Synchros are small motor like components widely used fr the remote transmission of shaft pesition in A.C. Servo - mechanisms. The bégic structure consists of a wound motor and a wound stator. Concentrically xed 10 give adjustable mutual coupling between the windings of the two members. The windings are magnetic circuit are designed (o give a substantically, sinusoidal variation in magnetic coupling as a function of the shaft position. Though similar in appearance and construction to that of a wound rotor induction motor, the materials used for snychros are different. As induction type components, the snychros exhibit good reliakility characteristics. They are inherently balance, capable of continuous rotation, ind are relatively, insensitive to time voltage, frequency and temperature fluctuations. . ‘. Snychros can be sub-divided into two basic groups, the torque units and the signal transmitter units. Torque snychros do not amplify torque. This type of transmitter is analog to mechanically driving a load through a flexible shaft. Being ‘open loop, torque snychro transmitter suffers from reduced accuracy and reduced sensitivity. In contrast the signal transmission unit develops on output error voltage proportional to the miss-alignment between the shaft of the receiving component and the shaft of the transmitting component. This error voltage is amplified and used te drive a motor that restores, input output correspondence by properly positioning the output shaft. Output torque can be adjusted to as high a value as desired depending upon the capacity of the driving used. Maximum insight can be obtained by comparing a control synchro transmission system. ‘The synchro type transmission system has the following advantages over the potentiometer transmission system.The training people 1] No resolution error. There is no step effect of irregularity in synchro signal transmission. 2] No wear from rotation, except for the slight non-critical wear at the slip rings. 3] It can be operated at much higher speeds. 4] Relative insensitivity to stray cable capacitance. 5] The accuracy of an ordinary synchro in high compared to even the best potentiometer. 6] A synchro has a useful operating single of 300 and is capable of continuous rotation. 7] Synchro system has high reliability. 8] Adaptability type to multispeed operation. Thus the synchro type of transmission is much superior to potentiometer transmission. The rotor of a synchro transmitter is a glaint pole dumb ball shaped magnetic structure housing the primary winding of the transmitter voltage is applied to this winding through the slip rings and brushes mounted on the rotor. The stator has the secondary coils would in its skewed slots distributed around its periphery. Although the stator winding are distributed, they act as if they were positioned at 1200 apart, as shown in Fig. 1. Despite the fact that the winding are shown 1200 apart thus resembling schematic diagrams of a three phase machine only single phase voltage appears across any of the these windings. The flux links each of these coils depending upon the angular position of the rotor. In the position shown in the Figure that maximum voltage appears across coils S2 and nature and a voltage of opposite polarity but equal to half the voltage appears across the windings S2 to natural and S1 to netural. If the shaft of the transmitter is rotated the voltage from S2 to natural decreases and is zero when rotor is at 900 from the original position. The magnitudes of SI to N and $2 to N voltages also very as the cosine of the displacement of the displacement from maximum position of the rotor. The netural is not brought out therefore the only voltages that can be measured are those voltages appearing at the terminals $1, $2, $3. At the electrical zero Vs 3S, is zero. As the shaft is rotated counter clockwise, the voltage Vs3s becomes maximum at 900 to this position. Since for small angles sine is equal to the angle itself, synchro‘The training people transmitter can be used to provide a voltage proportional to the shaft angle for some applications. The voltage induced across the terminals are shown in Fig. 2. In a typical servo mechanism these voltages are applied to the leads of the synchro control transformer. This unit is similar to the synchro transmitter except that its rotor is circular in cross section and distributed rotor windings. The fact that the rotor is of circular corss-section minimises the change of input impedance with angular position of the shaft. The primary windings of synchro control transformer SCT and Synchro transmitter ST are in the stator. The secondary winding are on the rotor and although distributed behave exactly as if they were wound on a dumbwell shaped rotor. The SCT usually has higher impedance windings than ST, so that several SCT can be connected to the same transmitter with little loss of accuracy. The voltage applied to $1 $2 and $3 of SCT produce in its magnetic structure exactly same flux distribution similar so that produced in ST by the voltage excitation to its rotor. If voltage applied to RI R2 of ST produces a flux and this flux causes voltages in secondary, then these same flux pattern in SCT. An SCT rotor is similar to a search coil that indicates the direction of the flux of the ST. The magnitude of the output voltage of SCT is a sine function of the angular position. The polarity information is obtained by comparison with the reference. Often for servo applications a synchro SCT is used in place of ST. This is virtually the same construction except that is has high impedance of its windings.(Fig.2) TRANSMITTING ANGULAR MOTION OF A SHAFT In remote control applications, it is sometimes necessary to have the angular motion of a shaft follow the motion of another shaft located some distance away. Although it is possible to device a system which will transmit this motion through mechanical linkages, this is usually not the most efficient or economical method. Electromechanical systems are more flexible and are, therefore, used. In the electromechanical system, mechanical rotation are converted into electrical currents. These currents are then transmitted to the required location and are there converted back into the desired rotation. The angular motion of a shaft may be used to transmit information to Temove indicators. For example, a meter dial may be controlled to indicate the position of a rotiable antenna. Here, "positioning" information must be transmitted from the antenna, as it is rotated to an operator who may be miles away. In this application, little torque is required to turn the meter dial. Hence little power is involved A device called a synchro is used in this application. ‘The angular motion of a shaft may be used in another application. Where the controlled shaft delivers more power than the controlling shaft. The electromechanical system used here is called a servo system and employs the synchro in combination with other elements. An example of a servo system is the mechanism used for turning the rubber of a large ship. A small handwheel in thecontrol room is used for tuning the large rubber. The handwheel is part of a servo system. Relatively little human effort is required to turn the small handwheel. The work is done by the servo system, which also assures the operator that the angular motion of the wheel will be followed exactly by the motion of the rubber. In this experiments, we will be concerned with remote indicator systems. The two components involved in this sytem are known as the synchrogenerator and the synchromotor. The synchro is known by other names such as Selsyn, Autosyn, and syncrotie. A synchro is device used for the electrical transmission of an angular position. ‘The synchrogenerator ot transmitter is constructed like a two pole alternator (see Fig, 3). The rotor coil is wound on a laminated iron core. The exds of the coil are connected to slip rings. ‘The stip sings ace connected to terminals RI and R2 on the frame, The rotor is mounted on a shaft. Ball bearings on the shaft provide low friction rotation. Three seperate stator coils are wound in uniformly spaced slots punched in the frame. The coils are spaced 1200 apart around the stator. A corresponding end of each coil is connected to a common point, and hence the other ends are connected respectively to terminals $1 S2 and $3 on the frame (Fig. 4). ro TERAUN ats (ig 8) CONSTRUCTION OF 4 SYNCHROGENERATOR,SCHEMATIC DIAGRAM. OP ASYNCI The synchromotor or receiver is identical to the synchrogenerator, except that the rotor of the motor has a metal flywheel is to damp the tendency of the motor shaft to oscillate when power is first turned ON or when the shaft is turned suddenly. Therefore, it is called the damper. Fig. 4. is the schematic diagram of a synchrogenerator or motor whose stator windings are connected in wyel¥)Synchros with delta-connected stators are also employed. Any of the three different representation (symbols) shown may be used for wye-connected synchros. Figures 4a & 4b show the axis of the rotor in line when with the axis of coil S2. When the rotor is so positioned, the synchro is said to be zeroed. Fig. 5 is the circuit diagram of a synchro indicator system. A single phase a€line voltage is applied to the rotor windings of the generator G and motor M, connected in parallel. The stator windings are connected as shown in S1 to $1, S2 to S2 and $3 to $3. The rotor of M will follow the rotor of G to whatever position the G rotor is turned, say 900 in a clockwise direction, the rotor of M will also tu 900 clockwise, and so on. If clibrated dials and pointers are properly positioned Fig. 5. A synchrogenerator connected to a synchfomotor. The shaft ofThe training people the synchromotor follows that of the generator and is used to indicate the position of the generator shaft on the rotor of G and M, the pointer on M will follow the pointer on G and will indicate the angular displacement of the G rotor shaft. Why does the motor shaft follow the generator? The answer to this question lies in the voltages induced in the stator windings and in the orientation of the magnetic fields in both motor and generator. Assume further that both voltage is applied. At the position (Fig. 10a) before voltage is applied. At the instant ‘power is applied, the magnetic fields about the rotors would appear as shown by the arrows (Fig. 10a). The fields of the rotors are obviously 1800 out of phase. Now from our preceeding discussion, we know that the rotor fields of a synchromotor and a generator line up in the same direction. The rotor of the motor must therefore Totate 1800, so that the magnetic fields of both rotors are in the same direction, as in Fig. 10b. When the motor rotor runs through 1800, the synchro system is again in equilibrium. As the rotor of the generator is turned, the rotor of the motor follows in the same direction, but always laga by 1800 We may therefore conclude that reversing the rotor connections of the synchromotor introduces a 1800 phase lag in the motor, but the rotor of the motor follows the rotation of the rotor of the generator. ‘A. synchrogenerator connected to a synchromotor. ‘The shaft of the synchrometer follows that of the generator and is used to indicate the position of the generator shaft._ RESULTANT. STATOR RESULTANT STATOR Magnetic field of a bar magnet free to tum lines up with the direction of the field of the fixed magnet How the poles of a magnet free to tum up with the poles of a fixed magnet hig. 1 naga ldo eed har uaenet E sxxcor Low or ~ Mt ROTOR ROTOR‘The nalging people Efect of moving the rotor of the generator 60° in a clockwise direction. The rotor of the motor also follows the 60° clockwise rotor on of the generator and lines up the G Motor. AC LINE GENERATOR MOTOR ROTOR (Fig. 10) Reversing synchromotor rotor connections causes motor rotor (o lag gezerator rotor by 180) Erom our previous discussions, it is apparent that the manner in which the rotor and stator of a synchromotor and a generator are connected will affect the operation of the system. Let us analyse the effects of reversing stator connections S1 and S3, as in Fig. 11. We note that S1 of the generator is connected to S3 of the motor. All other connections are as in Fig. 3. The resultant magnetic field of the generator has not been affected by the reversal of connections S1 and S3 on the motor. However, windings $1 of the generator is now in series with windings $3 of the motor. Hence winding $3 of the motor will act as though it were winding Si. Morever, winding S3 of the generator is in series with winding S1 of the motor will act as though it were winding S3. Now, if we turn the generator rotor fromThe raining people zero position (in zero position, the axis of the rotor field is parallel to the axis of S2 field) 600 clockwise, the resultant magnetic field of the generator will take the position between S2 and S1 shown in Fig. 12. The resultant magnetic field of the motor will follow this rotation just as before except that it will move counterclockwise from S2 in the direction of $3, since S3 of the motor now acts like S1. Similarly any counterclockwise rotation of the generator rotor will cause a clockwise rotation of the motor rotor. We can conclude, therefore, that the effect of reversing stator connections $1 and $3 is to reverse. (Fig. 11) Cyclic for reversing stator connections SI and S2 i Reversing stator connections $1 and $2 causes rotor of motor to turn in the opposite direction to rotor of generator. GENERATOR MOTOR 32 RESULTA! ME RESULTANT GHELD (Fig. 12)EN a ol be) SSN «Fig. 1) Cyclic shift of stator connections 1] In the synchrogenerator, the three magnetic fields induced in the stator windings act as a single field, the resultant field, whose direction is opposite to that of the inducing field in the rotor. 2] In the synchromotor, the resultant magnetic field associated with the stator windings takes the same direction as the field of the rotor of the generator. Now, let us see what happens to the rotor of the motor. For the connections shown in Fig. 5 and 6 the magnetic field about each rotor has the same direction. We know that a bar magnet which is free to turn takes the direction of a nearby magnetic field of a fixed magnet, as in Fig. 7. This fact is equally true of electromagnets. Hence the rotor field of the motor lines up with the stator field of the motor. Therefore, both rotor fields have the same direction and the rotor of the motor lines up with the rotor of the generator. Fig. 8 shows the effect of turning the generator rotor 600 clockwise. The resultant magnetic field about the stator windings of the generator also rotates 600 and is in direction opposite to field about the stator windings of the motor also rotates 600 clockwise but is in the same direction as the rotor field of the generator. Now the field about the motor rotor ines up with the resultant field about the stator windings of the motor, and the rotor of the motor also turns 600 clockwise, lining up with the rotor of the genertor. Similarly, it can be shown that for the connections in Fig. 5 the rotor of the motor follows in step with the rotor of the generator, as the generator rotor is turned from one position to another.‘What is the effect on synchro action of reversing the connections R1 and R2 to the rotor windings of the motor as in Fig. 7? Assume that the connections are reversed as shown, before line voltage is applied to the rotors. Consider first the operation of a synchrogenerator. The ac line voltage applied to the G rotor winding sets up an alternating magnetic field about the rotor. This field cuts the stator windings and by transformer action, induces a voltage in each of these windings. The rotor winding acts as a primary of a transformer. The stator windings act a three secondaries of this transformer. The voltages induced in the secondaries are either in phase or 1800 out of phase with each other and with the voltage in the primary, depending on the position of the rotor. Hence the stator voltages do not constitute a three-phase system. The amplitude of voltage in each secondary depends on the position of the rotor and is a function of the cosine of the angle between the axis of the rotor and the axis of the stator winding. The variation of voltage induced in each secondary, as the rotor is turned slowly is therefore, sinusoidal. Maximum voltage is induced in a secondary when its axis is parallel to the axis of the rotor. Minimum voltage is induced in a secondary when its axis is perpendicular to the axis of the rotor. If there is no load connected to the secondary windings of the generator there is no magnetic field associated with any of the stator windings because there is no current through then. However, when the stator windings of the motor are connected to the stator windings of the motor are connected to the stator windings of the generator as in Fig. 5 and 6 there is current in each of the stator windings, and there is a magnetic field associated with there windings. The arrows in Fig. 6 represent the direction of the magnetic field associated with each secondary windings for a rotor field which is parallel to the axis of S2. The three secondary fields of the generator add vectorially, and their resulatant field G is, according to Lenz law, opposite (1800 out of phase) in direction to the inducing magnetic field about the rotor, Now consider the magnetic field associated with the stator windings of the motor. Current through these windings will be opposite in direction to current through the synchrogenerator stator windings. Since the windings of both generator and motor are in the same direction, the magnetic field associated with‘The training people ‘each stator winding on the motor is opposite in direction to the magnetic field associated with each corresponding stator field of the motor stators is opposite in direction to the same direction as the magnetic field of the generator rotor. To summarize our conclusions to this point the direction of rotation of the motor rotor, as compared with the direction of rotation of the generator rotor, shifting all stator connections in cyclic order, as in Fig. 13 will cause the motor fotor to rotate 2400 clockwise, so that it always lags the generator rotor by. 1200. ‘However, rotation of both rotors will be i the same direction. Electrical Zero ‘The term ‘Electrical Zero’ is a standard position with relation to which the angular displacement of the rotor is measured. Electrical zero is defined as the position of the rotor for which the voltage between S1 and S3 is zero, and the voltage at S2 with respect to $1 or $3 in phase with that of R1 with respect to R2 ‘The degrees through which the rotor angle tums are measured from electrical zero. ‘The procedure for determining electrical zero takes this defination into account. To zero a Selsyn system, first the synchrogenerator is zeroed. Then the synchromotor may be xetoed, using the generator as a standard of reference. 1} A synchrogenerator (G) is a device used for the electrical transmission of an angular position. 2] A syuchromotor (M) is the driven element in a synchro system. The rotation of its rotor follows that of the generator. 3} A synchrogenerator is constracted somewhat like a two-pole alternator with a rotor winding and stator windings. 4] In a synchrogenerator, the two terminals of the rotor are brought out to slip rings mounted on the shafi. These connect to a single phase ac power line. The stator windings consist of three seperate coils uniformly wound in slots around the laminated stator. The three other ends of the windings are brought out to seperate terminals on the assembly. 5] A synchsogenerator is consiructed like a synchrogenerator, except that a damper is mounted on the rotor shaft, The damper keeps the rotor from ‘hunting! when power is first turned ON, or when the shaft is tuned suddenly.8] a 10) “The rafging preople The manner in which the rotor of motor M follows the angular rotation of the motor of generator G depends on the way these two devices are interconnected. One arrangement is shown in Fig.;3. In this arrangement if calibrated dials and pointers are properly positioned on the rotors of G and M, the pointer on M will follow the pointer on G and will indicate the angular displacement (from zero) of the G rotor shaft. The rotor of M follows exactly the rotor of G in this connection, because the magnetic field induced in the rotor of M is exactly in line with the magnetic field of the rotor in G. If the rotor connections (R1 and R2) on M are reversed, as in Fig. 9 the rotor of the motor still turns in the same direction as the rotor of the generator, but it always lags by 1800. By changing stator connections, we can cause the rotor of M to tum counterclockwise when the rotor of G is turing in a clockwise direction. The angle of a lag of a motor's rotor depends on the way in which the stator connections are made.To study the operation of Synchro Transmitter & Receiver. APPRATUS 1] ADTRON synchro Transmitter Unit, 2] ADTRON Synchro Receiver Unit. 3] ADTRON Power Supply Unit. PROCEDURE _: Arrange power supply, synchro transmitter & synchro receiver near to each other. Connect power supply output to R1-R2 terminals of the transmitter & Receiver. Short $1 - $1, $2 - $2, $3 - $3 windings of transmitter and receiver with the help of patch cords, Switch on the unit, supply neon will glow on. As the power is switched on transmitter & receiver shaft will come to the same position on the dial Vary the shaft position of the transmitter, and observe the corresponding change in the sahft position of the receiver. Repeat the above steps for different angles of the shaft of the transmitter, you should have observed that the receiver shaft move by an equal amount as that of a transmitter.