Chapter 4

Control
System
Components
DC Control Components
• potentiometer
• tachogenerator
• dc servo motor
• dc amplifier
amplification of
slowly varying
signals is
difficult -
hence....
ac / carrier
control
Systems
ac control system components
• synchro pair

• ac tachogenerator
• ac amplifier
• ac servo motor
ac servo motor
• special induction
motor
• 2 - phase electric
supply
Torque speed
curve of an
induction motor
follows....
 Tmax B

Torque
sTmax

Tst A
C
1.0 sTmax 0
slip
Portion AB - unstable

Portion BC - stable

sTmax = R2 / X2
 Tmax B

Torque

Tst A
C
1.0 sTmax 0
slip
 Tmax B
R ii
Torque
Ri
Tst A C
1.0 sTmax ii sTmax i 0
slip
 R ii > R i

s s
Tmax ii > Tmax i
 Make X2 = R2
B
sTmax = 1

C
1.0 slip 0
 Portion BC
extended for
the full speed
range.
Salient features of ac servo motor
•Rotor with high resistance
•Low inertia
•Two phase operation
 vr = V cos ct
vr vc = e sin ct
J, B

vc Rotor Load

Two phase servo motor

Torque E1
E2
E3
speed

E1 > E2 > E3
Tm = f ( E,  )
 
Using taylor
 Tm
series,
Tm = Tmo + --------
 E E = E0
equation continues ....
  Tm (  - 0 )
( E - E0 ) + --------
  E = E0
 = 0
 
Tm - Tmo = K1 ( E - E 0)
- K2 ( - 0)
 
 Tm = K1  E
- K2  
equation continues ....
= (Js+B)
 K1
------ = ------------
E K2 + Js + B
For position control,
the operating
point is T = 0,
m0

 = 0 and
0

E = 0
0
Tm - Tmo = K1 ( E - E 0)
- K2 ( - 0)
 
Tm = K1E- K2 
= (Js+B)
Hence

 (s) / E(s) =

K1 / (Js+B+K2)
To evaluate K 1 & K2
Torque ra
t ed
vo
lt a
ge

speed
At  = 0,
T = stall Torque
At T = 0,
 = no load speed
 To evaluate K1
Torque ra
t ed
vo
lt a
ge

speed
K1 =
stall Torque ( rated voltage )

rated control phase voltage

 To evaluate K2
Torque ra
t ed
vo
lt a
ge

speed
 K2 =
stall Torque ( rated voltage )

no load speed ( rated voltage )

Since the slope
of torque speed
curve reduces
as rated voltage
reduces .......
We take for position control,

K2 =
1 stall torque ( rated voltage)
2 no load speed ( rated voltage)
since the operating
point for position
control Tm = 0 ,
is :  = 0 and
E= 0
 AC Tacho generator

vr

vr = v cos ct
vt Rotor
vt = Kt  sin ct
m
 AC Tacho generator

vr = v cos ct
vt = Kt  sin ct
m
vt is the output
whose amplitude
is proportional
to the speed.
Hence Vt is an
amplitude
modulated
waveform
Rotor is thin
aluminium
cup.
 Synchro pairs
- position error
detectors
• Synchro
transmitter
• Synchro control
transformer
 a
Synchro
Transmitter
vr

c b
 a
Synchro
Control
transformer

c b
e
 
s2
vr
s1 e
s3
vr = Vr sin ct
 
vs1n = k Vr cos( + 120) sin ct
vs2n = k Vr cos  sin ct
vs3n = k Vr cos( + 240) sin ct
vr e
rotor rotor
( Transmitter ) (Control Transformer)

Amplitude of e is
maximum
vr
e
rotor rotor
( transmitter ) (Control Transformer)

Amplitude of e = 0
Amplitude of e is
proportional to
cosine of the angle
difference
  

Angle difference
= 90 +  - 
= 90 - (  -  )
e = k’ Vr cos (90 - ( - )) sin ct

= k’ Vr sin (-) sin ct

= k’ Vr (  -  ) sin ct
 Stepper Motor
• permanent magnet

• variable reluctance
permanent magnet

N
Rotor
S
permanent magnet
Stator

A B
A ON B OFF

N S

A B
A ON B OFF

N S N S

A B
C ON D OFF
C
N

D S
C ON D OFF
C
N
S
N
S
D
 Switching Table
A B C D
1 0 1 0 N

N S

S
 Switching Table
A B C D
1 0 1 0 N
S
N S
N
S
 Switching Table
A B C D
1 0 1 0
0 1 1 0 N

S N

S
 Switching Table
A B C D 90  CW
1 0 1 0
0 1 1 0 N
S
S N
N
S
 Switching Table
A B C D
1 0 1 0
S
0 1 1 0
0 1 0 1 S N

N
 Switching Table
90  CW
A B C D
1 0 1 0
S
0 1 1 0
N
0 1 0 1 S N
S
N
 Switching Table
A B C D
1 0 1 0
S
0 1 1 0
0 1 0 1 N S
1 0 0 1
N
 Switching Table
90  CW
A B C D
1 0 1 0
S
0 1 1 0
N
0 1 0 1 N S
1 0 0 1 S
N
 Switching Table

A B C D
1 0 1 0 N
S
N S
N
90  CW
S
 Switching Table
A B C D
1 0 1 0
0 1 1 0
CW

0 1 0 1
1 0 0 1
1 0 1 0
 Switching Table
A B C D
1 0 1 0 N
S
N S
N
S
 Switching Table
A B C D 90  CW
1 0 1 0
0 1 1 0 N
S
S N
N
S
 Switching Table
90  CW
A B C D
1 0 1 0
S
0 1 1 0
N
0 1 0 1 S N
S
N
 Switching Table
90  CW
A B C D
1 0 1 0
S
0 1 1 0
N
0 1 0 1 N S
1 0 0 1 S
N
 Switching Table

A B C D
1 0 1 0 N
S
N S
90  CW N
S
 Switching Table
A B C D
1 0 1 0
0 1 1 0
CW

0 1 0 1
1 0 0 1
1 0 1 0
For counterclockwise

rotation ????
 Switching Table
A B C D
1 0 1 0
0 1 1 0
CW

0 1 0 1
1 0 0 1
1 0 1 0
 Switching Table
A B C D
1 0 1 0
0 1 1 0
CW

CCW
0 1 0 1
1 0 0 1
1 0 1 0
Variable Reluctance
A1
C 1 B1
2
4 2
3 C
B2

1
A2
A ON

1 opp A1
3 opp A2
Variable Reluctance
A1
C 1 B1
2
4 2
3 C
B2

1
A2
A OFF B ON

2 opp B1
4 opp B2
30 CCW
Variable Reluctance
A1
C 1 B1
2
4 2
3 C
B2

1
A2
B OFF C ON

3 opp C1
1 opp C2
30 CCW
Variable Reluctance
A1
C 1 B1
2
4 2
3 C
B2

1
A2
C OFF A ON

4 opp A2
2 opp A1
30 CCW
and so on ….
S = no. of stator slots
R = no. of rotor slots
= 360 (1/R - 1/S)

= 30
for CW operation
switching sequence
is ACB.
 Multistack
arrangement
Variable Reluctance
Stepper
 Rotor

air gap
A
Stator
B
C
 = 360 / ( n  T )
degrees
n = no. of stacks
T = no. of teeth
 = 360/ (3  4)

= 30 