User’s Manual AC SERVOMOTOR STUDY Model: ACS-01 (Rev: 0110472011) ‘Manufactured by. Techno Instruments 261/16, Civil Lines, Roorkee-247 657 UK Ph.; 01332-27252, Fax: 274831 Email: 5 ‘[email protected] ‘Website: www.sestechno.com > tCOPYRIGHT AND WARRANTY COPYRIGHT NOTICE ‘The Techno Instruments Model ACS-01 AC Servomotor Study manual is copyrighted and all rights reserved. However, permission is granted to non-profit educational institutions for reproduction of any part of this manual provided the reproduction is used only for their laboratories and is not sold for profit. Reproduction under any other circumstances, without the written consent of Techno Instruments is prohibited. LIMITED WARRANTY Techno Instruments warrants this product to be free from defects in materials and workmanship for a period of one year from the date of shipment to the customer. Techno Instruments will repair or replace, at its option, any part of the product which is deemed to be defective in material or workmanship. This warranty does not cover damage to the product caused by abuse or improper use. Determination of whether 8 product failure is the result of manufacturing defect or improper use by the customer shall be made solely by Techno Instruments. Responsibility for the return of equipment for warranty repair belongs to the customer. Equipment must be properly packed to prevent damage and shipped postage or freight prepaid. (Damage caused by improper packaging of the equipment for return shipment will not be covered by the warranty). Shipping costs for returning the equipment, after repair, will be paid by Techno Instruments. EQUIPMENT RETURN Should this product have to be returned to Techno Instruments, for whatever feason, notify Techno Instruments BEFORE retuming the product. Upon notification, the return authorization and shipping instructions will be promptly issued. [note No equipment will be accepted for return without an authorization, J When returning equipment for repair, the units must be packed propetly. Carriers will not accept responsibility for damage by improper packing. To be certain the unit will not be damaged in shipment, observe the following rul 1. The carton must be strong enough for the item shipped. 2. Make certain there is at least two inches of packing material between any point on the apparatus and the inside walls of the carton. ; 3. Make certain that the packing material can not displace in the box, or get compressed, thus letting the instrument come in contact with the edge of the box. Techno Instruments, ‘ACS-01 Pogea; 40 - Sov ‘Apmis sojowones oy Bumelp jaued +0 SOV : T3GOW ‘AGNLS HOLOWOAUAS OVSTUDY OF AC SERVOMOTOR ACS-01 1. OBJECTIVE To study the characteristics of a small a.c. servomotor and determine its transfer function, 2. SYSTEM DESCRIPTION The unit in a self contained system for conducting the experiment except a measuring CRO which should be available in the laboratory. The different components of the unit are explained below. (a) AC Servomotor ~ a 15W servomotor with identical reference and control phases ‘operating at 12V/ SOHz. Necessary phase shifting capacitor is pre-wired to the reference phase, (b) Electrical load — in the form of a coupled de generator and the req load is provided. (©) Time Constant ~ a special circuit to display the time-constant directly in milli- second. (@) Metering — of all ac and de voltage/currents is through built-in digital panel meters. ble in the unit, which (©) Power supply — for conducting all experiments are av ‘operates from a 220V/ SOHz mains. 3. BACKGROUND SUMMARY A.C. Servo Motors are basically two-phase, reversible, induction motors modified for servo operation. A schematic diagram of the motor is shown in Fig.1. The two windings, reference and control, may or may not have identical ratings. In the present unit both are rated at 12 volts r.m.s. at 50Hz. A phase shifting capacitor of appropriate value must be connected in series with one of the windings to produce a 90 degree phase shift. These servo motors are used in applications requiring rapid and accurate response characteristics. A typical torque-speed characteristics of an induction motor is shown in fig.2 for two values of rotor resistance. A servomotor however must have negative slope in its torque-speed characteristics in order to ensure stable 6peration. To meet the above requirements, these ac servo motors have small diameter, light weight, low inertia and high resistance rotors. The motor’s small diameter provides low inertia for fast starts, stops, and reversals. High resistance provides nearly linear torque-speed characteristics. A common structure is a drag-cup rotor. The ac. servomotors have distinct advantages over d.c. servomotors. The commutator and brush assembly of a d.c. servomotor has limited maintenance free life. These are absent in the a.c.servomotor. ‘An induction motor designed for servo use is wound with two phases physically at right angles or in space quadrature . A fixed or reference winding is excited by a fixed voltage source, while the control winding is exited by an adjustable or variable control voltage, usually from a servo-amplifier. The servo motor windings are often designed with the same voltage/tums ratio, so that power inputs at maximum fixed phases excitation, and at maximum control phase signal, are in balance. In the present unit the input to the control winding is adjustable (3-steps) and the motor can be switched ‘ON’ through a switch. ACS-01 Poge 2 Techno Instruments,50H PHASE SHIFTING CAPACITOR REFERENCE | }<—— ROTOR CONTROL Fig 1 : 2-Phase A.C. Servomotor once] SMALL ROTOR RESISTANCE (INDUCTION MOTOR) \RGE ROTOR RESISTANCE (SERVOMOTOR) i Ns speed Fig 2: Torque-speed characteristics of induction motors TW) y cm 0) EX) : i "9 + eB 3 Fig 3 : Block diagram of an a.c.motorsystemThe block diagram of an a.c. servomotor system is presented in Fig.3 This is a highly simplified and linearized version of the actual behaviour of the motor and is valid at low speed of operation only. Detailed description of the working and derivation of the block diagram may be seen in any of the text books listed at the end of this document. Here Ex is the voltage applied at the control phase which results in a proportional torque which however is reduced by a factor related to the motor torque efficiency to generate the actual motor torque as Tn (8) = Ki Ee(s) - Kz (8), where « is the shaft speed This torque, further reduced by the mechanical load torque, Ti, drives the inertia, J and the friction, B of the motor to result in the speed, @ and subsequently the angular position, 0 of the motor shaft. From the block diagram of Fig.3 the transfer function of the motor may be written as as) Km —— =0 1 BO Wey OO o) ._k J He Oe? B+K" are the motor gain constant and the motor time constant respectively. As students of control system, our interest is to evaluate the transfer function and the parameters of the ac servomnotor. ‘Again for E,(s) =0, 1 6) BK, __ Ka where Ky= TO Seqs+l) tgs-+ B+K, Combining the above two transfer functions (under assumption of linearity), £0(3)= (9) = -Xm_s,(9) - Kay, (oy (ems +1, (mns-+1) The computation of K, and K,, can be done by using the final value theorem, i.e., Steady state speed, = lim s0(s)= Km Ee~Ke Ti 2) where E. = Constant voltage applied to the control winding ‘Ty = Constant Load torque E, is measured by the a.c. voltmeter on the panel and T is calculated from the loading of the coupled dec. generator as, 1, = EleotticalPower drawn from thegeneratorin watts 'L® ~~ Angular velocity of theshaftin radians/sec The calculation assumes that the generator mechanical parameters are negligible compared to that of the servomotor. Techno Instruments. ACS-01 Page 3Reference Ve (= 63.2% of E, ) set manually LOAD STEP ©, @O—— Pane DIGITAL ; eo VOLTMETER ‘COUPLED GENERATOR DVM input to be externally connected to terminal E, To measure generator output voltage To measure 63.2% of E, for Time-constant measurement IS To measure load current as the drop across 19 resistance Fig : 4 Loading circuit arrangementAll the above results are strictly valid if the system is perfectly linear. This as true to a great extent, especially at low speeds, and will form the basis of conducting the present experiment. Another option, though cumbersome, is to determine experimentally the torque- speed and torque-control phase voltage characteristics and then to linearize these graphically to evaluate the motor parameters, K; and K2, and then to calculate Kin. to Jand B. 4. EXPERIMENTAL WORK The a.c. motor study is divided into groups (a) steady state ~ to determine Ky and Kn. and (b) transient ~ to determine tm. From these the transfer function and other constants are calculated, 4.1 Steady State Operation 4.1.1 Determination of Generator Constant The generator constant, Ko, in volts/rpm, may be computed from the no load generator voltage data at various speeds. This would enable one to calculate the generated voltage under loaded condition, which is needed for torque computation in the next section. ‘The readings for the present experiment may be tabulated as below: TABLE -1 T ~ T ~ INPUT MOTOR SPEED,N,, | LOAD STEP-1 (No GENERATOR | STEP RPM Load) Voltage, Volts CONSTANT, Kc, Volts/rpm. | 1 1255 rpm 2.63 volt 0.00209 Volts/rpm | ~ 2. 1869 rpm 3.84 volt 0.00205 Volts/rpm a. 1928 rpm 3.99 volt 0.00207 Volts/rpm Average Generator Constant, Kg = 2.07 x 10° Volts/rpm 4.1.2. Determination of Motor Parameters ‘The motor is operated at various combination of control phase voltage, E., and | external loading, T,, and the data is recorded as in Table-2. E, is measured with the help of the a.c. voltmeter on the panel in three steps while no load generator voltage, Eo and load | | currents, I are measured by a switchable d.c. panel meter provided. The loading circuit is shown in Fig. 4 Operating at no load (load step-1), ie., T, = 0, using equation (2) the motor gain constant may be calculated as. Bogen Ec 30E¢ An average value for Ky may be obtained from the three input voltage steps provided. Km1=54.31 rad/ volt-see | Ky2=27.53 rad/ volt-sec Kp3=18.77 rad/ volt-sec Techno Instruments. ACS-01 Poge «score [ces | evo | zoo | oom | wo ° zs | 0 | oo | con | sooo | ree | sexo | soo | wer | too ° er] o | we | oo | 2 LOCO Mera =0c0 rr OP ° wm | 0 | oz | oe | 4 | xy ws | dwe | sion | jsun | : N 4 (1 ye) wL N y L 'N 1 "3 "2 3s | fd31s avOT % dais avo1 (P20) ou) 1 aais avo7 indi z-mavL3.53 rad/volt - sec . An average value for K, may be obtained from the three input voltage steps provided although the three values of Km obtained are very different from each other due to the motor non-linearity Similarly, operating at a constant Eand two different load steps, one gets, 6 =Kim Ee= Ke Ti 60459 "Km Be -Kn Th From these, K, may be obtained as, 3g] - 552 T2-Ti or, the effective friction as Lee ssi ~ Oss2 The inertia, J, may further be calculated from B+Ky = tq. (B+K2), after tq is computed as outlined in sec, 4.2 a 4.2 Transient Operation ‘The time constant, tm is the time taken by the motor to reach 63.2% of the steady state ~ speed when a step voltage is switched on the control wi while the reference winding is already excited at the rated voltage. In the present unit this is achieved through a speci circuit which displays the time constant in milli-seconds. The steps for operating this circuit are given below:~ Step. 1. Switch the motor ‘ON’ at input step.3 (rated voltage). A constant speed will be indicated almost immediately. Read Vo at Load step-1. Set ‘REFERENCE’ potentiometer in the TIME CONSTANT SECTION to 63.2% of the Eo value read above. Use the d.c. voltmeter in the SET REF position. Step. 3. Switch the motor ‘OFF’, wait for 30 seconds and then switch it to ‘ON? position. ‘The time constant will be displayed in msec. The time constant obtained above may have error due to non-linear friction present. It is therefore desirable to conduct the experiment a number of times and average the result Step 5. RESULTS AND DISCUSSIONS The results given below taken from a sample unit for input-3 and may differ from the unit supplied to you. This is because of the variation in the characteristics of the motor, ‘generator and to some extent on the experimental errors. . (a) Reference winding input, Fe = 12.0 V, rms Motor speed, N 1928 rpm 2 Generator coefficient, Kg = 2.07x10° volts/ rpm Techno instruments. ACS-01 Page s(b) Reference winding input, E: = 12.0 V, rms Motor speed, N = 1972 pm Motor gain constant, Kn = SE rad/v-see = 18.77 rad/v-see 30E, (c) Reference winding input, E, = 12.0 V. rms Motor time constant, tq, = 110 msec (@) Transfer Function of the motor Km 18.77 s(stm +1) s(0.11s+1) The typical results shown above are all based on averaged set of data. These are primarily aimed at showing the method. The students are expected to complete the experiment in detail. Further, the above experiment computes the motor transfer function only, which is probably the most significant result. In addition to this, the students may compute inertia J and effective friction (B + Kz) as well, as outlined in section 4.12 Ge) ‘The most important assumption in this experiment is that of considering the system to be linear. Strictly speaking the a.c.servomotor and the d.c. generator are both non-linear. Further, there are non-linear friction components which have been totally neglected. All these contribute to errors in the result although the transfer function derived represents the actual behaviour of the motor pretty well, at least at low speeds 6. REFERENCE [1] M. Gopal, “Control Systems — Principle and Design”, Second Edition, Tata McGraw Hill Publishing Co. Ltd., pp.168-174. Techno Instruments, ACS-01 Page 4TECHNICAL SUPPORT Feed Back If you have any comments or suggestions about this product or this manuall please let us know. Techno Instruments. appreciates any customer feedback. Your input helps us evaluate and improve our product. To reach Techno Instruments * Phone : +91-1332-272852, 277118 * Fax: 491-1332 - 277118 [email protected]; sestechno i Contacting for Technical Support Before you call the Techno Instruments Technical Support staff it would be helpful to prepare the following information: ‘+ If your problem is with the Techno Instruments apparatus, note : © Model number and S. No (usually listed on the label at the backside of instrument, © Approximate age of the apparatus. © A detailed description of the problem/ sequences of events may please be sent by email or Fax. + Ifyour problem relates to the instruction manual, note; Model number and Revision (listed by month and year on the front cover). Have the manual at hand to discuss your questions Techno Instruments ACS- 01 Pagest of Control Laboratory Experiments manufactured by us ‘+ Digital Control System ‘Study of microprocessor contro ofa simulated linear system + AC.1D.C. Servomotor study Study of characteristics of a 2:phase ac. moto de motor It allows the determination of torque-speed ‘characteristis, inertia and friction parameters of an a.c. motor. Transfer faction cam also be evatwatec in this system. A digital display is available for time constant measurement + AG./D.C. Position Control Study of an a.e./de servomotor angular postion control system ‘+ D.C. 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Besides it also allow the stud of witch stat input trough 8255 port and SID/ SOD operation ofa microprocessor + Study of Temporaturo Transducers Study" of inpucoulput characteristics of some common transducers like, thermistors (PTC and NTC), thermocouple, semicondctor sensors + Stroboscope For measurement of sha speed using siroboscope principle in harsh laboratory emironment + Function Generator 10tt:-2Mttz; Square/Sine/ Triangular; Amplitude 0-3¥ (p-p); 4 digit digital counter ‘+ Study of Digital to Analog Convertor Detailed study of IVA schemes — 4 bit weighted resistance, R-2R discrete network and 10-bit IC based circuits with 8085 based uP-kit and imerface for CRO included. Techno instruments ACS -01 Poge >