Choice of gear ratio in geared drives

Control of Servo Motors

- The load is coupled with motor
- Gear ratio : 1 : n
* Gear ratio n | Load torque | Load speed +
Jm
e
rm Motor
Tem
1
n
T
L
e
rl
Load
JL
- Speed of load side
n
rm
rl
e
e =
- Motor power & Load power
rm em m
T P e =
rl L L
T P e =
,
,
- No power loss in gear
rm
L rm
L rl L L rm em m
n
T
n
T T P T P e
e
e e = = = = = ) (
- Torque of load side
em L
nT T =
Moment of inertia of load referred to the motor shaft
'
L
J
2
2
2 2 2 '
2
1
) (
2
1
2
1
2
1
rm
L rm
L rl L rm L
n
J
n
J J J e
e
e e = = =
- Mechanical energy of motor
2
'
n
J
J
L
L
=

* Gear ratio n | ++
'
L
J
Choice of gear ratio in geared drives
Control of Servo Motors
- Mechanical equation
-Neglecting the friction term
Simple acceleration of pure inertia load
dt
d
n
J
J T B
dt
d
n
J
J T
rm L
m L rm
rm L
m em
e
e
e
) ( ) (
2 2
+ = + + + =
- Motor acceleration
) (
2
n
J
J
T
dt
d
L
m
em
m
rm
+
= =o
e
- Load acceleration
) (
) (
2
n
J
J
T
n
dt
d
L
m
em
rl
+
= e
) (
) (
2
n
J
J n
T
dt
d
L
m
em
L rl
+
= =o e
rl
e
2
n
J
L
* When Gear ratio n | : Load speed + Transient response + + Transient response |
rl
e
2
n
J
L
* When Gear ratio n + : Load speed | Transient response | | Transient response +
- Maximum load acceleration with n at = constant em
T
0 =
dn
do

m
L
opt
J
J
n = m opt L
J n J
2
=

- Maximum of load acceleration

opt m
em
Max L
n J
T 1
2
1
) (
= o
- Motor acceleration at optimal n
m
em
Max m
J
T
2
1
) (
= o
Basic principle of Torque production
Control of Servo Motors
Basic torque equation
r s
m
s
s
e
i i
d
dL
i
d
dL
T
u u
+ =
2
2
1
= Reluctance torque + Alignment torque
u
where, i
s
, i
r
:Stator and rotor current
L
s
,L
m
: Self inductance for stator and mutual inductance between stator and rotor

u : angular position of the rotor relative to arbitrary reference position
[1] Salient-pole type
Rotor
Stator
N
S
is
(1) Stator winding is excited
- The rotor tends to take up position which minimizes the reluctance
of stator winding. Reluctance torque
- Reluctance Torque
2
2
1
s
s
e
i
d
dL
T
u
=
Basic principle of Torque production
Control of Servo Motors
(2) Both the stator winding and rotor winding are excited
- Alignment torque :
Excited rotor poles N and S are aligned with excited stator poles N and S
+ Reluctance torque :
r s
m
s
s
e
i i
d
dL
i
d
dL
T
u u
+ =
2
2
1
- Torque
= Reluctance torque + Alignment torque
Rotor
Stator
N
S
N
S
is
ir
[2] Cylindrical type
Rotor
Stator
N
S
N
S
is
ir
- Both the stator winding and rotor winding are excited
- No reluctance torque
- Torque
r s
m
e
i i
d
dL
T
u
=
- Only alignment torque Smooth torque
Chapter 3. Permanent-magnet materials and circuit
Control of Servo Motors
Permanent-magnet materials and characteristics
- B-H hysteresis loop of Permanent magnet materials
o-a : External ampere-turns (Field intensity H) are increased
a-b : External ampere-turns are switched off

b : At H=0, B = Br : Remance
(Flux density when the external field intensity is 0)
b-c : External ampere-turns are applied in the opposite direction.
c : At B = 0, H=Hc (Coercive force)

c-d :: External ampere-turns are continuously

applied in the opposite direction
The flux density is in the opposite direction.
d-e : External ampere-turns are switched off
e-a : External ampere-turns are applied in the forward direction
Chapter 3. Permanent-magnet materials and circuit
Control of Servo Motors
Demagnetization curve
H
c
Br
Hd
Bd
H [Oe]
B [G]
Q
- Second quadrant operation for B-H hysteresis loop
+ Parameters for permanent magnet
- Br (Remanence) [T] : 1[T] = 10,000[G]
- Maximum flux density that can be retained
by the magnet without external ampere-turns
- Remanence Br | Flux u | Torque | Power |
- Hc (Coercive Force) [Oe] : 4t10
-3
[Oe] = 1[A/m]
- Negative external ampere-turns (field intensity)
when the flux density becomes 0.
- Hc (Coercive Force) |
Possibility of demagnetation by external field intensity +
- Maximum Energy Product
d d
H B BH =
max
- Maximum energy stored at permanent magnet
[MGOe : 106GOe]
Chapter 3. Permanent-magnet materials and circuit
Control of Servo Motors
Permanent magnet materials
Ferrite (Ceramic)
Alnico (Aluminum Nichol Cobalt)
SmCo (Samarium Cobalt)
NdFeB (Neodynium Ferrum Boron)
- History for developing the PM
Ferrite
Alnico
SmCo
NdFeB
Chapter 3. Permanent-magnet materials and circuit
Control of Servo Motors
Demagnetization curve for permanent magnet materials
- Comparsion of the performance of permanent magnet materials
NdFeB
SmCo
Bonded
NdFeB
Alnico
Ferrite
Chapter 3. Permanent-magnet materials and circuit
Control of Servo Motors
- Characteristics of permanent magnet materials
Low Normal 4.0 MGOe 300 C Ferrite
Normal Low 7.5 MGOe 550 C Alnico
Very High Very High 32 MGOe 300 C SmCo
High High 48 MGOe 150 C NdFeB
Cost Coercive Force
Maximum Energy
Product
Maximum operating
Temperature
Permanent-Magnet
Materials
- Temperature effect for permanent magnet material (Sm
2
Co
17
)
9.78 5.466 6.59 500 C
12.7 6.438 7.38 400 C
14.7 7.139 7.91 300 C
19.2 8.61 8.85 25 C
BHmax
[MGOe]
Hc [KOe] Br [KG] Temperature
Chapter 4. Squarewave Permanent-Magnet Brushless Motor Drives
[ BLDC (Brushless DC) Motor Drives]
Control of Servo Motors
+ Criteria of Motor Drive system for both the speed and position control
- Motor
- Cost, Size, Weight
- Output Power, Maximum speed
- Torque characteristics
- Maintenance Requirement
- Input type : dc voltage, single-phase ac voltage, three-phase ac voltage
- Power semiconductor circuit
- DC-to-dc converter, Controlled rectifier, Inverter
- Sensor :
- ac current, dc current, ac voltage, dc voltage, position, speed, torque
- Control loop :
- Open loop or Closed loop control
- Position, Speed, and Current (Torque) control loop
Structure and Operating Principle for DC Motor
Control of Servo Motors
- Structure of dc motor
Direct
axis
Field Coil
N
S
u
Ia
I
f
Ia
Field
Amarture
Amarture Coil
Commutator
Brush
- Operation of dc motor
Quadrature
axis
Direct
axis
Field Coil
N
S
N
S
(MMF)
u
Te
Amarture
Coil
Current
Brush position
Brush position
Structure and Operating Principle for DC Motor
Control of Servo Motors
- Torque Production of DC motor
- Phase diagram for MMF & Flux
u
MMF
o
- Torque of DC Motor
a a e
I I K T u = u = o sin
2
t
o =
)
( )
Maximum torque
- Equivalent circuit for DC Motor
Va
Ia
+
-
V
f +
I
f
u
ea
+
-
La Ra
R
a
: Armature resistance
L
a
: Armature inductance
e
a
: EMF
Structure and Operating Principle for DC Motor
Control of Servo Motors
+ Torque-Speed curve
- Armature voltage Motor speed
- Load torque Motor speed at fixed armature voltage
)
- Speed control of DC Motor Controlling armature voltage
- Constant flux
T
e
e
rm
V
a
V
a
'
V
a
''
V
a
'''
Decrease
V
a
T
L
T
L
'
Closed control for maintaining the desired speed
Closed loop control of DC Motor
Control of Servo Motors
)
- Speed Control loop
*
e
r
e
r
Converter
DC
Motor
*
I
a
I
a
Vc
*
e
r
e
r
*
ue
ue
p
Converter
DC
Motor
*
I
a
I
a
Vc
- Position Control loop
- Torque Control loop
Converter
DC
Motor
*
T
e
T
e
Vc
I
a
I
a Caluclate
Torque
Criteria of DC Motor
Control of Servo Motors
)
- Motor
- High cost, size, and weight Brush, Commutator, Armature & Field coil
- Limited power, maximum speed Brush & Commutator
- Torque characteristics : Maximum torque
- Maintenance : Brush, Commutator
- Input voltage type : One variable dc voltage source for armature voltage control
+ One unchangeable dc voltage source for dc field current
or Variable dc voltage for adjustable field current (flux)
- Power semiconductor circuit
* 3-phase ac input voltage
DC-to-DC
DC
Motor
3u
ac
Converter DC
Motor
3u
ac
Controlled Rectifier
* DC input voltage
DC-to-DC
DC
Motor
Converter
+
Vdc
- Sensor : one dc current, dc voltage, position or speed sensor
- Control loop :
Position, speed, current control loop Simple