CONTROL SYSTEM LAB

Transfer Function of DC
Servo Motor

Contents
INTRODUCTION ....................................................................................... 3
Specification............................................................................................ 6
DC Servo Motor.................................................................................... 6
Front Panel Description ....................................................................... 6
Armature volt adjustment.................................................................... 6
Field Volt Adjustment .......................................................................... 7
PRINCIPLE OF OPERATING....................................................................... 7
TRANSFER FUNCTION OF DC SERVO MOTOR ....................................... 9
Armature Controlled D.C. Servo Motor .............................................. 12

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INTRODUCTION
In the dc motor that includes two windings; a stationary field
winding on the stator and a second winding for the rotating armature.
This type of motor can be controlled by varying either the field current
or the armature current. Most modern servomotors are somewhat
different in construction. The field winding is replaced with two or
more powerful rareearth magnets on the stator. Since the field
strength of these motors is constant, they can only be controlled by
varying the armature current, in a permanent magnet motor the output
torque, is directly proportional to the armature current, The constant of
proportionality is referred to as the torque constant of the motor and is
represented . The transfer function relating motor torque to armature
current can be expressed as follows: DC motor that includes two
windings; a stationary field winding on the stator and a second winding
for the rotating armature. This type of motor can be controlled by
varying either the field current or the armature current. Most modern
servomotors are somewhat different in construction. The field winding
is replaced with two or more powerful rareearth magnets on the
stator. Since the field strength of these motors is constant, they can
only be controlled by varying the armature current,
In a permanent magnet motor the output torque, is directly
proportional to the armature current, The constant of proportionality is

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referred to as the torque constant of the motor and is represented The

transfer function relating motor torque to armature current can be
expressed as follows:

ABOUT OUR TRAINER

Pictorial View

Front Panel View

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Specification
Armature voltage Va

0 - 50V DC

Field Voltage

0 - 50VDC

Vf

AC voltage

0 20 VAC.

DC Servo Motor
Armature winding voltage

50V DC

Field winding voltage

50V DC

Power

120W

Armature current (Ia)

2.6A(max)

Moment of inertia (J)

g/cm2.

Front Panel Description

DC voltmeter
DC Ammeter
AC voltmeter
AC Ammeter

Armature volt adjustment

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Pot

= Adjust the armature voltage from 3V to 50V.

Pot

= Adjust the armature voltage from 3V to 50V.

A and AA = Connect to the motor armature terminal respectively.

Field Volt Adjustment

Pot

= Adjust the field voltage from 0V to 50V.

Switch S2' = Switch ON/OFF the field voltage.

F and FF

= Connect to the motor field terminal respectively.

AC voltage = Adjust the AC voltage from 0V to 20V.

AC output (P&N) = AC output voltage.

PRINCIPLE OF OPERATING
A DC motor is used in a control system where an appreciable amount of
shaft power is required. The DC motors are either armature-controlled
with fixed field, or field-controlled with fixed armature current. DC
motors used in instrument employ a fixed permanent-magnet field, and
the control signal is applied to the armature terminals.

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Km = Proportionality constant
Tm = Motor torque
Nf = Field flux
ia = Armature current

In addition to the torque when conductor moves in magnetic

field, voltage is generated across its terminals which opposes the
current flow and hence called as Back e.m.f denoted as eb

This back e.m.f is directly proportional to the shaft velocity Tm.

Equations (i) and (ii) form the basic equation of d.c. servo motor
operation.

Basic Classification
Basically d.c. servo motors are classified as:
(i) Variable magnetic flux motors.
(ii) Constant magnetic flux motors.

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In variable magnetic flux motors magnetic field is produced by the field

windings which are connected to the external supply. These are also
called as separately excited or field controlled motors.

TRANSFER FUNCTION OF DC SERVO MOTOR

The constant magnetic flux motors are also known as permanent

magnet d.c. motors. These motors have relatively linear torque-speed
characteristics.
Derivation of transfer functions for
(i) Field controlled d.c. servo motor
(ii) Armature controlled d.c. servo-motors.

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ii. Field Controlled DC Servo motor

Assumptions
(1) Constant armature current is fed into the motor.
(2) Nf % If. Flux produced is proportional to field current.
Nf = Kf If
(3) Torque is proportional to product of flux and armature current.
Tm % N Ia .
Tm = K` N
Ia = K Kf If Ia
Tm = Km Kf If
Where
Km = K`
Ia = constant
Apply kirchoffs law to field circuit.

Now shaft torque Tm is used for driving load against the inertia and
frictional torque.

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Finding Laplace Transforms of equations (1), (2) and (3) we get,

Tm (s) = Km Kf If(s)
Ef (s) = (SLf + Rf) If (s)
Tm (s) = Jms 2m (s) + Bms2m (s)

Eliminate If (s) from equations (4) and (5)Input = Ef(S)

Output = Rotational displacement 2m (S)

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Armature Controlled D.C. Servo Motor

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Assumptions:
(i)

Flux is directly proportional to current through field winding.

Nm = Kf If = constant

(ii) Torque produced is proportional to product of flux and armature

current.

T = K`m N Ia
T = K`m Kf If Ia

(iii) Back e.m.f is directly proportional to shaft velocity Tm, as flux N is

constant.

Apply Kirchhoffs law to armature circuit:

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Also Tm = {Jms + sBm} 2m (s) 2

Equating equations of Tm,

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Where Jm = Jm/Bm and

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