4.3 Servo Training Notes (B2)
4.3 Servo Training Notes (B2)
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Servomechanisms
1. Simpler to implement
2. Less expensive
Disadvantages of Open loop system:-
Error caused by unexpected disturbances are not corrected
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Closed loop control differs from open loop control in that feedback is added to the
system
Feedback consists of measuring the difference between the actual result and the
desired results.
By using the difference, the closed loop control system will drive the actual result
toward the desired results.
The advantages of a closed loop control system are that it gives more accurate
control over the process.
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Transducer
A transducer is a device that converts energy from one form to another. Usually a
transducer converts a signal in one form of energy to a signal in another.
Types of Transducer
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Principle of LVDT:
LVDT works under the principle of mutual induction, and the displacement which
is a non-electrical energy is converted into an electrical energy. And the way how
the energy is getting converted is described in working of LVDT in a detailed
manner.
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Working of LVDT:
Let’s study the working of LVDT by splitting the cases into 3 based on the iron
core position inside the insulated former.
Case 1:On applying an external force which is the displacement, if the core
reminds in the null position itself without providing any movement then the
voltage induced in both the secondary windings are equal which results in net
output is equal to zero
i.e., Esec1-Esec2=0
Case 2:When an external force is appilied and if the steel iron core tends to move
in the left hand side direction then the emf voltage induced in the secondary coil is
greater when compared to the emf induced in the secondary coil 2.Therefore the
net output will be Esec1-Esec2
Case 3:When an external force is applied and if the steel iron core moves in the
right hand side direction then the emf induced in the secondary coil 2 is greater
when compared to the emf voltage induced in the secondary coil 1. therefore the
net output voltage will be Esec2-Esec1
Advantages of LVDT:
Infinite resolution is present in LVDT
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Disadvantages of LVDT:
Very high displacement is required for generating high voltages.
Shielding is required since it is sensitive to magnetic field.
The performance of the transducer gets affected by vibrations
It is greatly affected by temperature changes.
Applications of LVDT:
LVDT is used to measure displacement ranging from fraction millimeter to
centimeter.
Acting as a secondary transducer, LVDT can be used as a device to measure force,
weight and pressure, etc..
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The basic construction of RVDT is shown in above fig. The RVDT consists of one
primary winding and two secondary windings. The emf induced in the secondary
winding is a function of rotary displacement. The both secondary windings are
placed in such a way to produce emf 180 degree out of phase to each other.
Working of RVDT:-
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TRANSFORMER
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PRINCIPLE OF OPERATION
Turns Ratio
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E AND I TRANSFORMER
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The E & I Bar may also be used to convert linear movement to an electrical signal. A practical
application of this is shown in the diagram below. The I bar is moved linearly by an evacuated
capsule. Note that the diagram contains a complete servo system.
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SYNCHRO SYSTEM
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Synchro types are identified by a two or three letter code compiled from the
following table:
The first letter classifies the type, the second/third letters identifying the function
of the type. The following codes are in common use:-
1. CX Control transmitter
2. CT Control transformer
3. CDX Control differential transmitter
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Introduction:-
The large multi-engine aircraft the problem arose of how to measure various
quantities such as pressure, temperature, engine speed and fuel tank contents at
points located at greater distances from the cockpit.
a. Desynn System
The rotary motion or toroidal resistance for position and liquid-contents
indications in desynn system.
Linear motion or microDesynn for pressure indication,
Slab-Desynn also for pressure indication.
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Construction:-
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1. When direct current is applied to the transmitter contact arms, which are in contact
with the toroidal resistor, currents flow in the resistor causing the three tapping
points to be at different potentials.
2. For example, with the contact arms in the position shown in Fig. The potential at
tapping No 2 is greater than that at No l because there is less resistance in the
circuit between the positive arm and the No 2 tapping.
3. Thus, currents are caused to flow in the lines between transmitter and receiver, the
magnitude and direction of which depend upon the position of the contact arms on
the toroidal resistor.
4. In turn, these currents flow through the coils of the receiver stator and produce a
magnetic field about each coil similar to that of a bar magnet; thus either end of a
coil may be designated as a N-pole or a S-pole, depending on the direction of the
current through a coil.
5. The combined fields extend across the stator gap and cause the permanent-magnet
rotor to align itself with their resultant.
b. Micro-Desynn System
The micro-Desynn transmitter was therefore developed to permit the magnification
of such small movements and to produce, by linear movement of contacts, the
same electrical results as the complete rotation of the contact arms of the basic
transmitter.
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If we now take two toroidal resistors and join them in parallel then, by cutting
them both in two and laying them out flat, we obtain the circuit arrangement shown
at (b ).
By linking the contact arms together and insulating them from each other, they can
now be moved over the whole length of each resistor to produce voltage and
current combinations which will rotate the receiver through 360°.
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c. Slab-Desynn System
In addition to the cyclic error present in the basic and micro-type systems, small
errors also arise due to friction set up by the contact arms having to move over a
considerable surface of resistance wire.
Although such errors can be reduced by providing a good contact material and by
burnishing the resistance wire surface, the cyclic error is still undesirable in certain
measurements.
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Working
The three contact arms are insulated from each other and pivoted over the centre of the
slab, and are each connected to a slip ring.
Spring-finger brushes bear against these slip rings and convey the output currents to the
stator coils.
Movement of the mechanical element is transmitted to the brushes via a gearing system.
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This is the simplest form of synchro , in which torque is derived totally from the
input to its transmitting element.
No amplification of this torque is takes place . moderate torque only is developed
at the output shaft of the receiving element, and for this reason the system is used
for data-indicating process
E.g. oil or fuel pressure
The principal physical differences between the two elements are that the TR is
usually fitted with a mechanical damper to reduce oscillation, and that the TX rotor
is mechanically rotated whereas the TR rotor is rotated by a magnetic field
produced by the TX.
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When power is applied to the system, current flows in both rotor windings and sets
up an alternating magnetic flux.
Since the rotor windings and stator windings of the TX and TR correspond, in
effect, to the primary and secondary windings of a transformer, then the flux
induces an alternating voltage in the stator winding coils.
The induced voltages are at maximum, and in phase with the rotor voltages, in the
'electrical zero' position, and are zero when the rotors are at 90° to this position.
At 180°, the induced voltages are again maximum but out of phase with the rotor
voltages.
At 270°, the induced voltages will again be zero.
OPERATION:-
When the TX and TR rotors are in the same angular positions, e.g. the electrical
zero position, the voltages induced in the stators are equal and opposite, and so no
current will flow in the stator coils.
If, however, the rotors occupy different angular positions, e.g. the TX motor is
moved through an angle of 30° while the TR rotor is at 'electrical zero', then an
unbalanced condition between voltages induced in the stator coils arises.
This imbalance causes current to flow through the closed circuit between TX and
TR stators. The magnitude and phase of the currents are in proportion to that of the
induced voltages.
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Control synchros differ from torque synchros, in that their function is to produce
an error voltage signal in the receiving element, as opposed to the production of a
rotor torque.
Typical uses of control synchros are in servoed altimeters and airspeed indicators
which operate in conjunction with central air data computers
The transmitter is designated as CX, and the receiver designated as a con trol
transformer (CT).
The CX is similar to a torque transmitter
The CX is similar to a TX, and from the diagram it will be noted that the single-
phase ac power is connected to its rotor only
The CT rotor is not energized since it acts merely as an inductive winding for
detecting the phase and magnitude of error signal voltages which are supplied to an
amplifier.
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If the rotor of CX is rotated through a certain angle, the resultant flux in the CT
stator will be displaced from its datum point by the same angle, and relative to the
CT rotor position at that instant.
An error voltage is therefore induced in the rotor, the phase and magnitude of the
voltage depending on the direction of CX rotor rotation, and on the degree of
misalignment between it and the CT rotor.
The error voltage is then amplified and fed to the control phase of the motor, the
other phase (reference phase) being continuously supplied with alternating current.
Since the control phase voltage of a two-phase motor can either lead or lag the
reference phase voltage, then the phase of the error voltage will determine the
direction in which the motor will rotate, and its magnitude will determine its speed
of rotation.
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3) Differential synchros:-
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The three synchros comprising a TDX system, their interconnection in this case
being set up for detecting the algebraic difference between two inputs.
One input shaft controls the angular position of the TX rotor, and the second input
shaft controls the angular position of the TDX rotor.
Clockwise rotations of the rotors are taken as positive and anti-clockwise rotations
as negative.
OPERATION:-
The TX rotor is shown rotated clockwise through 60° while the rotor of TDX
remains at electrical zero; all the magnetic fields rotate, and the rotor of TR takes
up the same angular position as the rotor of TX.
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However, a 15° clockwise rotation of the TDX rotor without a change in the
position of its field is equivalent to moving the rotor field 15° anticlockwise whilst
leaving the rotor at electrical zero.
This relative angular change is duplicated in the stator of TR and so its rotor will
align itself with the field i.e. for a 15° clockwise rotation of the TDX rotor, the TR
rotor will rotate 15° anticlockwise.
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Assume now that the TX rotor is rotated through 60° clockwise, and the TDX rotor
through 15° clockwise, then because the TR rotor will rotate 15° anticlockwise, its
final angular movement will be equal to the difference between the two input
angles
i.e. it will turn through 45° (diagram (c)). The differential effect is of course
reversed when the TDX rotor is rotated in the opposite direction to the TX rotor, so
that the TR rotor rotates through an angle equal to the sum of the two input angles.
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4) Resolver synchro
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PRINCIPLE OF OPERATION
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A.C. TACHOGENERATORS
Tachogenerators provide the velocity feedback for servo systems. A tachogenerator normally
utilises the drag cup principle and will always produce a voltage with the same frequency as
the supply voltage.
The diagram below shows the electrical components of the tachogenerator. With the drag cup
stationary no voltage is induced in the secondary winding as it is placed at right angles to the
primary winding and the output is zero.
As the output shaft drives the rotor, the current in the input coil produces a field that
induces a current in that part of the cup passing through the primary axis.
As the cup rotates, rotating eddy currents are induced and this will in turn induce a voltage
across the output winding. The amplitude of the voltage will be proportional to the speed of
rotation of the drag cup and the phase will be dependent on the direction of rotation.
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Ideally, the output of the tachogenerator would be zero when stationary but in
practical systems a small voltage is present.
Tachometer system
The tachometer indicating system is a small three phase AC generator
connected via a mechanical link to engine accessory gearbox.
A tachometer system is found on most general aviation aircraft. Referring to
fundamental principles, the tachometer’s output increases with increased
engine speed; the output is rectified and connected to a moving coil meter.
The output from the generator is supplied to a three-phase AC synchronous
motor in the indicator see Fig.
The AC generator tachometer consists of a permanent magnet that is rotated
inside stator windings wound in a three-phase star configuration.
Three stator outputs are connected to the stator windings of the motor. As the
engine turns, the permanent magnet induces currents in the stator windings.
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Basic definition:-
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Null :-
A balanced condition which results in zero output from device or system.
In a synchro system if “B” rotor was rotated to electrically align with “A” rotor, its
error voltage would fall to zero, i.e. it will be in a “NULL” position.
Dead band :-It is the amount of error in a servomechanism that can exist without
correction.