache& "o "he 1er2o o$"0$" 1haf" 8#ll SERVO

%o2e fro% - "o - &e ree1.

S*EED

No"e The lo8er "he "#%e 'Secon&1. "he fa1"er "he 1er2o

-

can move an attached 'heel or arm+ Ser2o S0ee& #1 %ea1$re& 3! "he

a%o$n" of "#%e '#n 1econ&1. #" "a7e1 a ( #nch 1er2o ar% "o 18ee0 lef"

or r# h" "hro$ h a - &e ree arc a" e#"her 45@ or 5- 2ol"15 A 1er2o


49/99

ra"e& a" -5** 1econ&1 - &e ree1 "a7e1 -5** 1econ&1 "o 18ee0 "hro$ h

a - &e ree arc5 So%e of "he fa1"e1" 1er2o1 a2a#la3le %o2e #n "he

-5- "o -5-) 1econ& ran e5 In 1o%e 1er2o1: fa1"er 10ee&1 %a!

lo8er "or9$e a2a#la3le5

SERVO TORQUE 'Po8er.Ser2o Tor9$e #1 &ef#ne& a1 o$nce+#nch 'o +#n.

The "o"al 0$1h 0$ll 0o8er a 1er2o can a00l! on

a ( 1er2o ar% 8hen %o2#n 5

Ser2o1 ha2e a cer"a#n a%o$n" of "or9$e '1"ren "h. "ha" #1 SERVO

enerall! 0ro0or"#onal "o "he#r 1# e5 Ser2o1 co%e #n all 7#n&1 of

TORQUE 1# e1: 1"ren "h1 an& 8e# h"5 Tor9$e #1 "he %ea1$re%en" of

force #2en o2er a "ance5 For %o1" 1er2o1 #n "he USA: "or9$e #1

( o +#n on ( %ea1$re& #n o +#n 'force #n o$nce1 "#%e1 #nche1: or

ar% ( l31 l#f" ( Ar% o$nce+#nch.5 Ser2o Tor9$e #1 %ea1$re& 3!

"he a%o$n" of 8e# h" '#n o$nce1. "ha" a 1er2o can hol& a" (+#nch o$"

on "he 1er2o o$"0$" ar% #n "he hor# on"al 0lane: a a#n a" e#"her 5-

or 5- 2ol"1 "o 1ee 8hen "he 1er2o 1"all1 a1 #" "r#e1 "o l#f" "he 8e# h"

hor# on"all!5 The re0or"e& re1$l" #1 a %ea1$re%en" l#7e "h#1

Ser2o 6Y[ (-- o #n5 \ 5- V5 Tha" %ean1 "ha" Ser2o 6Y[


50/99

#1 ca0a3le of holn (-- o$nce1 $1#n a ( #nch o$"0$" ar%

8#"ho$" e=ce11#2e &eflec"#on a" 5- #n0$" 2ol"15 To con2er" o +#n

"o 7#lo ra%+cen"#%e"er1 '7 +c%. >$1" #&e 3! (,5)

E=a%0le1

Ser2o+A ha1 4* o +#n of "or9$e


51/99

Ser2o Po8er #1 &ef#ne& a1 "he a%o$n" of DC Vol"a e nee&e& "o

o0era"e a Ser2o 8#"ho$" &a%a e5 Ser2o o0era"e fro% 45 "o 5- 2ol"1

DC5 A" "he h# her 2ol"a e 1er2o1 "en& "o 3e fa1"er an& 1o%e"#%e1

1"ron er: 3$" can hea" $0 fa1"er 8hen 1"alle& or #n a hol& 0o1#"#on

8#"h 1"re11 force1 a a#n1" "he 1er2o o$"0$" 1haf"5 So%e 1er2o

con"roller1 re9$#re a 1e0ara"e 0o8er 1o$rce fro% "he con"rol 1o$rce

"o &el#2er "he h# her 5- V&c5 The c$rren" &ra#n 'A%01 re9$#re&.

&e0en&1 on "he "or9$e 3e#n 0$" o$" 3! "he 1er2o %o"or an& can 3e

#n e=ce11 of one a%0 #f "he 1er2o #1 1"alle& $n&er loa&5 I" #1 3e1" "o

calc$la"e ( A%0 0er 1er2o 8hen f# $r#n 0o8er 1$00l! nee&1 for

%o1" 1er2o17#8 to 1#/ 9oltage Ser o :onnector )S0Signal;0 8 9dc ; Red)-0 4round ; Blac"


52/99


53/99

FIG (5*

)+(* V&c "o V&c Con2er"er

@- Vol"a e Re $la"or

(- $F Ca0ac#"or

Hea"1#n7

Servo ,ire Code


54/99

FIG (5*

Ser2o T!0e Po1#"#2e ' . S# nal 'S. Ne a"#2e '+.

C#rr$1 Re&


55/99

R C 1er2o1 are $1$all! %echan#call! 1"o00e& fro% %o2#n a" f$ll

ro"a"#on5 The! ha2e l#%#"e& ro"a"#on "hro$ h a %echan#cal: 0la1"#c

3loc7 on "he #n"ernal ear#n an& can ro"a"e a3o$" )- "o (@- &e ree1

or le11 onl!5 Ser2o1 are $na3le "o con"#n$all! ro"a"e an& $1$all!

can " 3e $1e& for &r#2#n ro"a"#n 8heel15 A 1er2o1 0rec#1#on

0o1#"#on#n %a7e1 "he% #&eal for ro3o"#c1 an& an#%a"ron#c1: 1#nce

1er2o1 are 1elf con"a#ne& 8#"h con"rol loo0 c#rc$#"r!: &r#2e c#rc$#"1:

1er2o 0o1#"#on: 10ee& con"rol: an& are 2er! ea1! "o con"rol 3! an

e="ernal &e2#ce 1$ch a1 a elec"ron#c 1er2o con"roller 3oar& $1e& #n

an#%a"ron#c charac"er an& ro3o"#c a00l#ca"#on15

Ser2o1 are &!na%#c &e2#ce1 "ha" 8hen #n1"r$c"e& "o %o2e 0o1#"#on:

8#ll ac"#2el! %o2e "o hol& "he 0o1#"#on: If for e=a%0le a 1er2o #1

#n1"r$c"e& "o %o2e #n "he cloc78#1e 0o1#"#on an& an e="ernal force #1

0re1en" an& 0$1h#n a a#n1" "he 1er2o 1$ch a1 a %echan#cal l#n7a e:

"he 1er2o 8#ll re1#1" 3e#n %o2e& o$" of "ha" 0o1#"#on or con"#n$e

"o "r! an& %o2e "o "he #n1"r$c"e& 0o1#"#on: e2en #f "he 1er2o ar% #1

#ncorrec"l! 0lace& on "he %o"or 1haf": $n"#l 0o8ere& off5 I" #1 for "h#1

rea1on "ha" e2er! 1er2o o$"0$" ar% or 1er2o 8heel $1e& 1ho$l& 3e

0lace& #n"o "he ne$"ral 0o1#"#on 3efore #n1"#lla"#on #n"o !o$r 0ro>ec"5


56/99

Se""#n "he 1er2o ar% or 8heel "o "he ne$"ral 0o1#"#on 0re2en"1

1"re11 "o "he 1er2o %o"or: &a%a e1 "o "he elec"ron#c1 an& 0ro2#&e1

8#&er %o2e%en" ran e1 an& an le1 for o0era"#n "he %echan#cal

l#n7a e1 connec"e& "o "he 1er2o ar% or 1er2o 8heel5

FIG (5*


57/99

3o' to Determine the Center *osition

A$"o%a"e& Ser2o Cen"er Po1#"#on

There are 1e2eral 8a!1 "o &o "h#1' See Ser2o Chec7er O0era"#on G$#&e .The 3e1" an& ea1#e1" 8a! "o 1e" a 1er2o 1 cen"er 0o1#"#on #1 "o connec"

"he 1er2o "o a 1er2o chec7er or "e1"er5 There are 1e2eral lo8 co1"

1er2o chec7er1 8or"h 0$rcha1#n an& ha2#n #n !o$r "ool 3o= #f !o$

0lan "o 8or7 8#"h 1er2o15 To $1e a Ser2o Chec7er 1#%0le 1e" "he

Ser2o Chec7er "o #"1 a$"o%a"e& cen"er 0o1#"#on an& le" "he

con"roller %o2e "he connec"e& 1er2o "o cen"er5 If "he 1er2o ar% #1

0re+a""ache&: !o$ %a! ha2e "o re%o2e "he 1er2o ar% on "o0 of "he

1er2o 1haf" an& re+0o1#"#on #" 3ac7 on"o "he 1er2o 1haf" cen"er 0o#n"5

The 1er2o #1 no8 rea&! for #n1"#lla"#on5Once cen"ere& 0lace "he 1er2o

ar% on "o0 of "he 1er2o 1haf": 1ec$re #" 8#"h 1er2o 1cre8 an& #n1"all

"he 1er2o a1 nee&e& or caref$ll! re%o2e "he 1er2o ar% fro% "he

1er2o #f no" nee&e& for #n1"#lla"#on5 Do no" %o2e "he 1haf" a" "h#1


58/99

0o#n": #f #" %o2e1: 1#%0l! re0ea" "he a3o2e 0roce&$re "o f#n& "he

1er2o cen"er a a#n5

Manual Servo Center *osition % Steps4

Caref$ll! 0lace one of "he 1er2o ar%1 or 8heel on"o "he 1er2o 1haf":

%ar7 a reference l#ne "hro$ h'acro11. "he 1er2o ar% or 8heel cen"er

0o#n"5 Slo8l! an& caref$ll! ro"a"e "he 1er2o ar% or 8heel 3! han& a1

far "o one 1#&e a1 #" 8#ll o: &o no" force 1er2o ar% 8heel5 Mar7 a

l#ne on "he 1er2o 3a1e 8here "he 1er2o ar% or 8heel reference l#ne

1"o015 Slo8l! an& caref$ll! ro"a"e "he 1er2o ar% or 8heel 3! han& "o

"he o00o1#"e 0o1#"#on: a1 far "o one 1#&e a1 #" 8#ll o: &o no" force

1er2o ar% 8heel5 Sho$l& "ra2el a3o$" (@- &e ree15 Mar7 a l#ne on

"he 1er2o 3a1e 8here "he 1er2o ar% reference l#ne 1"o015 Ro"a"e "he

1er2o ar% 3ac7 "o )- &e ree1 3e"8een "he "8o en& reference l#ne

0o1#"#on1 'A:B. %ar7e& on "he 1er2o 3a1e5 Yo$ %a! ha2e "o re%o2e

"he 1er2o ar% on "o0 of "he 1er2o 1haf" an& re+0o1#"#on #" 3ac7 on"o

"he o$"0$" 1haf" "o e" "he cen"er 0o#n" #f "he ar% #1 off cen"er

0o1#"#on5 Th#1 1ho$l& 0$" "he 1er2o ar% clo1e "o cen"er 0o1#"#on5


59/99

Caref$ll! re%o2e "he 1er2o ar% fro% "he 1er2o #f no" nee&e& for

#n1"#lla"#on or 0lace "he 1er2o ar%1 on "o0 of "he 1er2o 1haf": 1ec$re

#" 8#"h 1er2o 1cre8 an& #n1"all "he 1er2o a1 nee&e&5 Do no" %o2e "he

1haf" a" "h#1 0o#n"5 If #" %o2e1: 1#%0l! re0ea" "he a3o2e 1"e01 "o f#n&

"he 1er2o cen"er a a#n5

Tor9$e No%#nalVol"1

Mo"orRPM

Mo"orIner"#a

C$rren"Con"5 a"S"all

Or&er N$%3

Con"5

S"all

Pea7 l3+#n+1ec*

; +C%*

A%0

l3+#n

N% l3+#n

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(5@

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-5*(

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MT+**4-+BCYAN,5( -5, () *5( - , -- -5--- -5 4 ,54 MT+** -+ACYAN


60/99

,5( -5, () *5( ,- ,--- -5--- -5 4 5 MT+** -+BCYAN5*5*

-5 (-5 (

4444

45)45)

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5)(5)(

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MT+4- -+ALYBEMT+4- -+BLYBE

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MT+4 +ATYCN

MT+4 +BTYCNMT+4 +CTYCN

DC Servo Motor Performance Selection Guide

Controlling the Servo motor

The 1# nal "ha" con"rol1 "he 1er2o %o"or #n "h#1 e=a%0le #1 #2en 3!

1er#e1 of 0$l1e1 'F# $re (. 8#"h a 0er#o& of *-- %1 or H an& "he

&$ra"#on &e0en&1 on "he re9$#re& rec"#on5 For %o1" 1er2o %o"or1:

0$l1e1 of ( %1 re0re1en" a - &e ree "$rn: an& * %1 re0re1en" a (@-

&e ree "$rn: 3$" #" can 2ar!5 Th#1 #nfor%a"#on 1hall 3e 10ec#f#e& #n


61/99

"he &a"a 1hee" of each 1er2o %o"or an& can 3e "e1"e& 3! "r!#n

fferen" P


62/99

S# tem $rc"itecture

%"e dri&er 'Figure () are implemented for t"eM*+(,-xB to control a er&o motor and a D+

motor. n t"e follo/ing ection 0 a detailed

explanation of eac" function on t"e medium and

lo/ le&el dri&er i gi&en:

2ig" le&el

Main motor control algorit"m '"ig" le&el

program done 3# u er)

Medium le&el

Ser&o motor dri&er 'Dri&er4Ser&o.c and

Dri&er4Ser&o.")

Main motor dri&er 'Dri&er4Motor.c and

Dri&er4Motor.")

5o/ le&el

$D+ dri&er 'Dri&er4$D+.c and Dri&er4$D+.")

eM OS dri&er 'Dri&er46M OS.c and

Dri&er46M OS.")

S 7 dri&er 'Dri&er4S 7.c and Dri&er4S 7.")


63/99

nitiali8ation:

Dri&er4M*+(,- B."

FIG (5*@ Sof"8are Arch#"ec"$re+API1 "r#3$"#on

Dr#2er e=0lana"#on


64/99

Me$% le2el &r#2er1F$nc"#on vfnSet5Servo Se"1 "he 1er2o %o"or "o a 0o1#"#on

rela"#2e "o "he %a=#%$% an&%#n#%$% 2al$e1 e1"a3l#1he&5 For

e=a%0le: #f a rean #n SAIC ha1 a2al$e of (- a1 a %#n#%$% 3eca$1ele11 #1 #n2al#&: an& a %a=#%$% of(-: "hen a call "o 2fnSe"^Ser2o'* -:(-: (-. 1e"1 "he 1er2o %o"ore=ac"l! a" "he %#&&le:an&2fnSe"^Ser2o'(-:(-: (-. 1e"1 "he1er2o %o"or "o "he lef" 'all lef"0o11#3le.5

Para%e"er1 _ $( Po1#"#on The &e1#re& 0o1#"#on of "he 1er2o %o"or: 8#"hrela"#2e 2al$e1 "o "he %#n#%$% an& %a=#%$% 2al$e15_ $( M#nVal The %#n#%$% 2al$e 0o11#3le for $( Po1#"#on '#f $( Po1#"#on #1 e9$al "o $( M#nVal "hen "he 1er2o %o"or "$rn1 all"he 8a! lef".5_ $( Ma=Val The %a=#%$% 2al$e 0o11#3le for $( Po1#"#on '#f $( Po1#"#on #1e9$al "o $( Ma=Val "hen "he 1er2o %o"or "$rn1 all "he 8a! r# h".5

Re"$rn N$ll

F$nc"#on vfn nit5Servo In#"#al# e1 "he MCB co$n"er1 for3o"h "he 1er2o %o"or an& "he %a#n%o"or %o&$le1 an& "he OP


65/99

All "he &r#2er1 are e=0la#ne& #n &e"a#l #n "h#1 1ec"#on5

SERVO^MCB^CHANNEL The eMIOS channel $1e& a1Mo&$l$1U0 Co$n"er B$ffere& 8h#ch #1 "he

co$n"er for "he 1er2o 1# nal5 Th#1%ean1 "ha" "he co$n"er %$1" ha2e a*-%1 0er#o&5

?????????????????????????????

Function on Dri&er4Motor.c

F$nc"#on vfnSet5Motor56or'ard vfnSet5Motor5ReversevfnSet5Motor5Stop

Sen&1 0$l1e1 "o "he %o"ore9$#2alen" "o "he 0ercen"a e0ara%e"er $( Perc5 I" #10olar# e& nor%al 'for8ar&. orre2er1e &e0enn on "hef$nc"#on: an& for %o"or1"o0: IN( an& IN* con"rolo$"0$"1 are "$rne& "o V "o1"o0 "he %o"or fro% "heH Br#& e5

Para%e"er1 _ $( Perc 8#"h a (-- 3e#n (--X 0o8er 'Vcc.: -X #1 GND:an& -X #1 e9$#2alen" "o a cloc7 1# nal 8#"h -X &$"!

Re"$rn _ $( Ge"^Fee&3ac7^C$rren" Re"$rn1 "he c$rren" con1$%e&

3! "he %o"or 3! rean an ADC 0or"5F$nc"#on vfnSet5Motor5&elocity Se"1 "he %o"or for8ar& "o a

&e1#re& 2eloc#"! 3! #ncrea1#n"he P


66/99

8heel1 #2e a co%0le"ere2ol$"#on5 Fro% "h#1 2ar#a3le2eloc#"! can 3e %ea1$re&Veloc#"! C#rc$%ference of8heel #,*Per#o&Th#1 f$nc"#on %$1"3e calle& fre9$en"l! #n ca1e"he SAIC 1can #1 &one: an& #f#"#1 calle& lon af"er "he SAIC1can #1 &one: #" 8#ll lo1e0rec#1#on5 I" al1o chec71 #f ano2erflo8 occ$r1 #n "he MCB1o "ha" "he #,*Per#o& 2ar#a3le#1 #ncrea1e& 3! "he "#%e "o

o2erflo8 '0er#o& of MCB.5Al1o: "o %ea1$re "he 0er#o&acc$ra"el!: #" ha1 "o 7no8 #f"he MCB ha& an o2erflo8:"o 1$% "he corre10onn2al$e "o "he #,*Per#o& co$n"er:1o each "#%e #" ha1 ano2erflo8: "h#1 f$nc"#on "a7e1care of a&n "he 2ar#a3le5

F$nc"#on vfn nit5Motor In#"#al# e1 "he GPIO 0#n1 for

"he rec"#on of "he %o"or: "heOP


67/99

1# nal for "he H Br#& econ"roll#n "he %o"or5

MOTOR^EN The eMIOS channel $1e& for"he 1# nal of Mo"or Ena3le for"he H Br#& e con"roll#n "he

%o"or5MOTOR^EN^PCR The 0a& n$%3er of "he 1# nal

of Mo"or Ena3le $1e& for 0an#"#al# a"#on #n SIU5

MOTOR^SENSE^CH The ADC channel $1e& forc$rren" fee&3ac7 of "he %o"or5

VELOCIMETER The eMIOS channel $1e& for"he 1# nal of "heVeloc#%e"er:#n0$" "ha"%ea1$re1 "he 10ee& of "he

8heel15VELOCIMETER^PCR The 0a& n$%3er of "he 1# nalof Veloc#%e"er $1e& for 0an#"#al# a"#on #n SIU5

MA6^CURRENT N$%3er e9$#2alen" "o "hec$rren" con1$%e& 8henfee&3ac7 0#n re"$rn1 V5

CIRCLE The %ea1$re of "hec#rc$%ference of "he 8heel1 #nnano%e"er15

CONTROL Con"rol an& &ela! are

con1"an"1 $1e& #n "he0ro0or"#onal #n"e ral con"rol$n#" of 10ee&5 The con1"an" ;c #1 ('CONTROL` DELAY.: 8hereCONTROL #1 "he0ro0or"#onal con1"an": an&DELAY #1 "hen$%3er of "#%e1 "he 0ro ra%8a#"1 "o e=ec$"e "he co&e

'e=ec$"e1 ( of DELAY "#%e1.5DELAYTHRES an& THRES* The1e "hre1hol& con1"an"1

&ef#ne a "hre1hol& of%a=#%$% an& %#n#%$%10ee& 8here "he %o"or 1"ar"1$0 fa1" or 1"o01 "o e" "o "he&e1#re& 10ee& 9$#c7l!5

?????????????????????????????

Lo8 le2el &r#2er1 Dri&er4$D+.c


68/99

F$nc"#on vfn nit5(ormalConversion5Ad c

In#"#al# e ADC #n 1can %o&e:Conf# $re ADC cloc7 "o ,*MH : 1e" an ADC Channelfro% a channel "!0e a1 aNor%al Con2er1#on: an& 1"ar"con2er1#on1 3! 1e""#nNSTART "o (5

Para%e"er1 _ $@ChannelT!0e The "!0e of"he channel 'Prec#1#on:e="en&e& or e="ernal. &ef#nen Dr#2er^ MPC -4B5h a1ADC^CHANNEL^ TYPE^"a 5_ $,*Channel The ADCchannel

$1e& for con2er"#on1 &ef#ne& #nDr#2er^MPC -4B5h a1ADC^CHANNEL^"a 5

Re"$rn N$llF$nc"#on u90Read5Adc Chec71 for "he la1" ADC

con2er1#on "o 3e co%0le"e:rea&1 "he 2al$e of "hecon2er1#on: 1cale "he rea&2al$e #n a ran e fro% - "oMa=#%$% Val$e an& re"$rn1"he 1cale& 2al$e5

Para%e"er1 _ $@Channel The channel $1e& for ADC5 Channel1 a00ear #nDr#2er^ MPC -4B5h5

Re"$rn _ $@Ma=#%$%Val$e The %a=#%$% 0o11#3le 2al$e for "here1$l"5 I" #1 "he 2al$e re"$rne& #f a (- 3#" con2er1#on re"$rn1(-*,5

????????????????????????????55

Dri&er4eM OS.c

2fnSe"$0Ê%#o1^- an& 2fnIn#"Ê%#o1 - Ena3le1 eMIOS cloc7: conf# $re 0re1caler "oenera"e 4 MH eMIOS cloc7: ena3le1 lo3al"#%e 3a1e: ena3le1 Free #n channel "o free e"he% 8hen #n &e3$ %o&e5 Al1o ena3le eMIOSco$n"er1 "o 1"ar" 0$l1e enera"#on an&0roce11#n 5

2fnIn#"Ê%#o1^-^Mc3 Def#ne1 eMIOS channel a1 Mo&$l$1 $0co$n"er 3$ffere& 8#"h "he 1elec"e& 0er#o&:conf# $re 0re1caler "o 0ro&$ce ( MH"#%e 3a1e5 The 0ara%e"er1 of "he f$nc"#on are"he follo8#n u:Channel eMIOS channel "o3e conf# $re& a1 Co$n"er '-:@:( :*,:*4.5


69/99

u90*eriod Se"1 A re #1"er "o e1"a3l#1h 0er#on cloc7 0$l1e15

2fnIn#"^E%#o1^-^O08% Def#ne1 eMIOS channel a1 0o1#"#2e OP


70/99

_ $@Channel eMIOS channel conf# $re& a1SAIC5_ $( M#nVal M#n#%$% acce0"e& rea& 2al$e5_ $( Ma=Val Ma=#%$% acce0"e& rea& 2al$e5

$( Ge"^Co$n"er Re"$rn1 "he co$n"er 2al$e of "he MCB of "hechannel 1elec"e&8hen "he f$nc"#on #1 e=ec$"e&: #" ha1 a channel0ara%e"er8h#ch &e"er%#ne1 "he MCB channel5

$( Ge"^Per#o&^Mc3Re"$rn1 "he f#=e& 0er#o& 2al$e of "he MCB of"he channel 1elec"e&5I" ha1 a channel 0ara%e"er 8h#ch &e"er%#ne1"heMCB channel5

SIU #1 "he %o&$le "ha" a11# n1 f$nc"#on1 "o "he 0h!1#cal 0#n15 The1e

&r#2er1 8ere #%0le%en"e& 3eca$1e "here are %an! f$nc"#on1 each

0#n can ha2e: 1o "here are 0a& conf# $ra"#on re #1"er 2al$e1 for each

0#n 'refer "o MPC -4BCRM Reference Man$al a2a#la3le fro%

h""01 8885free1cale5co% .5

Dri&er4S 7.c

2fnIn#"Ê%#o1Ô$"0$"^Pa& In#"#al# e1 an& a11# n1 a 0#n a1 eMIOS: an& foro$"0$" 0$r0o1e5

2fnIn#"Ê%#o1În0$"^Pa& In#"#al# e1 an& a11# n1 a 0#n a1 eMIOS: an& for#n0$" 0$r0o1e

2fnIn#"Â&c^Pa& In#"#al# e1 an& a11# n1 a 0#n a1 ADC for #n0$"0$r0o1e5

The follo8#n f$nc"#on1 are no" 0ar" of "he SIU 3$" GPIO: !e" 3o"h are $1e& "o con"rol 0a&conf# $ra"#on52fnIn#"^G0#oÔ$" In#"#al# e1 an& a11# n1 a 0#n a1 GPIO for

o$"0$" 0$r0o1e5

2fnSe"^G0#o Se"1 "he 2al$e of "he 0#n #n#"#al# e& a1 GPIO "o"he 0ara%e"er 2al$e $@Val 8h#ch can 3e - or (


71/99

'-V or V.5Para%e"er u:*cr&al 8h#ch #1 "he SIU 0a& conf# $ra"#on

re #1"er 2al$e for a 0#n 1elec"e&

????????????????????????????5

Setup.c

2fnD#1a3le^


72/99

Types Of Servo Motor

Unl#7e lar e #n&$1"r#al %o"or1: &c 1er2o%o"or1 are no" $1e& for

con"#n$o$1 ener ! con2er1#on 5 The 3a1#c o0era"#n 0r#nc#0le #1

1a%e a1 o"her elec"ro%a ne"#c %o"or1 5 De1# n: con1"r$c"#on an&

%o&e of o0era"#on are fferen"5 The ro"or1 of "h#1 7#n& of %o"or are

&e1# ne& 8#"h lon ro"or len "h1 an& 1%aller a%e"er1 5 The! ha2e

lar e 1# e "han "ha" of con2en"#onal %o"or1 of 1a%e 0o8er ra"#n 1 5


73/99

There are 2ar#o$1 "!0e1 of &c 1er2o%o"or1 8h#ch are 1er#e1

%o"or1: 10l#" 1er#e1 %o"or1: 1h$n" con"rol %o"or an& 0er%anen"

%a ne" 1h$n" %o"or5


74/99

FIG(5*)

Split series motors

S0l#" 1er#e1 %o"or are "he &c 1er#e1 %o"or 8#"h 10l#"+f#el& ra"e& 8#"h

1o%e frac"#onal 7#lo8a"" 5 Th#1 "!0e of %o"or can o0era"e a1 a

1e0ara"el! e=c#"e& f#el&+con"rolle& %o"or5 The ar%a"$re #1 1$00l#e&

8#"h a con1"an" c$rren" 1o$rce5 S0l#" 1er#e1 %o"or ha1 a "!0#cal

"or9$e+10ee& c$r2e 5 Th#1 c$r2e &eno"e1 h# h 1"all "or9$e an& a

ra0#& re&$c"#on #n "or9$e 8#"h #ncrea1e #n 10ee&5 Th#1 re1$l"1 #n

oo& &a%0#n 5

FIG (5,-


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Shunt control motor

FIG (5,(

DC 1h$n" "!0e 1er2o%o"or #1 no" fferen" fro% an! o"her &c 1h$n"

%o"or 5 I" ha1 "8o 1e0ara"e 8#nn 1 f#el& 8#nn 1 0lace& on

1"a"or an& ar%a"$re 8#nn 0lace& on "he ro"or of "he %ach#ne 5

Bo"h 8#nn 1 are connec"e& "o a &c 1$00l! 1o$rce5 In a

con2en"#onal &c 1h$n" %o"or : "he "8o 8#nn 1 are connec"e&

#n0arallel acro11 "he &c 1$00l! 5 In ca1e of a 1er2o%o"or : "he

8#nn 1 are 1$00l#e& 8#"h 1e0ara"e &c 1o$rce5

*ermanent magnet shunt motor


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Per%anen" %a ne" 1h$n" %o"or #1 a f#=e& e=c#"a"#on %o"or 8here

"he f#el& #1 ac"$all! 1$00l#e& 3! a 0er%anen" %a ne" 5 Perfor%ane #1

1#%#lar "o ar%a"$re con"rolle& f#=e& f#el& %o"or "ha" 8e are o#n "o


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7no8 #n "he ne=" 1ec"#on5

Arc ,elding Ro#ot Automation Systems


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Ro3o" a$"o%a"#on 1!1"e%1 are ra0#&l! "a7#n "he 0lace of "he

h$%an 8or7 force5 One of "he 3enef#"1 #1 "ha" "h#1 chan e 0ro2#&e1

"he h$%an 8or7 force 8#"h "he "#%e "o 10en& on %ore crea"#2e

"a1715 The h# he1" 0o0$la"#on of ro3o"1 #1 #n 10o" 8eln : 10ra!

0a#n"#n : %a"er#al han&l#n : an& arc 8eln 5 S0o" 8eln an&

10ra! 0a#n"#n a00l#ca"#on1 are %o1"l! #n "he a$"o%o"#2e #n&$1"r!5

Ho8e2er: arc 8eln an& %a"er#al han&l#n ha2e a00l#ca"#on1 #n a

3roa& ran e of #n&$1"r#e1: 1$ch a1: a$"o%o"#2e 1$3+1$00l#er1:

f$rn#"$re %an$fac"$rer1: an& a r#c$l"$ral %ach#ne %an$fac"$rer15

The n$%3er of arc 8eln a$"o%a"#on ro3o" 1"a"#on1 #1 ro8#n

2er! ra0#&l!5 The "8o %o1" co%%on 1"a"#on1 are "he GMA< 'Ga1

Me"al Arc


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FIG(5,,

A Description of the System Components The Ro#ot and the Controller


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ca1e of a 0o8er fa#l$re: or 1o%e o"her $nfore1een e2en": 1"or#n "he

&a"a fro% an a31ol$"e re1ol2er:or enco&er: #n con"roller %e%or! 8#ll

en1$re "ha" "he ro3o" can re1"ore "he 0ro ra%%e& 0o1#"#on 8#"ho$"

re"$rn#n "o "he ero conf# $ra"#on5

The ,elding E;uipment -*o'er Source2

The 8eln e9$#0%en" enera"e1 0o8er "o enera"e "he arc for

8eln 5 One of "he %o1" #%0or"an" charac"er#1"#c1 #1 1"a3#l#"! of

0o8er5 I" #1 reco%%en&e& "ha" "he 8eln e9$#0%en" enera"e1 a

1hor" arc 8#"h le11 10a""er for a oo& 8eln 9$al#"! e2en a" h# h

10ee&15The arc 1en1or &e"ec"1 "he c$rren" 2al$e 1o "ha" "he 0o8er

1o$rce can 1$00l! "he correc" a%o$n" of 0o8er "o "he 8#re fee&er:

8h#ch "hen con"rol1 "he 8#re feen 10ee&5 The 8#re fee&er ha1

8heel roller1 "o a&2ance "he 8#re5 So%e fee&er1 ha2e fo$r roller1

10ee& 1en1or1 for %ore acc$ra"e 8#re feen 3! 0$1h+0$ll ac"#on5

Al1o: a 8#re fee&er 8#"h 1hor"er len "h "o "he "orch #1 3e""er #n "er%1

of a re10on1e "#%e5 Therefore: a oo& loca"#on for "he 8#re fee&er for

a ro3o" 1!1"e% #1 a" "he en& of "he $00er ar% of "he ro3o"5 A 1len&er

8eln $n #1 3e""er for %ane$2era3#l#"! 3$": #n ca1e of a coll#1#on:

1$ff#c#en" 1"ren "h %$1" 3e $aran"ee&5 I" #1 al1o nece11ar! "o en1$re

"ha" "he "orch #1 e9$#00e& 8#"h 1hoc7 a31or0"#on &e2#ce1 1$ch a1


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10r#n 15 I" #1 al1o #%0or"an" "o ha2e a cool#n 1!1"e% 'a c#rc$la"#n

8a"er: #n eneral. "o 0ro"ec" "he "orch a a#n1" hea" &efor%a"#on5 All

"he connec"#on1 for 8eln : 1$ch a1: elec"r#c 0o8er: "he 8#re: an&

"he coolan" are $1$all! #n"e ra"e& #n"o one ca3le $n#"5 I" #1

reco%%en&e& "ha" "he ca3le $n#" 3e a1 1hor" a1 0o11#3le for a

9$#c7er re10on1e an& a 3e""er rel#a3#l#"!5

ManipulatorsA ro3o" ha1 a l#%#"e& 8or7#n ran e an& acce11#3#l#"!: "herefore: #n

%an! ca1e1 a %an#0$la"or ha1 "o 3e con1#&ere&5 A %an#0$la"or #1 a

&e2#ce holn "he 8or7 0#ece an& #1 %o2e& aro$n& '"!0#call! 8#"h

l#n7a e1. for 3e""er acce11 an& 8eln 0o1#"#on15 The a&2an"a e1 of

a %an#0$la"or #ncl$&e

'(. A %an#0$la"or can ea1#l! 3e %o2e& aro$n& "he 8or7 0#ece for

"he 3e1" 8eln 0o1#"#on15

'*. A %an#0$la"or can re&$ce "he 2ar#a"#on #n "he lea& an& "he la

an le1 of "he "#05

',.


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' . A %an#0$la"or #ncrea1e1 "he 8or7#n ran e of a f#=e& floor

%o$n"e& ro3o" or an #n2er"e& ro3o"5 In eneral: a ro3o" can

%a#n"a#n a 3e""er fla" 8eln 0o1#"#on 8h#ch 8#ll 0ro&$ce a 3e""er

&e0o1#"#on an&: "here3!: re&$ce an! re0a#r 8or7 3! "he coo0era"#on

8#"h a %an#0$la"or5 Th#1 al1o %a7e1 0o11#3le h# her 8eln 10ee&1

an&: "here3!: an #ncrea1e #n 0ro&$c"#2#"!5 There are "8o "!0e1 of

ac"$a"#on 1!1"e%1 for %an#0$la"or1 na%el!: "he #n&e=#n "!0e

1!1"e%: an& "he 1er2o+con"rolle& 1!1"e%5 The #n&e=#n "!0e 1!1"e% #1

for econo%#c %o&el1 an& #1 co%%onl! ac"$a"e& 3! 0ne$%a"#c an&

AC %o"or15 Th#1 "!0e of 1!1"e% #1 $1$all! con"rolle& 3! 1# nal1 for

"ar e" 0o1#"#on 8#"h con1"an" 10ee&5 The 1er2o+con"rolle& "!0e

1!1"e% #1 for 10ee& an& rec"#on5 Th#1 can 3e an e=0en1#2e 1!1"e%

1#nce #" ha1 a co%0le= 1"r$c"$re 8#"h 1er2o %o"or1: 8or% ear

re&$cer1: an& enco&er1 or re1ol2er15 Ho8e2er: "he 1er2o+con"rolle&

"!0e 1!1"e% ha1 h# her acc$rac! an& 2ar#a3le 10ee& con"rol #n 3o"h

rec"#on1 of ro"a"#on5 Error1 are co%0en1a"e& for 3! fee&3ac7

con"rol5 Var#o$1 "!0e1 of %an#0$la"or1: &e0enn on "he "!0e1 of

%o"#on an& "he &e ree1 of free&o% "ha" are re9$#re&: are 1ho8n #n 5

Se2eral e=a%0le1 of ra"her 1#%0le one+&e ree+of+free&o%

%an#0$la"or1 are 1ho8n #nFIG


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!%4*#.7

1ho81 %ore 1o0h#1"#ca"e& %an#0$la"or1 for h# her %ane$2era3#l#"!:

3$" 8#"h an a11oc#a"e& h# her co1"5 In 1elec"#n "he 3e1" "!0e of

%an#0$la"or: #" #1 #%0or"an" "o con1#&er con"rol "!0e1: loa& carr!#n

ca0ac#"!: an& 8or7#n en2#ron%en"5 Al1o: re0ea"a3#l#"!: acc$rac!:

%echan#cal conf# $ra"#on: an& &e ree1 of free&o% are #%0or"an"

#11$e1 "ha" 1ho$l& 3e con1#&ere&5

FIG(5,

$ deci ion on t"e t#pe of control depend on t"e

condition of t"e /eld t"at i re uired. n term of


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t"e load carr#ing capacit#0 not onl# t"e ma or

/eig"t of t"e /ork piece0 3ut al o t"e moment

cau ed 3# t"e o;!center di tance of t"e ma

center of t"e /ork piece mu t 3e con idered. For

example0 a /ork piece /it" a ma of


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Sen1or1 collec" #nfor%a"#on fro% "he ro3o": 0er#0heral &e2#ce1: an&

0roce11 an& "ran1fer "h#1 #nfor%a"#on "o a con"roller5 In arc 8eln :

#" #1 cr#"#cal "o con1#&er &efor%a"#on fro% h# h hea" #n0$" an&:

"herefore: a clo1e& loo0 con"rol 8#"h a 1en1or #1 nece11ar!5 Al1o: #n

an a$"o%a"#c 8eln 1!1"e% "he error1 ca$1e& 3! %an$fac"$r#n

"olerance1 of %an#0$la"or an& 8or7 0#ece1 ha2e "o 3e con1#&ere&5

Var#o$1 "!0e1 of 1en1or1 for ro3o" arc 8eln S"a"#on1 are

a2a#la3le: 1ee Ta3le (: an& "he r# h" "!0e %$1" 3e cho1en &e0enn

on "he a00l#ca"#on5

Sen1or "!0e Sen1or1Con"ac" "!0e'


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*.


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#1 #%0or"an" "o no"e "ha" "here #1 "he 0o11#3#l#"! of a coll#1#on 8#"h

"he 8or7 0#ece5

A Sensor for Detectin$ Minor C&an$es of '"comin$ (oints.

Trac"< )antry< Column< and *eripheral E;uipment


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1!1"e% '#ncl$n "he ro3o" an& 0er#0heral &e2#ce1. 8#"h

1#%$l"aneo$1 or 1!nchron# e& con"rol f$nc"#on5 The 1"an&ar e&

an& %o&$lar# e& 1!1"e% %a! 3e cho1en 3a1e& on loa& carr!#n

ca0ac#"!: 1"a3#l#"!: acc$rac! an& re0ea"a3#l#"!: an& "he %a=#%$%

n$%3er of a=e1 "ha" "he con"roller can han&le5 Ho8e2er: "he

0ro&$c"#2#"! 0ro2en 3! 0rac"#ce #1 "he %o1" #%0or"an" cr#"er#a5

A Trac75 To #ncrea1e "he 8or7#n ran e: "he ro3o" #1 %o$n"e& on a

"rac7 a1 1ho8n #n F# 5 5The "rac7 al1o "h#1 0ro2#&e1 fle=#3#l#"! for "he

f$"$re con1#&era"#on of "he 1# e of "he 8or7 0#ece5In a&"#on: a

"rac7 #1 $1ef$l 8hen "he 3rea&"h of "he 0#ece1 #1 le11 "han ( %e"er

an& a "ra2el

"ance rea"er "han (5 %e"er #1 re9$#re&5 Mo1" co%%on 8or7

0#ece1 for "rac7 a00l#ca"#on are a$"o%o"#2e 0anel1: rear a=le1:

"rac"or fra%e1: 3e& an& f$rn#"$re fra%e1: 8#n&o8 fra%e1: con"a#ner

&oor1: an& co%0$"er rac715 For #ncrea1e& arc "#%e an& 0ro&$c"#2#"!:

"he conce0" of one ro3o" 8#"h %$l"#0le 8or7 1"a"#on1 #1 $1e&5 Th#1 #1

al1o #ll$1"ra"e& #n F# 5


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A )o*ot Mounted on a rac+.

A Gan"r!5 A an"r! #1 a 1"eel 1"r$c"$re 8here "he ro3o" #1 1$10en&e&

an& #n2er"e&5 U1#n a an"r!: a ro3o" can 8el& 8or7 0#ece1 of

fferen" 1# e15 A 2er! lar e 8or7 0#ece can 3e 8el&e& 8#"h %$l"#0le

ro3o"1 1$10en&e& on a 1#n le an"r! or %$l"#0le an"r#e15 F# $re

1ho81 "8o ro3o"1 1$10en&e& fro% a an"r! '#5e5: a r#nn ro3o"

an& a 8eln ro3o". 8or7#n on a &o$3le 1"a"#on %an#0$la"or5

,o )o*ots Sus"ended from a Gantr!.


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A Col$%n5 A col$%n #1 &e2elo0e& fro% "he conce0" of

%o&$lar# a"#on5


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to protect the wor" force from spatter and arc flash# !igure *, shows a

complete system of a safety fence# !or safety the robot operator should

ha e a rigorous training on robot speed wor"ing range emergency

stopping and functions of teach pendant# The training should also

pro ide the operator with the opportunity to become familiar with the

robot system# =hile designing the robot system sufficient time for

system modification and operator training is indispensable# Also

obstacles inside the wor"ing area of the operator should be

eliminated and the system should be designed so that the welding is

perfomed at a safe distance from the operator# !or this purpose a

manipulator should be designed with dual stations with safeguards so

that the operator can wor" safely on loading and unloading# This will

also increase producti ity# After the system is designed installed and

tested all the detailed information in the design process should be

documented and transferred to the operator#

mportant 6unctions of an Arc ,elding Ro#ot

The Ro#ot *rogram


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)A0 Programming Method# !irst generation robots were programmed by

manual operation#

owe er in modern technology there are four common methods for

robot programmingC namely&

)i0 Programming by a Teach Pendant# The operator uses a dedicated

teach pendant for robot teaching and program editing# Teaching is

carried out for the tool center point )T:P0 and the D:6 display panel is

adopted for menu guide# %t is easy to use but restricted in application and

e(tension# A teach pendant )such as the one shown in !ig# 0 is the most

popular de ice in robot programming

A )o*ot eac& Pendant.

)ii0 Programming by Manual Dead-Through# A well trained welding

e(pert will hold the holder near the torch and program by manual lead-


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through# This was common in first generation robots howe er in

modern technology this is only used for spray painting robots#

)iii0 Programming by a Robot Danguage# The robot is programmed by a

program language using a monitor and a "eyboard# There e(ist se eral

command motion and operation le el languages# :ommonly used

robots can ta"e ad antage of a broad range of motion le el languages#

The operation le el language only describes the final goal of the

process and the sequence of motion and data are generated

automatically# This programming method still remains ery much in the

research stage#

)i 0 Programming by a Simulator# A graphic simulation is performed

and it is translated into the language of the robot# This is also referred to

as off-line programming#

)B0 =elding 6ata# =elding 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 wea ing data# !igure *7 shows an

e(ample of welding data#


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Conclusion

The tutorial was able to co er e erything % had hoped it would

and we had success in controlling ser os which was our main purpose

goal# % will ha e more pro?ects coming which use ser os so you can see

how they fit into pro?ects which are doing many things at once#

a ing now gone o er how to control 6: Motors Ser o

Motors %Fll be able to mo e onto stepper motors in a future tutorial# So

for those of you who ha e been waiting to see it a stepper motor tutorial

is in the wor"s coming#


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REFERENCES

*0 Baldor Electric :ompany - Ser o :ontrol !acts# Accessed ,8 September ,/*.,0 @ump up G Anaheim Automation& Ser o Motor 4uide# Accessed ,8 September ,/*..0 @ump up G Business6ictionary#com definition# Accessed ,8 September ,/*.70 @ump up G Eugine D# Ragonnet :ontrolling Mechanism for Docomoti es U#S# Patent

+./ ,,8 Aug# + *+/+#80 @ump up G %EEE %ndustry Applications MagaHine March$April *++1 pg I710 @ump up G 4# =#

Documents

Study Report of Dc Servo Motor