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Theory
Servo is a greek word which means to follow input as closely as
possible by output. Generally 2 phase induction machines are used
as AC servo motors. There are 2 coils i.e. control and reference.
In present kits both the coils have same ratings. Reference coil has
phase shifting series capacitor in series to produce phase shift of 90
deg.
with high resistance so X/R ratio is lesser and linear speed torque
characteristics with positive slope, however servo motor must have
speed torque characteristics with negative slope for stable operation.
Therefore closed loop control is necessary.
Generally AC servomotors comprise of small diameter, light weight,low
inertia to facilitate quick response, reversals, fast start and stops. Induction motor for servo use is designed with phases at right angles.
Fixed reference coil and variable (adjustable)control coil.
For calculating transfer function, time constant of motor is necessary
to be known. The time constant is time taken by motor to reach
63.2 percent of steady state speed when step voltage is switched on
in control coil and reference coil is excited with rated voltage.
Procedure:
1. Steady State Operation
(a) Determination of generator constant Kg .
i. Connect servo motor unit to the trainer kit.
ii. Keep the motor at no load condition and vary the
voltage applied to the control coil in steps.
iii. Note down the speed of motor (N) in RPM at each
voltage.
iv. Note down the output voltage by connecting Ec (voltage applied at the control phase) to the input of DC
voltmeter on the kit.
v. Calculate generator constant by using the formula Kg =
Ec
N.
(b) Determination of motor parameters Km , Kn , J.
Calculation of motor constant Km :
i. Operate the motor at various combinations of control
phase voltage EC and external loading Tl .
ii. Calculate motor gain constants for the three sets of
voltages (say Km1 , Km2 , Km3 ) by using the formula Km =
N
30Ec .
iii. Find the average value of Km .
Km
s(sm +1)
Observations:
I.For motor parameters
1. At load step-1
Input
Load Step-1(no load)
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)
2. At load step-2
Input
Load Step-2
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)
3. At load step-3
Input
Load Step-3
Step Ec (V) E0 (v) Il (A) N (rpm) Tl (Nm)
II.Time Constant
Motor Time Constant m =
sec
6
Calculations:
(a)
Ref. winding input Ec =
Motor speed, N =
Motor gain constant Km =
V, rms
rpm
volts/rpm
(b)
Ref. winding input Ec =
Motor Time Constant m =
V, rms
sec
(c)
Inertia J =
kgm2
(d)
Transfer Function of the motor
Conclusions:
G(s) =
Km
s(sm +1)