OBJECTIVE

To determine how a permenent magnet dc motor may be controlled by varying the magnitude and direction of its armature. To plot the torque/speed characteristics of a dc motor. To establish the scaling factor of the tachogenerator.

LIST OF REQUIPMENTS
Equipments: Attenuator Unit (AU150B) Servo Motor (SA155BD) Power Supply (PS150E) Dc Motor (DCM150F) Loading Unit (LU150L) Digital Multimeter

THEORY
Dc servo motors are normally used as prime movers in computers, numerically controlled machinery, or other applications where starts and stops are made quickly and accurately. Servo motors have lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition, very low armature inductance in these servo motors results in a low electrical time constant (typically 0.05 to 1.5 msec) that further sharpens servo motor response to command signals. Servo motors include permanent-magnetic, printed-circuit, and moving-coil (or shell) dc servo motors. The rotor of a shell dc servo motor consists of a cylindrical shell of copper or aluminum wire coils which rotate in a magnetic field in the annular space between magnetic pole pieces and a stationary iron core. The servo motor features a field, which is provided by cast magnets whose magnetic axis is radial. Servo motors usually have two, four, or six poles. Dc servo motor characteristics include inertia, physical shape, costs, shaft resonance, shaft configuration, speed, and weight. Although these dc servo motors have similar torque ratings, their physical and electrical constants vary. The first selection approach is to choose a servo motor large enough for a machine that has already been designed; the second is to select the best available servo motor with a specific feature and then build the system around it; and the third is to study servo motor performance and system requirements and mate the two. The final servo motor system design is usually the least sophisticated that meets the performance specifications reliably. Servo motor requirements may include control of acceleration, velocity, and position to very close tolerances. This says that the servo designer must define the system carefully, establish the servo motor's performance specifications, determine critical areas, and set up

tolerances. Only then will the designer be able to propose an adequate servosystem and choose a servo motor type. This experiment illustrate the characteristics of the dc motor and show how it can be controlled using a servo motor. The motor is a permenent magnet type and has a single armature winding. Current flow through the armature is controlled by power amplifier. Rotation in both direction is possible using one or both of the input which are provided by a specialist pre-amplifier unit. As a motor accelerate the armature generated an increasing back emf , Va tending to oppose the driving voltage, Vin. The armature current is thus roughly propotional to (Vin-Va). If the speed droup (due to loading) Va reduces, the current and the motor torque increases. This mode of control is called armature control and gives a speed propotional to Vin. Due to brush friction, a certain minimum input signal is needed to start a motor rotating.

CONCLUSION
Based on the result, when no load characteristics applied, the tachogenerator voltage and speed of servo DC motor decreases. Then, when full load characteristics applied, the tachogenerator voltage and speed of servo DC motor increases. Know to determine how a permanent magnet dc motor may be controlled by varying the magnitude and direction of its armature current. Beside that, know how plot the torque/speed characteristics of a dc motor. The advantage of DC servo motor is high output power relative to motor size and weight. Encoder determines accuracy and resolution. High efficiency. It can approach 90% at light loads. High torque to inertia ratio. It can rapidly accelerate loads. The "reserve" power. 2-3 times continuous power for short periods. The "reserve" torque. 510 times rated torque for short periods. Motor stays cool. Current draw proportional to load. Usable high speed torque. Maintains rated torque to 90% of NL RPM. Audibly quiet at high speeds. Resonance and vibration free operation. The disadvantage of DC servo motor is requires "tuning" to stabilize feedback loop. Motor "runs away" when something breaks. Safety circuits are required. Brush wear out limits life to 2,000 hrs. Service is then required. Peak torque is limited to a 1% duty cycle. Motor can be damaged by sustained overload. Bewildering choice of motors, encoders, and servodrives. Power supply current 10 times average to use peak torque. Motor develops peak power at higher speeds. Gearing often required. Poor motor cooling. Ventilated motors are easily contaminated.

REFERENCE
Austin Hughes, (2006). Electric Motors and Drivers: Fundamentals, Types and Applications. Location: Newnes. George Ellis, (2004). Control System Design Guide, Academic Press. Irving M. Gotlieb, Gotlieb, (1997). Practical Electric Motor Handbook, Newnes.