ACS Lab Exp 1

Experiment 1
AIM: Determination of transfer functions of DC servomotor and AC servomotor

Theory:
DC Servo Motor
A DC motor is an electrical machine that converts electrical energy into mechanical energy.
These motors are expensive because of brushes and commutators. The DC motors are generally
used for large power application as in machine tools and robotics. Except for minordifferences
in constructional features, DC servomotor is essentially an ordinary DC motor. A DC
servomotor has an output shaft that can be positioned to a specific angular position by sending
a command signal and as long as this signal exists the angular position of the shaft is maintained.
The servomotor has same control circuits and a potentiometer that is connected to the output
shaft. The potentiometer allows the control circuits to monitor the current position of the shaft.
The speed of a DC servomotor can be controlled by two methods namely Armature controlled
method and Field control method. The purpose of a motor speed controller is to take a signal
representing the demanded speed and to drive the motor at that speed. Servos are used in radio
controlled airplane to position control surfaces like elevators and rudders. They are extremely
used in robotics.
Transfer Function of DC Servo Motor

To Find:
𝜃𝑚(𝑆)
>>TF(s)=
𝐸𝑎(𝑆)
>>𝑉𝑏(𝑡) 𝖺 𝜔𝑚(𝑡)
𝑑𝜃𝑚(𝑡)
>>𝑉𝑏(𝑡) = 𝐾𝑏 𝑑𝑡
>>𝑉𝑏(𝑠) = 𝐾𝑏𝑆𝜃𝑚(𝑠)
Also,
𝑑𝑖𝑎(𝑡)
>>𝑒 (𝑠) = 𝑅 . 𝑖 (𝑡) + 𝐿 + 𝑉 (𝑡)
𝑎 𝑎 𝑎 𝑎 𝑑𝑡 𝑏
>>𝐸𝑎(𝑠) = 𝑅𝑎𝐼𝑎(𝑠) + 𝐿𝑎𝑆. 𝐼𝑎(𝑠) + 𝑉𝑏(𝑆)
Using eq.(1) and (2),we get
>>𝐸𝑎(𝑠) = 𝑅𝑎𝐼𝑎(𝑠) + 𝐿𝑎𝑆. 𝐼𝑎(𝑠) + 𝑘𝑏. 𝑆. 𝜃𝑚(𝑠)
Or
>>𝐸𝑎(𝑠) = [𝑅𝑎 + 𝐿𝑎𝑠]𝐼𝑎(𝑠) + 𝐾𝑏𝑆𝜃𝑚(𝑠)
But torque of the motor depends on 𝑰𝒂.
>>𝑻𝒎(𝒕) 𝖺 𝑰𝒂(𝒕)
Or
>>𝑇𝑚(𝑡) = 𝐾𝑡𝐼𝑎(𝑡) “𝐾𝑡 𝑖𝑠 𝑡𝑜𝑟𝑞𝑢𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡”
>>𝑇𝑚(𝑠) = 𝐾𝑡𝐼𝑎(𝑠)
Put value of 𝐼𝑎(𝑠) from (4) into (3)

𝑇𝑚(𝑠)
∴ 𝐸 (𝑠) = [𝑅 + 𝐿 . 𝑆] + 𝐾 𝑆𝜃 (𝑠)
𝑎 𝑎 𝑎 𝐾𝑡 𝑏 𝑚
Also, torque is required to overcome two components:
(1). Inertia(J):-(motor inertia + inertia of O/P load which has to be connected). (2).
Friction or damping .
>> 𝑇𝑚(𝑡) = 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 + 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛

𝑑𝜔𝑚
>> 𝑇 (𝑡) = 𝐽 + 𝐷𝜔
𝑚 𝑑𝑡 𝑚
𝐽𝑑 2𝜃𝑚 𝑑𝜃𝑚
Or 𝑇 (𝑡) = +𝐷 [∴ 𝜔 = 𝑑𝜃 = 𝑆𝜃]
𝑚 𝑑𝑡2 𝑑𝑡 𝑑𝑡
Or 𝑇𝑚(𝑡) = 𝐽𝑆2𝜃𝑚(𝑠) + 𝐷𝑆𝜃𝑚(𝑠)
Put value of 𝑇𝑚(𝑠) from eq.(6) into eq.(5),we get
>> 𝐸 (𝑠) = [𝑅 + 𝐿 𝑆] [𝐽𝑆2𝜃𝑚(𝑠)+𝐷𝑆𝜃𝑚(𝑠)] + 𝐾 𝑆𝜃 (𝑠)

𝑎 𝑎 𝑎 𝐾𝑡 𝑏 𝑚
𝑅𝑎
>> 𝐸𝑎(𝑠) = [{ + 𝐿 𝑎 𝑆} {𝐽𝑆2 + 𝐷𝑆} + 𝐾𝑏 𝑆] 𝜃𝑚 (𝑠)
𝐾𝑡
𝑄𝑚(𝑠) 𝐾𝑡
>> =
𝐸𝑎(𝑠) (𝑅𝑎+𝐿𝑎𝑆)(𝐽𝑆2+𝐷𝑆)+𝐾𝑏𝐾𝑡𝑆
Equation (6) gives open loop T.F. with 𝐸𝑎(𝑠) as input and 𝜃𝑚(𝑠) as output. Or
eq.(6) can be written as:
𝜃𝑚(𝑠) 𝐾𝑡
>> = 2
𝐸𝑎(𝑠) 𝑆[𝐽𝐿𝑎𝑆 +(𝐽𝑅𝑎+𝐷𝐿𝑎)𝑆+𝐷𝑅𝑎]
Now consider the closed loop transfer function which indicates the relation between 𝜃𝑚𝑟𝑒𝑓
𝑎𝑛𝑑 𝜃𝑚(𝑡) can be determined by following block diagram.
>>
𝜽𝒎 𝑲𝑮
𝜽𝒓𝒆𝒇
=
𝟏+𝑲𝑮
MATLAB code for :

clc
clear all
close all
% Parameters of the DC motor
R = 1; % Armature resistance (ohms)
L = 0.5; % Armature inductance (H)
K_e = 0.01; % Back emf constant (V/rad/s)
K_T = 0.01; % Motor torque constant (Nm/A)
J = 0.01; % Moment of inertia of the rotor (kg.m^2)
B = 0.1; % Viscous damping coefficient (N.m.s)
% Transfer function from voltage to angular velocity

num = [K_T]; % Numerator
den = [(J*L) (J*R + B*L) (B*R + K_e*K_T)]; % Denominator
% Create transfer function

motor_tf = tf(num, den);
% Plot step response
figure;
step(motor_tf);
title('Step Response of the DC Servomotor');
xlabel('Time (seconds)');
ylabel('Response');
Output:
Transfer Function of AC Servo Motor
Torque Speed Characteristics:-

𝑋
(1.) T-𝜔 characteristics depends upon ratio.
𝑅
𝑋
(2.) ratio is kept high to achieve maximum torque in two phase ID motor but the
𝑅
rotor has high resistance in case of ac servo motor so that a negative slope fortorque
speed characteristics entire range is obtained.
𝑻𝒎 𝗍
When 𝜔 = 0; then 𝑇𝑚 = 𝑇0 which depends on 𝑉𝑐.
𝑇𝑚 = 𝑇0= stalling torque.

>> 𝑇0 𝖺 𝑉𝑐
>> 𝑇0 = 𝐾𝑉𝑐
𝑇0
>> 𝐾 =
𝜔0
𝑇0
Now slope 𝑚 = →stalling torque at rated voltage.
𝜔0
>> 𝑦 = 𝑚𝑥 + 𝑐
>> 𝑇𝑚 = 𝑚𝜔 + 𝐾𝑉𝑐
𝑑𝜔
>> 𝑇𝑚 (𝑡) = 𝑚𝜔(𝑡) + 𝐾𝑉𝑐 =𝐽 + 𝑓𝜔
𝑑𝑡
Where j= inertia, f=friction damping
Or
>> 𝑇𝑚(𝑠) = 𝑚𝜔(𝑠) + 𝐾𝑉𝑐(𝑠) = 𝐽𝑆𝜔(𝑠) + 𝑓𝜔(𝑠)

>> m𝜔(𝑠) − (𝐽𝑆 + 𝑓)𝜔(𝑠) = −𝐾𝑉𝑐(𝑠)
Or
𝜔(𝑠) 𝐾
>> =
𝑉𝑐(𝑠) 𝐽𝑆+(𝑓−𝑚)
𝜔(𝑠) 𝐾𝑚
>> =
𝑉𝑐(𝑠) (𝑇𝑚𝑆+1)
Here,
𝐾𝑚 = motor gain constant
𝑇𝑚 = motor time constant
𝑘
>> 𝐾𝑚 = 𝑓−𝑚
>> 𝑇𝑚 =𝐽 𝑓−𝑛
MATLAB CODE:
clc
clear all
close all
% AC Servo Motor
% Define parameters
Kt = 0.01; % Motor torque constant (Nm/A)
Rs = 1; Ls = 0.1; Rr = 0.5; Lr = 0.05; Lm = 0.08; Ke = 0.1; J = 0.01; B = 0.005;
% Transfer function numerator

num = [Kt*Lm];
% Transfer function denominator

den = [J*Ls*Lr, J*Ls*Rr + J*Lr*Rs + B*Ls*Lr + Kt*Lm*Ke, J*Rs*Rr + B*Ls*Rr + B*Lr*Rs +
Kt*Lm*Ke, B*Rs*Rr];
% Create transfer function

G = tf(num, den);
% Display the transfer function

disp('Transfer function from Voltage to Angular Velocity:');
G
% Analyze transfer function
figure;
step(G);
figure;
bode(G);
figure;
pzmap(G);
OUTPUT:
RESULT:
7EE4-22 ADVANCED CONTROL SYSTEM LAB
Practical No:-1
Objective:-
Determination of transfer functions of DC servomotor and AC servomotor.
S.No. Viva Questions (to be answered in the Lab file)
1. Where we used Servomechanism in control system?
2. What is meant by feedback?
3. What is the effect of feedback on dc servo motor?
4. Where the servomotors are used?
5. What are the advantages of dc servomotor?
6. What are the types of dc servomotors?
7. In which wattage the dc servomotor is available?
8. What are special features of dc servomotors?
9. How the direction of rotation of dc servomotor can be changed?
10. What is the effect of negative slope?

ACS Lab Exp 1

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Experiment 1

AIM: Determination of transfer functions of DC servomotor and AC servomotor

Transfer Function of DC Servo Motor

>>𝐸𝑎(𝑠) = 𝑅𝑎𝐼𝑎(𝑠) + 𝐿𝑎𝑆. 𝐼𝑎(𝑠) + 𝑉𝑏(𝑆)

Using eq.(1) and (2),we get

>>𝐸𝑎(𝑠) = 𝑅𝑎𝐼𝑎(𝑠) + 𝐿𝑎𝑆. 𝐼𝑎(𝑠) + 𝑘𝑏. 𝑆. 𝜃𝑚(𝑠)

>>𝐸𝑎(𝑠) = [𝑅𝑎 + 𝐿𝑎𝑠]𝐼𝑎(𝑠) + 𝐾𝑏𝑆𝜃𝑚(𝑠)

But torque of the motor depends on 𝑰𝒂.

>>𝑇𝑚(𝑡) = 𝐾𝑡𝐼𝑎(𝑡) “𝐾𝑡 𝑖𝑠 𝑡𝑜𝑟𝑞𝑢𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡”

Put value of 𝐼𝑎(𝑠) from (4) into (3)

>> 𝑇𝑚(𝑡) = 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 + 𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛

Or 𝑇𝑚(𝑡) = 𝐽𝑆2𝜃𝑚(𝑠) + 𝐷𝑆𝜃𝑚(𝑠)

Put value of 𝑇𝑚(𝑠) from eq.(6) into eq.(5),we get

>> 𝐸 (𝑠) = [𝑅 + 𝐿 𝑆] [𝐽𝑆2𝜃𝑚(𝑠)+𝐷𝑆𝜃𝑚(𝑠)] + 𝐾 𝑆𝜃 (𝑠)

eq.(6) can be written as:

𝑎𝑛𝑑 𝜃𝑚(𝑡) can be determined by following block diagram.

MATLAB code for :

% Transfer function from voltage to angular velocity

% Create transfer function

Transfer Function of AC Servo Motor

Torque Speed Characteristics:-

When 𝜔 = 0; then 𝑇𝑚 = 𝑇0 which depends on 𝑉𝑐.

𝑇𝑚 = 𝑇0= stalling torque.

Where j= inertia, f=friction damping

>> 𝑇𝑚(𝑠) = 𝑚𝜔(𝑠) + 𝐾𝑉𝑐(𝑠) = 𝐽𝑆𝜔(𝑠) + 𝑓𝜔(𝑠)

𝐾𝑚 = motor gain constant

𝑇𝑚 = motor time constant

% Transfer function numerator

% Transfer function denominator

% Create transfer function

% Display the transfer function

S.No. Viva Questions (to be answered in the Lab file)

1. Where we used Servomechanism in control system?

2. What is meant by feedback?

3. What is the effect of feedback on dc servo motor?

4. Where the servomotors are used?

5. What are the advantages of dc servomotor?

6. What are the types of dc servomotors?

7. In which wattage the dc servomotor is available?

8. What are special features of dc servomotors?

9. How the direction of rotation of dc servomotor can be changed?

10. What is the effect of negative slope?

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