Servo Motor

1. Introduction
Servo motors are essential components in motion control systems. They are widely used for precise
control of angular or linear position, velocity, and acceleration. Unlike conventional DC motors,
servo motors have a feedback mechanism, allowing them to adjust their operation in real time.
Servo motors are available in various sizes and configurations, ranging from miniature models for
hobbyist projects to industrial-grade motors for heavy-duty applications. Their ability to achieve
accurate positioning makes them indispensable in fields like robotics, automation, and machine
tools.
1.1 Overview of the Servo Motor
A servo motor typically consists of the following components:
• DC/AC Motor: Provides the mechanical force required for actuation.
• Feedback Device: Measures the motor's actual position or speed (e.g., potentiometer,
encoder).
• Control Circuit: Interprets signals and adjusts the motor operation based on feedback.
The motor operates based on a Pulse Width Modulation (PWM) signal, where the width of the
pulse determines the target position of the motor. For example:
• A 1 ms pulse moves the servo to 0°.
• A 1.5 ms pulse centers the servo at 90°.
• A 2 ms pulse moves the servo to 180°.
1.2 Features and Benefits
Servo motors are highly versatile due to their design and control mechanisms. Some of the key
features include:
• High Precision: Accurate positioning and speed control through feedback systems.
• Compact Size: Ideal for applications with space constraints.
• Ease of Use: Compatible with most microcontrollers via PWM signals.
• Durability: Reliable operation under various conditions, with long service life.
• Customizability: Can be tailored for specific applications by modifying control
parameters.
1.3 Applications
Servo motors are used in a broad range of industries and projects, including:
1. Robotics:
o Used in robotic arms for precise movement of joints and end effectors.
o Enables autonomous vehicles to control steering and motion.
2. CNC Machines:
o Controls the movement of tools for cutting, engraving, or manufacturing
components.
3. Automation Systems:
o Integrated into conveyor belts, pick-and-place systems, and industrial machinery.
4. Home Automation:
o Found in automated blinds, doors, and camera mounts for smart systems.
5. Hobbyist Projects:
o Popular in model airplanes, cars, and DIY robotics due to affordability and ease of
use.

2. Components
A basic servo motor system includes the following:
Component Description Purpose
Servo Motor An actuator with a feedback Converts electrical signals to precise
mechanism. motion.

Microcontroller E.g., Arduino or Raspberry Pi. Generates control signals.

Power Source A battery or regulated DC supply. Supplies voltage to the motor and
circuit.

Resistor (Pull-up) Ensures stable PWM Maintains signal integrity.

communication.

Wires and Jumper wires for electrical Enables connections between

Connectors connections. components.

Breadboard or PCB A platform for assembling Provides an organized setup for testing.
components.

Table 1: Required Components for a Servo Motor Setup

3. Component Specifications
Specifications for a typical hobbyist servo motor:
Specification Value
Operating Voltage 4.8V – 6.0V
Stall Torque ~10 kg-cm (varies by model)
Rotation Range Typically 0°–180°
Signal Type PWM
Speed ~0.1 s/60°
Feedback Sensor Potentiometer
Control Accuracy ±1°

Table 2:Technical Specifications of a Standard Servo Motor

Figure 1: SG90

4. System Breakdown
Component Role in the System
Servo Motor Executes precise angular motion as per control signals.
Microcontroller Generates PWM signals to control the motor's position.
Feedback Mechanism Ensures accurate positioning by monitoring the motor's state.

Table 3: Role of Each Component in the Servo Motor System

5. Circuit Diagram
A typical circuit for controlling a servo motor:
1. Connections:
o Connect the servo motor's VCC to the 5V pin on the microcontroller.
o Connect the servo motor's GND to the GND pin.
o Connect the control pin of the servo to a PWM-capable GPIO pin on the
microcontroller.

Figure 2: Circuit Diagram

6. Assembly Instructions
1. Set Up the Circuit:
o Follow the connections outlined in the circuit diagram.
o Ensure a stable power supply to the servo motor to prevent erratic behavior.
2. Upload Code to the Microcontroller:
o Use a code editor (e.g., Arduino IDE) to upload control logic.
o Verify that the correct servo library is included.
 3. Test the System:
o Power on the circuit.
o Observe the servo’s response to programmed signals.

Figure 3: Assembled Circuit

7. Code
#include<Servo.h>
Servo s1;
void setup()
{
s1.attach(9);
}
void loop()
{
for (int i=0; i<= 180; i+= 1)
{
s1.write(i);
delay(15);
}
for (int i=180; i>=0; i-= 1)
 {
s1.write(i);
delay(15);
}}

8. Observations and Results

Test Scenario Observation Result
Initialization Servo responded to signal System functional
Position Test Moved to all programmed angles Accurate positioning
Load Test Maintained position under load Stable operation

Table 4: Observations from Testing the Servo Motor

Figure 4: Demonstrating Successful Circuit Operation

9. Applications
Application Description
Robotic Arms Precise control of joints.
RC Vehicles Steering and suspension.
Automated Systems Conveyor control and pick-and-place.

Table 5:Common Applications of Servo Motors

10. Limitations
Limitation Description
Torque Limited by size and type.
Rotation Range Usually restricted to 180°.
Power Consumption Requires sufficient current.

Table 6: Limitations of Servo Motors

11. Conclusion
Servo motors provide a highly effective solution for applications requiring precision and reliability.
Their ability to offer controlled angular motion, combined with simplicity in interfacing, makes
them a top choice in robotics, automation, and DIY projects. Despite limitations in torque and
angular range, servo motors remain indispensable for small to medium-scale projects.