Servo Motors

Servo Motor and Stepper
Motor
C. Archana
(12bec112)
SERVOMOTOR
What is SERVO MOTOR??

It is a simple electrical motor,
controlled
with
the
help
of
servomechanism.
If the motor as controlled device,
associated with servomechanism is
DC motor, then it is commonly known
DC Servo Motor. If the controlled
motor is operated by AC, it is called
AC Servo Motor.
Why SERVO MOTOR?

There are some special types of application of
electrical motor where rotation of the motor is
required for just a certain angle not
continuously for long period of time.
For these applications some special types of
motor are required with some special
arrangement which makes the motor to rotate
a certain angle for a given electrical input
(signal).
For this purpose servo motor comes into
picture. This is normally a simple DC motor
which is controlled for specific angular rotation
with help of additional servomechanism.
The main reason behind using a servo is

that it provides angular precision, i.e. it will
only rotate as much we want and then
stop and wait for next signal to take
further action.
This is unlike a normal electrical motor
which starts rotating as and when power is
applied to it and the rotation continues
until we switch off the power. We cannot
control the rotational progress of electrical
motor; but we can only control the speed
of rotation and can turn it ON and OFF.
SERVOMECHANISM
A servo system mainly consists of three basic components a
controlled device, a output sensor, a feedback system.
This is an automatic closed loop control system. Here instead of
controlling a device by applying variable input signal, the device is
controlled by a feedback signal generated by comparing output
signal and reference input signal.
When reference input signal or command signal is applied to the
system, it is compared with output reference signal of the system
produced by output sensor, and a third signal produced by
feedback system. This third signal acts as input signal of
controlled device. This input signal to the device presents as long
as there is a logical difference between reference input signal and
output signal of the system. After the device achieves its desired
output, there will be no longer logical difference between
reference input signal and reference output signal of the system.
The primary task of a servomechanism is to maintain the output
of a system at the desired value in the presence of disturbances.
Say at initial position of servo motor shaft, the position of the

potentiometer knob is such that there is no electrical signal
generated at the output port of the potentiometer .
This output port of the potentiometer is connected with one of the
input terminals of the error detector amplifier. Now an electrical
signal is given to another input terminal of the error detector
amplifier.
The difference between these two signals, one comes from
potentiometer and another comes from external source, will be
amplified in the error detector amplifier and feeds the DC motor.
This amplified error signal acts as the input power of the dc motor
and the motor starts rotating in desired direction. As the motor shaft
progresses the potentiometer knob also rotates as it is coupled with
motor shaft with help of gear arrangement.
As the position of the potentiometer knob changes there will be an
electrical signal produced at the potentiometer port. As the angular
position of the potentiometer knob progresses the output or
feedback signal increases. After desired angular position of motor
shaft the potentiometer knob is reaches at such position the
electrical signal generated in the potentiometer becomes same as of
external electrical signal given to amplifier.
At this condition, there will be no output signal from the amplifier to
the motor input as there is no difference between external applied
signal and the signal generated at potentiometer . As the input signal
to the motor is nil at that position, the motor stops rotating. This is
how a simple conceptual servo motor works.
The angle is determined by the duration of a pulse that is applied to

the control wire. This is called Pulse width Modulation. The servo
expects to see a pulse every 20 ms. The length of the pulse will
determine how far the motor turns. For example, a 1.5 ms pulse will
make the motor turn to the 90 degree position (neutral position).
When these servos are commanded to move they will move to

the position and hold that position. If an external force pushes
against the servo while the servo is holding a position, the servo
will resist from moving out of that position. The maximum amount
of force the servo can exert is the torque rating of the servo. Servos
will not hold their position forever though; the position pulse must
be repeated to instruct the servo to stay in position.
When a pulse is sent to a servo that is less than 1.5 ms the servo
rotates to a position and holds its output shaft some number of
degrees counterclockwise from the neutral point.
When the pulse is wider than 1.5 ms the opposite occurs.
The minimal width and the maximum width of pulse that will
command the servo to turn to a valid position are functions of each
servo. Different brands, and even different servos of the same
brand, will have different maximum and minimums. Generally the
minimum pulse will be about 1 ms wide and the maximum pulse
will be 2 ms wide.
Applications of SERVO MOTOR

In ROBOTICS
We can plan the angular movement of each and every joint to

complete this task of pick and place. Once this data is fed to
the robot controller, the robot will continuously do its job. The
controller will send PWM data to the individual motors of the
robot. This gives precise angular control of the arm which is
not possible with a regular DC motor.
In CONVEYOR BELTS
In order to achieve this conveyor belts are used with

servo motors so that the bottle moves precisely to the
desired location and stops so that the liquid can be
poured into it and then it is guided to the next stage.
This process continues until stopped. Hence the precise
position control ability of the servo shaft comes in handy.
In Solar Tracking System
We attach servo motors to the solar panels in such a way

that we are able to precisely control its angle of
movement so that it closely follows the Sun, then the
overall efficiency of the system vastly increases.
As Camera Auto Focus
In modern digital cameras are very advanced. One of the advanced

features is its ability to auto focus on the object to be captured if the
focal length (measured from camera lens) is not proper, the image
appears to be blurred. The corrective action to position the lens
precisely so that the sharpest image is captured is done using a
highly precise servo motor fitted within the camera.
Stepper Motor
It is an electromagnetic actuator. It is an
incremental drive (digital) actuator and is driven in
fixed angular steps.
This mean that a digital signal is used to drive the
motor and every time it receives a digital pulse it
rotates a specific number of degrees in rotation.
Each step of rotation is the response of the motor to an

input pulse (or digital command).
Step-wise rotation of the rotor can be synchronized with
pulses in a command-pulse train, assuming that no steps are
missed, thereby making the motor respond faithfully to the
pulse signal in an open-loop manner.
Stepper motors have emerged as cost-effective alternatives
for DC servomotors in high-speed, motion-control
applications (except the high torque-speed range) with the
improvements in permanent magnets and the incorporation
of solid-state circuitry and logic devices in their drive
systems.
Today stepper motors can be found in computer
peripherals, machine tools, medical equipment, automotive
devices, and small business machines, to name a few
applications.
TYPES OF MOTORS AVAILABALE
Stepper Motor Basics
STEP ANGLE
The step angle, the
number of degrees
a rotor will turn per
step, is calculated
as
For this motor:
ADVANTAGES OF STEPPER
MOTORS
Position error is noncumulative. A high accuracy of
motion is possible, even under open-loop control.
Large savings in sensor (measurement system)
and controller costs are possible when the openloop mode is used.
Because of the incremental nature of command
and motion, stepper motors are easily adaptable to
digital control applications.
No serious stability problems exist, even under
open-loop control.
Torque capacity and power requirements can be
optimized and the response can be controlled by
electronic switching.
Brushless construction has obvious advantages.
DISADVANTAGES OF STEPPER
MOTORS
They have low torque capacity (typically less

than 2,000 oz-in) compared to DC motors.
They have limited speed (limited by torque
capacity and by pulse-missing problems due
to faulty switching systems and drive
circuits).
They have high vibration levels due to
stepwise motion.
Large errors and oscillations can result when
a pulse is missed under open-loop control.
Stepping Sequence
There is sequential excitation of the
adjacent phases. Such a sequence is
called as a stepping sequence.
Half Step Sequence
Full Step Sequence
Microstepping
Half Step Sequence
Full Step Sequence
Half Step Sequence
Full Step Sequence
Microstepping
Both in full step mode and in half step
mode complete windings are energised
based on a certain pulse pattern. The
motor rotates suddenly by a fixed angle. In
microstepping mode the control
electronics generate a PWM with very fine
resolution, so that the windings are
supplied with a constant current flow.
Applications of Stepper Motors

Industrial Machines Stepper motors are used in
automotive gauges and machine tooling
automated production equipments.
Security - new surveillance products for the
security industry.
Medical Stepper motors are used inside medical
scanners, samplers, and also found inside digital
dental photography, fluid pumps, respirators and
blood analysis machinery.
Consumer Electronics Stepper motors in
cameras for automatic digital camera focus and
zoom functions.
And also have business machines applications,
computer peripherals applications.
Thank You!!

Servo Motors

Uploaded by

Copyright:

Available Formats

Servo Motors

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Servo Motors

Uploaded by

Copyright:

Available Formats

What is a servomechanism?

What is a servomechanism?

What is the difference between a servo motor and a normal electrical motor?

What is the difference between a servo motor and a normal electrical motor?

Servo Motor and Stepper

What is SERVO MOTOR??

Why SERVO MOTOR?

The main reason behind using a servo is

Say at initial position of servo motor shaft, the position of the

The angle is determined by the duration of a pulse that is applied to

When these servos are commanded to move they will move to

Applications of SERVO MOTOR

We can plan the angular movement of each and every joint to

In order to achieve this conveyor belts are used with

In Solar Tracking System

We attach servo motors to the solar panels in such a way

As Camera Auto Focus

In modern digital cameras are very advanced. One of the advanced

Each step of rotation is the response of the motor to an

TYPES OF MOTORS AVAILABALE

Stepper Motor Basics

For this motor:

They have low torque capacity (typically less

Half Step Sequence

Full Step Sequence

Half Step Sequence

Full Step Sequence

Applications of Stepper Motors

You might also like