Part 66 B1 - MODULE 4 3 SERVOMECHANISMS

Part 66 CATEGORY B1 MODULE
MODULE 4 4.3
ELECTRONIC SERVOMECHANISMS
FUNDAMENTALS
INDEX
4.3 SERVOMECHANISMS .......................................................3-1

3.1 OPEN LOOP SYSTEM ....................................................................3-1
3.2 CLOSED LOOP SYSTEM .................................................................3-3
3.3 FOLLOW UP .................................................................................3-4
3.4 TYPES OF SERVO .........................................................................3-4
3.5 FEEDBACK ...................................................................................3-5
3.5.1 Positional Feedback......................................................3-5
3.6 ROTARY VARIABLE DIFFERENTIAL TRANSDUCER (RVDT)................3-7
3.7 CAPACITANCE TRANSMITTER .........................................................3-9
3.8 VELOCITY FEEDBACK ....................................................................3-10
3.9 DC TACHO-GENERATOR ...............................................................3-11
3.10 AC TACHO-GENERATOR ...............................................................3-11
3.11 SYNCHROS...................................................................................3-12
3.11.1 Introduction ...................................................................3-12
3.12 TORQUE SYNCHRO .......................................................................3-12
3.12.1 Principle of Operation....................................................3-12
3.13 CONTROL SYNCHRO .....................................................................3-15
3.13.1 Principle of Operation....................................................3-15
3.14 DIFFERENTIAL SYNCHRO ...............................................................3-17
3.15 TORQUE DIFFERENTIAL SYNCHRO .................................................3-19
3.16 CONTROL DIFFERENTIAL SYNCHRO ...............................................3-20
3.17 RESOLVER SYNCHRO ...................................................................3-21
3.17.1 Polar and Cartesian Co-ordinates .................................3-21
3.17.2 Resolver Synchro Operation .........................................3-22
3.17.3 Conversion from Polar to Cartesian Co-ordinates .........3-23
3.17.4 Conversion from Cartesian to Polar Co-ordinates .........3-34
3.17.5 Use of Resolver Synchros………………………………...3-25
3.18 E AND I BAR TRANSMITTER………………………………………3-25
For training purposes only Rev. 0 Issued 28 Feb 11 Malaysian Aviation Training Academy All rights reserved
3-1
MODULE 4 4.3
FUNDAMENTALS
4.3 SERVOMECHANISMS
A servomechanism (servo) is a type of control system whose output is the position of a
shaft. They may be controlled remotely when used in conjunction with synchro devices.
Synchros themselves transmit position information but cannot amplify torque to move
heavy loads. Used with servomechanisms, an output to control such a load can be
obtained to give a desired result in relation to an input.
3.1 OPEN LOOP SYSTEM
In this system, an input is applied and an output obtained. Figure 1 shows an example;
assume an aircraft rudder controlled by an open loop system.
DEMAND
DEMAND
INPUT SIGNAL
AMP
TRANSDUCER
RESPONSE
MOTOR LOAD
Open Loop System

Figure 1
The demand, made by the pilot on the rudder bar, is picked up by the transducer which
converts it to an electrical signal; i.e. the demand signal. This signal is amplified and
fed to the motor, which responds by moving the load; i.e. the rudder. There is no
positional feedback and the pilot does not know if the rudder has adopted the position
requested.
3-2
MODULE 4 4.3
FUNDAMENTALS
3.2 CLOSED LOOP SYSTEM
In the closed loop system, the demand is made in the same way. In a basic system,
positional feedback would be given to the pilot who would make adjustments
accordingly but this is not practical with systems such as aircraft flying controls. Figure
2 shows a closed loop automatic system.
ERROR
DETECTOR
INPUT SERVO
AMP LOAD
TRANSDUCER MOTOR
ERROR
SIGNAL
POSITION
FEEDBACK OUTPUT
POSITION
TRANSDUCER
Closed Loop System

Figure 2
An output position transducer has been added to the servomotor and this feeds back
any difference between input demand and output to an error detector. The error
detector outputs an error signal to the amplifier to make any positional corrections
necessary at the servo motor and thus the load (or rudder) is positioned as demanded.
If for example the pilot wanted to move the rudder 5°, a demand is made at the rudder
bar and this is converted to a voltage at the transducer, say +5 volts. The error detector
immediately gives an output signal corresponding to +5 volts input and this is amplified
to drive the motor, moving the rudder. The output position transducer converts the
output position to an electrical signal, which corresponds to the new position of the
rudder. As this happens, this signal, (feedback), is fed back to the error detector until
the demanded position is achieved and the input is negated. Now, there is no error
signal and no output. The feedback has reached -5 volts.
3-3
MODULE 4 4.3
FUNDAMENTALS
3.3 FOLLOW UP
If in our example the rudder were to be displaced from its demanded position, or from
the optimum speed at which the demanded position may be achieved, an error signal
occurs. In the way described, there is a feedback signal and the system returns to its
demanded position or speed. This process is called 'follow up'.
3.4 TYPES OF SERVO
There are two main classes of servomechanism - remote position control (RPC) servos
and velocity control servos (velodynes).
a) RPC servos. These are used to control the angular, or linear position of a load.
A typical example of the use of a RPC servo is the control of the direction in
which a radar scanner is pointing.
b) Velodynes. These are used to control the speed of a load. In this case, the
speed of the driving motor is made proportional to the input demand (usually a
voltage). A typical example of the use of a velodyne is the control of a radar
scanner, which is required to rotate with a constant angular velocity. It may be
necessary to change the velocity of rotation from time to time and the velodyne
must be capable of doing this and maintaining the new velocity set by the input
demand.
3-4
MODULE 4 4.3
FUNDAMENTALS
3.5 FEEDBACK
3.5.1 POSITIONAL FEEDBACK
Positional feedback is obtained from transducers positioned at the output. The feedback
element, or transducer, converts the output shaft angle into a signal suitable for
operating the error detector. In this case a voltage signal. The simplest form of element
is a R-pot, or a helical potentiometer similar to that used as a control element. In
practice, helical potentiometers are used since they give 360° coverage, which a R-pot
cannot provide. Figure 3 shows positional feedback in a dc system.
CONTROL
ERROR
ELEMENT
DETECTOR SERVO
MOTOR
LOAD
VELOCITY TACHO
FEEDBACK GEN
POSITIONAL FEEDBACK
FEEDBACK ELEMENT
Positional Feedback
Figure 3
3-5
MODULE 4 4.3
FUNDAMENTALS
Figure 4 shows a R-Pot & Helical Potentiometer
Ei
i
PROPORTIONAL
TO i
E
E
R-POT
Ei
PROPORTIONAL
TO i
i
HELICAL POTENTIOMETER
R-Pot & Helical Potentiometer

Figure 4
In ac systems, other components are used to provide positional feedback. Synchros

are employed in some servomechanisms. These will be discussed later.
3-6
MODULE 4 4.3
FUNDAMENTALS
3.6 ROTARY VARIABLE DIFFERENTIAL TRANSDUCER (RVDT)
The RVDT is an inductance transmitter having a primary stator coil, an iron rotor coil
and two secondary stator coils. Figure 5 shows the operation of a RVDT.
PRIM ARY
C OIL
L3
IRON CO RE
C ONNEC TED T O
MECHANICA L
IN PUT
L1 L2
R S T R S T
1. ZERO POSITION 2. ROTATED CLOCKWISE
R S T
3. ROTATED COUNTER CLOCKWISE
RVDT Operation
Figure 5
3-7
MODULE 4 4.3
FUNDAMENTALS
The mechanical input changes the position of the iron core. The position of the core
changes the magnetic coupling between the primary and the secondary stator coils.
When the input rotates, one of the secondary coils receives more magnetic flux and this
induces a higher voltage in that coil. The other secondary coil receives less magnetic
flux, so a lower voltage is induced. The difference between voltages induced in the
secondary stator coils is proportional to the rotated angle. This is an AC Ratio Signal.
Figure 5.1: The position of the iron core is zero. The magnetic field induced by
primary coil L3 is equally divided between L1 and L2. Therefore the
voltage R-T is zero.
Figure 5.2: The iron core is turned clockwise. Now there is more coupling between L3
and L2, and less coupling between L3 and L1. The voltage between T
and S increases and the voltage between R and S decreases.
Figure 5.3: The iron core turned counter-clockwise. Now there is more coupling
between L3 and L1, and less coupling between L3 and L2. The voltage
between T and S decreases, while the voltage between R and S
increases.
The difference between figure 5.2 and 5.3 is that the output-voltage between R and T is
of opposite phase. The output measured between R and T is an AC RATIO signal.
The Linear Variable Differential Transducer (LVDT) is also an inductance transmitter

with similar components and similar in operation but of course, the movement detected
is linear and not rotary.
3-8
MODULE 4 4.3
FUNDAMENTALS
3.7 CAPACITANCE TRANSMITTER
An example of a capacitance transmitter can be seen in a simple fuel gauging system

as in Figure 6.
TANK UNIT
LOOP
IS A
EMPTY LOOP
IB B
REF C
FULL
2 - PHASE DISCRIMINATION
MOTOR STAGE
AMPLIFIER
STAGE
INDICATOR
REF
PHASE AMPLIFIER UNIT
Capacitance Transmitter
Figure 6
This system depends upon the comparison of two capacitance values. One in Loop A,
which is the variable capacitance of a tank unit and the other in Loop B, which is fixed.
A current is developed in each loop; IS in loop A; IB in loop B. The two loops form a
bridge with resistor R across it. If the tank is full, then current IS is the greater. With the
tank empty, IS falls so that IB is the greater.
Note: The currents act in opposite directions so that a potential is developed across
resistor R of a polarity dependent on the direction of current flow and of a magnitude
dependent on the size of the current. This signal is transmitted to an amplifier, which
powers a 2-phase motor to drive an indicator and a balance potentiometer.
3-9
MODULE 4 4.3
FUNDAMENTALS
When the balance potentiometer moves as a result of change in fuel level, it adjusts IB,
rebalancing the bridge formed by loop A and loop B. Now, no current flows through
resistor R, no signal is developed across R and the new fuel level is displayed at the
indicator.
3.8 VELOCITY FEEDBACK
The inherent friction of a basic servomechanism is very small and so the device may be
able to oscillate fairly freely. This means that the load may oscillate about its final
required position, an effect known as 'hunting'. The time taken for the load to come to
rest at the required new position is called the 'response time' and ideally will be as short
as possible. A process known as 'damping' achieves the desired response time. Figure
7 shows graphs of the results of different degrees of damping.
OUTPUT
UNDERDAMPED
RESPONSE o
o REQUIRED
RESPONSE
INPUT
DEMAND i
&
OUTPUT o
o OVERDAMPED
RESPONSE
SUDDEN CHANGE
IN INPUT DEMAND i
TIME
Velocity Feedback
Figure 7
It can be seen from this that excessive oscillation takes place if the device is
underdamped, while overdamping results in too long a response time. Viscous friction
damping by using a mechanical brake or eddy current damping are possible answers to
the damping problem but are rarely used due to their inefficiencies. Velocity feedback
damping is a more effective method and uses a signal proportional to the velocity, or
rate of movement of the output shaft, as a feedback signal to compensate for oscillation
of the load. Tacho-generators are used to obtain this feedback signal.
3-10
MODULE 4 4.3
FUNDAMENTALS
3.9 DC TACHO-GENERATOR
The dc tacho-generator is mounted on the output shaft of the servomechanism so that it

is rotating at the same speed as the load. The dc tacho-generator is a normal small dc
generator with a separately excited field. It will, therefore, produce a dc voltage, which
is directly proportional to the speed at which it is driven and whose polarity depends
upon the direction of rotation.
3.10 AC TACHO-GENERATOR
The ac tacho-generator, used to provide velocity feedback damping in ac servo

systems, is mounted on the output shaft so that it rotates at the same speed as the
load. The ac tacho-generator is usually a drag-cup generator, which produces an
alternating voltage of the same frequency as the ac supply. However, the amplitude of
the voltage depends upon the speed of rotation and the phase of the voltage leads or
lags the ac supply, depending upon the direction of rotation.
In an automatic RPC servo, there is no operator and the braking required is produced
by attaching a tacho-generator to the output shaft as shown in Figure 8 below.
ERROR = i - O
O O
i CONTROLLER
SERVO TACHO
& LOAD
MOTOR GENERATOR
AMPLIFIER
NEGATIVE TO
O ERROR SIGNAL O
POSITIONAL FEEDBACK
VELOCITY FEEDBACK
VOLTAGE PROPORTIONAL
TO SPEED OF OUTPUT CONTROLS THE
SHAFT AMOUNT OF
VELOCITY FEEDBACK
A.C. Tacho-Generator
Figure 8
3-11
MODULE 4 4.3
FUNDAMENTALS
The tacho-generator produces a voltage proportional to the angular velocity of the

output shaft. A suitable fraction of this voltage is fed back to the input of the controller
and amplifier in opposition to the error signal, which is produced in the usual way. This
is negative feedback, also known as velocity feedback.
3.11 SYNCHROS
3.11.1 INTRODUCTION
AC transmission systems are generally known as synchros because of their

synchronous action in reproducing the angular movement of a shaft. As mentioned
previously, they cannot transmit torque to any appreciable degree but can be used in
conjunction with servomechanisms.
3.12 TORQUE SYNCHRO
3.12.1 PRINCIPLE OF OPERATION
The principle of a synchro is that of the transformer, where the primary winding is
wound onto a rotor and is rotated with respect to a fixed stator winding. The size and
phase of the output voltage is dependent on the direction and angular displacement
between the primary and secondary windings.
The torque synchro comprises two electrically similar units: the transmitter (TX) and the
receiver (TR) which are interconnected by transmission lines.
The TX and TR have very similar construction. Each has a rotor carrying a single
winding concentrically mounted in a stator of three windings, the axes of which are 120°
apart. It should be noted that the TX and TR torque synchros are not identical. The
difference is that the TR synchro has an oscillation damper added, so that when its rotor
rotates to a given position, it does not oscillate as it comes to rest.
The rotors of both TX and TR synchros are energized from the ac supply and produce
an alternating flux which links with their corresponding stators S1, S2 and S3. This
process is the normal transformer action, with the rotors corresponding to the
transformer primary winding and the stators to the secondary windings.
Consider the case when the two rotors are not aligned. The three voltages induced in
each of the two sets of stator windings are different. Currents therefore flow between
the two stators and a torque is produced in each synchro which is directed in such a
way that the two rotors must align themselves. Normally, the TX rotor position is
controlled by the input shaft, while the TR rotor is free to turn, so it is the one which
aligns itself with the TX rotor. In this way, any movement of the TX rotor due to
3-12
MODULE 4 4.3
FUNDAMENTALS
movement of the input shaft is repeated synchronously by movement of the receiver

rotor.
Torque synchros are used for the transmission of angular position information and flight
instrument systems is a typical application. Figure 9 shows a Torque Synchro and
circuit symbol.
S1 S1
INPUT S2 S3 OUTPUT S2
S3
SHAFT SHAFT
CIRCUIT SYMBOL
STATOR
FIELD
S1
ROTOR R1
S2
FIELD
R2
S3
CURRENT
FLOW
Torque Synchro
Figure 9
3-13
MODULE 4 4.3
FUNDAMENTALS
Figure 10 shows the construction of a torque synchro.
SHAFT
BEARING
STATOR
WINDINGS
COILS
SHELL
CORE SLIP
RINGS
LEADS TO
SLIP RINGS
LOWER END STATOR ROTOR

CAP LEADS LEADS
STATOR ROTOR COMPLETE
ASEMBLY
Torque Synchro Construction

Figure 10
3-14
MODULE 4 4.3
FUNDAMENTALS
3.13 CONTROL SYNCHRO
The basic control synchro system has two units; a synchro control transmitter (CX) and
a synchro control transformer (CT) connected as shown in Figure 11.
S1 S1
CX CT
A.C.
SUPPLY
S2 S3 S2
S3
A.C. M
INPUT SUPPLY
SHAFT
SERVO
MOTOR
Control Synchro
Figure 11
3.13.1 PRINCIPLE OF OPERATION
The CX synchro is similar to that used in the torque synchro system. The control
transformer has a stator, which in design and appearance resemble the synchro units
already discussed but with high impedance coils to limit the alternating currents through
the coils. Further differences in the CT are that the rotor winding has its coils wound so
that no torque is produced between it and the stator magnetic fields and the rotor is not
energized by the supply voltage applied to the rotor of the control synchro.
The CT rotor acts as an inductive winding for determining the phase and magnitude of
error signal voltages. The signals, after amplification, are fed to a two-phase motor,
which is mechanically coupled to the CT rotor. A control synchro system is at electrical
3-15
MODULE 4 4.3
FUNDAMENTALS
zero when the rotor of the CT is at 90° with respect to the CX rotor. This is the situation
as shown in Figure 10 above.
If the input shaft is rotated and the CX rotor is disturbed, voltages are induced in the CX
stator and currents flow down the transmission lines to the stator windings S1, S2 and S3
of the CT. A magnetic flux is produced, depending on the amount of displacement of
the CX rotor and the orientation of its displacement. This flux links with the rotor of CT,
inducing a voltage into it, again depending on the amount, or rate of displacement, and
its orientation.
The voltage, or error voltage, representing the electrical difference between the rotors of
CX and CT, is then amplified and passed to the control phase of a two-phase motor.
The ac reference phase supply is fixed. The motor now rotates.
Its direction depends on the phase of the error signal, as can be seen from Figure 12.
APPLIED VOLTAGE
CLOCKWISE ROTATION ANTI-CLOCKWISE ROTATION

VOLTAGE IN-PHASE VOLTAGE OUT-OF-PHASE
Phase Error Signal

Figure 12
3-16
MODULE 4 4.3
FUNDAMENTALS
As it rotates, the motor drives the rotor of CT in such a direction as to reduce the error
voltage to zero and the new position is reached. By using the error signal amplified by a
servo amplifier, a servomotor can be driven to move a control surface as in Figure 11.
3.14 DIFFERENTIAL SYNCHRO
There are two types of differential synchro system:
 Torque.
 Control.
In each, a special type of synchro is inserted between the synchros of the basic torque
or control systems. It is called a ‘differential synchro’ and differs from the basic
synchros in that it has a three-phase stator and rotor. In a torque differential system it is
abbreviated to TDX and in a control differential system, CDX. The inclusion of this
synchro between a torque transmitter and receiver or control transmitter and
transformer permits an additional input to be algebraically added to, or subtracted from,
the system. The layout of a differential synchro and its circuit symbol are shown at
Figure 13.
STATOR
S1 S3
R1 R3
R2
ROTOR
CIRCUIT SYMBOL
S1
R1
S2
R2 S2
R3
S3
Differential Synchro
Figure 13
3-17
MODULE 4 4.3
FUNDAMENTALS
Figure 14 shows the construction of a differential synchro
STATOR
CONNECTIONS
STATOR
WINDINGS
ROTOR
ASSEMBLY
STATOR
ASSEMBLY
ROTOR
COILS
SKEW CUT TO
ENABLE SMOOTHER
RUNNING
Differential Synchro Construction

Figure 14
3-18
MODULE 4 4.3
FUNDAMENTALS
3.15 TORQUE DIFFERENTIAL SYNCHRO
Figure 15 shows a differential synchro system set up for the SUBTRACTION of two
inputs.
60º
15º
60º 45º
45º
TX TR
TDX
INPUT INPUT OUTPUT

SHAFT 60º SHAFT 15º SHAFT
1 – 2
Torque Differential Synchro

Figure 15
Note that the rotors of the normal transmitter TX and receiver TR are supplied in parallel
with the single-phase ac supply. The stator windings of the TX are connected to the
stator windings of the TDX and its three rotor windings are connected to the three-stator
windings of the TR. The rotor of the TDX is not energized by the ac supply.
The circuit is such that one input shaft turns the TX rotor and the second input shaft
drives the TDX rotor. The TDX receives an electrical signal corresponding to a
particular angular position of the TX rotor, which it modifies by an amount corresponding
to the angular position of its own rotor. This modified signal appears at the TDX output
and is transmitted to the receiver, where it produces an angular flux, which is the
difference of the rotor angles of the two transmitters TX and TDX.
If the TDX rotor is locked in one position, the TX/TR chain acts as a normal torque
synchro system with a transformer placed between TX and TR.
3-19
MODULE 4 4.3
FUNDAMENTALS
3.16 CONTROL DIFFERENTIAL SYNCHRO
Figure 16 illustrates a control differential synchro system.
CX CDX CT
ERROR
SIGNAL
INPUT INPUT OUTPUT

SHAFT1 SHAFT2 SHAFT
1 – 2
Control Differential Synchro

Figure 16
As with the straight control synchro system, the ac supply is only applied to the
transmitter rotor. The transformer rotor produces an error signal, which after
amplification is applied to a motor, causing the CT rotor to move. Apart from these
differences the action of the control differential transmitter is the same as for the torque
differential synchro system.
Torque differential synchros have been used to combine a direction finding loop reading
and a compass reading, in navigation systems, to give a true bearing.
Control differential synchros, combined with servomotors, are used for moving much
heavier loads such as radar scanners where the subtraction or addition of two inputs
may be necessary.
3-20
MODULE 4 4.3
FUNDAMENTALS
3.17 RESOLVER SYNCHRO
This type of synchro is used to convert voltages, which represent the CARTESIAN co-
ordinates of a point, into POLAR co-ordinates and vice versa.
3.17.1 POLAR AND CARTESIAN CO-ORDINATES
A vector, representing an alternating voltage, can be defined in terms of ‘r’ and

the angle it makes with the X-axis: angle (). These are the polar co-ordinates of
the vector written as r/. Figure 17 shows the vector diagram for Polar and
Cartesian co-ordinates.
POLAR CO-ORDINATES = r/

CARTESIAN CO-ORDINATES X = r COS 
CARTESIAN CO-ORDINATES Y = r SIN 
r Y
Polar & Cartesian Co-ordinates

Figure 17
3-21
MODULE 4 4.3
FUNDAMENTALS
3.17.2 RESOLVER SYNCHRO OPERATION
The resolver synchro consists of a stator and rotor, each having two windings arranged
in phase quadrature as shown in Figure 18.
S1
R1
R3 S4
S3 R4
R2
ROTOR STATOR
S2 R1 S1
INPUT SHAFT
R2 S2
a
R3 R4 S3 S4
Resolver Synchro
Figure 18
Figure 16b represents the resolver differently for ease of explanation. The resolver has
two coils, R1 R2 and R3 R4 at right angles to each other and attached to an input shaft.
The stator consists of two coils S1 S2 and S3 S4, also placed at right angles to each
other.
3-22
MODULE 4 4.3
FUNDAMENTALS
3.17.3 CONVERSION FROM POLAR TO CARTESIAN CO-ORDINATES
For this purpose, one of the resolver coils is short-circuited, say R3 R4, and the other, R1
R2, has an alternating voltage applied to it. The magnitude of this voltage (r) and the
angle () through which both rotor coils are turned, represent the polar co-ordinates r/.
Figure 19 shows a resolver synchro to carry out this function.
MAX
VOLTS
ROTOR FLUX STATOR

R1 S1
R2 S2
R COS 
90º 180º 270º 360º

R3 R4 S3 S4 
NO
 VOLTS
R SIN 
Polar to Cartesian Co-ordinates

Figure 19
Consider firstly that the rotor shaft position is such that the R1 R2 coil magnetic field links
completely with the stator winding S1 S2, i.e. the coils are aligned. The maximum
voltage will therefore be induced in coil S1 S2. Since the stator coil S3 S4 is at right
angle to stator coil S1 S2, there will be no voltage developed across it due to R1 R2 coil's
magnetic field. When the shaft is rotated at constant speed through 90°, the rotor coil
3-23
MODULE 4 4.3
FUNDAMENTALS
R1 R2 is now in phase quadrature to stator S1 S2, which has zero volts induced in it.
However, R1 R2 rotor coil is now aligned with stator coil S3 S4 and this now has
maximum voltage induced in it. As the shaft continues to rotate, a cosine voltage wave
is developed across S1 S2 stator and a sine voltage wave across S3 S4 stator coil.
‘r cos’ and ‘r sin’ summed together result from the input voltage at R1 R2 and rotor
rotation r/. The result represents the cartesian co-ordinates.
3.17.4 CONVERSION FROM CARTESIAN TO POLAR CO-ORDINATES
In this arrangement, there are two voltage inputs and these represent the cartesian co-
ordinates. They are VX = r cos and VY = r sin  (Refer Figure 15). VX is input to S1 S2;
VY is input to S3 S4. The two together develop an alternating magnetic flux representing
the cartesian co-ordinates in the stator. R1 R2 is connected to an amplifier, which drives
the output load and the rotor in such a direction as to null the rotor and stop the motor.
R3 R4 has a voltage induced in it dependent on the value of the alternating flux. Its
value may be calculated using Pythagoras' Theorum VY² + VX² . Figure 20 shows the
layout for performing the above.
Cartesian to Polar Co-ordinates
R1
S1
S2
R2
SM
VX = r COS 
TO LOAD
S3 S4 R3 R4  
VY = r SIN  VY 2 + VX2
S4 S2
S3 R3
S1 R1
CIRCUIT SYMBOL
R4 R2
Figure 20
3-24
MODULE 4 4.3
FUNDAMENTALS
3.17.5 USE OF RESOLVER SYNCHROS
The ability to develop receiver signals at 90° is used, for example, in VOR systems,
ADF systems using a non-rotating loop, in autopilots and in flight directors.
3.18 E AND I BAR TRANSMITTER
Figure 21a shows an E and I bar transmitter. These devices convert mechanical
movements into electrical signals (transducer) and are used in various systems as
required. Figure 19a shows an E and I bar as applied to a servo-altimeter.
A.C.
EXCITATION
SUPPLY
RESULTANT
WAVEFORM
a b
E & I Bar Transmitter

Figure 21
3-25
MODULE 4 4.3
FUNDAMENTALS
The ‘E’-bar has a coil wound round the centre limb. This coil is supplied by an ac
excitation supply. A magnetic flux is set up within the ‘E’-bar and when the ‘I’-bar is
equidistant from the outer limbs of the ‘E’-bar, the waveforms transmitted are equal and
opposite (Figure 21b). No output results. If the ‘I’-bar is moved (in this case by
capsules) one end of the ‘I’-bar is brought in closer proximity to the opposite limb of the
‘E’-bar. The air gap here is reduced, the magnetic field strengthens and the signal from
the upper limb coil is increased. (Figure 21b).
The opposite end of the ‘I’-Bar moves further away from its associated ‘E’-bar limb, and
the resultant signal is weaker. In the case of the servo-altimeter, moving the ‘E’ -bar
back to the position nulls the signal so that no signal is produced.
3-26

Part 66 B1 - MODULE 4 3 SERVOMECHANISMS

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Part 66 B1 - MODULE 4 3 SERVOMECHANISMS

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Part 66 CATEGORY B1 MODULE

4.3 SERVOMECHANISMS .......................................................3-1

3.1 OPEN LOOP SYSTEM

Open Loop System

3.2 CLOSED LOOP SYSTEM

Closed Loop System

3.4 TYPES OF SERVO

3.5.1 POSITIONAL FEEDBACK

Figure 4 shows a R-Pot & Helical Potentiometer

R-Pot & Helical Potentiometer

In ac systems, other components are used to provide positional feedback. Synchros

3.6 ROTARY VARIABLE DIFFERENTIAL TRANSDUCER (RVDT)

1. ZERO POSITION 2. ROTATED CLOCKWISE

3. ROTATED COUNTER CLOCKWISE

The Linear Variable Differential Transducer (LVDT) is also an inductance transmitter

3.7 CAPACITANCE TRANSMITTER

An example of a capacitance transmitter can be seen in a simple fuel gauging system

3.8 VELOCITY FEEDBACK

The dc tacho-generator is mounted on the output shaft of the servomechanism so that it

The ac tacho-generator, used to provide velocity feedback damping in ac servo

The tacho-generator produces a voltage proportional to the angular velocity of the

AC transmission systems are generally known as synchros because of their

3.12 TORQUE SYNCHRO

3.12.1 PRINCIPLE OF OPERATION

movement of the input shaft is repeated synchronously by movement of the receiver

Figure 10 shows the construction of a torque synchro.

LOWER END STATOR ROTOR

Torque Synchro Construction

3.13 CONTROL SYNCHRO

3.13.1 PRINCIPLE OF OPERATION

CLOCKWISE ROTATION ANTI-CLOCKWISE ROTATION

Phase Error Signal

3.14 DIFFERENTIAL SYNCHRO

There are two types of differential synchro system:

Figure 14 shows the construction of a differential synchro

Differential Synchro Construction

3.15 TORQUE DIFFERENTIAL SYNCHRO

INPUT INPUT OUTPUT

Torque Differential Synchro

3.16 CONTROL DIFFERENTIAL SYNCHRO

Figure 16 illustrates a control differential synchro system.

INPUT INPUT OUTPUT

Control Differential Synchro

3.17 RESOLVER SYNCHRO

3.17.1 POLAR AND CARTESIAN CO-ORDINATES

A vector, representing an alternating voltage, can be defined in terms of ‘r’ and

POLAR CO-ORDINATES = r/

Polar & Cartesian Co-ordinates

3.17.2 RESOLVER SYNCHRO OPERATION

3.17.3 CONVERSION FROM POLAR TO CARTESIAN CO-ORDINATES

ROTOR FLUX STATOR

90º 180º 270º 360º

Polar to Cartesian Co-ordinates

3.17.4 CONVERSION FROM CARTESIAN TO POLAR CO-ORDINATES

3.17.5 USE OF RESOLVER SYNCHROS

3.18 E AND I BAR TRANSMITTER

E & I Bar Transmitter

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