Electrical Servomotors

Electrical servomotors offer several advantages

over their hydraulic and pneumatic counterparts.
(a)compactness (facilitated by availability of
highcoercive-strength magnetic materials such
as samariumcobalt or neodium),
(b)low cost
(c)high reliability
(d)cleanliness
(e)ease of control function implementation,
(f) Portability due to operation at low dc voltage
levels, and (g) large bandwidth due to high
torque/ inertia ratios

Classification
DC Servo motor
AC Servomotor

DC Servomotor classification

Mathematical Model of a PermanentMagnet DC Servomotor

A simplified dynamic model is presented here.
The mathematical model of a permanent-magnet dc motor is
obtained by lumping the inductance and resistance of the armature
winding as shown in Figure
The resulting equations are given:

In principle, the models developed can be

applied to all of the dc motors of the various
types with the appropriate input conditions.
These models describe the open-loop
response.
For closed-loop systems with velocity or
position feedback, an appropriate closedloop transfer function can be derived easily
by making use of the motor dynamic model.

Electromechanical
Servoactuator

Electromechanical Servoactuator
Figure shows schematically a servoactuator
comprising a permanent-magnet dc servomotor
and an electronic amplifier used to control the
velocity of a rotary inertia load.
Gearing is used to match the motor torque
capability with the load requirements.

Fig. Electromechanical Servoactuator

Assumptions
A simplified dynamic model may be derived
based on the following assumptions:
1. The amplifier bandwidth is
considerably greater than that of the
servomotor load portion of the system.
2. The gears have zero backlash and
infinite stiffness.
3. The connecting shafts all have
infinite stiffness.
Assumptions 2 and 3 eliminate some
important dynamic effects that may need to

Other parameters are already defined.

Mathematical Model
The basic equations which describe the
dynamic behavior of the servoactuator are
as follows:
Amplifier equation:

(12)

(13
)

(14
)

(15)

(16)

(17)

(18)

 Eliminating gear backlash and coulomb friction load

torque, equations from (12)- (18) can be linearized. The
linearized dynamic model in Laplace domain is given by
(19
)
(20)

(21)

A block diagram of eqn. (19) is shown in figure.

In most cases the mechanical time constant (m) is much
greater than the electrical time constant (e).
In this case, the transfer functions of Eqs. (20) and (21)
simplify to first-order forms as follows:
(22
)
(23
)

Fig. Block diagram of a servoactuator with

Where
(24)
(25)

If the mechanical and electrical time constants are

comparable, the transfer functions can be expressed
in the canonical form as
(26)

(27)

Where K1 and K2 are given in eqn. (24) and

(25) respectively and
(28)

(29)

Similar expressions can also be derived for

current amplifier.

Dynamic response analysis

A dc motor is used to rotate an inertia load. The systems
parameters are

 Substituting these parameters in to equations (24), (25) and

(28), (29) gives the following gains and performance factors

These equations can be used to determine the

transient response and frequency response.

Electromechanical Servosystem

Figure shows a closed-loop servosystem that

utilizes tachometer feedback around the
servoactuator.
Through the use of velocity feedback, greater
accuracy can be achieved than with the open-loop
system.

Figure. Electromechanical servosystem with

Mathematical Models
An approximate linearized model may be derived for
the servosystem by combining the open-loop system
model Eq. (19) with the following equations:

(30)

(31)

(32)

Equation (31) assumes that the tachometer is

mounted directly on the motor shaft, which is
normally the case.

Equations (19), (30), (31), and (32) may be

combined to obtain the following closed loop
servosystem model:
(34)

Where

(35)

(36)

The second order transfer functions G3(s) and

G4(s) can be expressed in canonical form as
follows:
(37)

(38)

(39)

(40)

(41)

(42)