Pp ele Control System Components , ae Inside this Chapter 9.1. Introduction; 9.2. Potentiometers; 9.3. Servomotors; 9.4. Types of Servomators; ometers); 9.6. Stepper Motors; 9.7. Synchros 9.5. Tachogenerators (Tach 9.1. INTRODUCTION : ae In control system, the devices which are used to convert the process variables in one form tp another from is knownas transducers. Transducers can also be defined as a device which transforms the energy from one form to another, for example a thermocouple converts the heat energy into electrical voltage. In control system the following devices are used as a transducer. 1. Potentiometers 2. D.C. servomotors 3. A.C. servomotors 4. Synchros 5. Stepper motors 6. Magnetic amplifier 7. Tachogenerators 8. Gyroscope 9. Differential transformer9,3, SERVOMOTORS Servomotors are used in feedback control systems. Servomotors have low rotor inertia and high speed of response. The servomotors are also know as control motors. The servomotors which are used in feedback control system should have linear relationship between electrical control signal and rotor speed, torque speed characteristic should be linear, the response of the servomotor should be fast and inertia should be low.9.4, TYPES OF SERVOMOTORS The servomotors are classified as (i) A.C. servomotors (ii) D.C. servomotors (ii) Special servomotors D.C. servomotors are furth« control d.c. servomotors. 9.4.1, A.C. Servomotors These motors having two parts namel; induction motor. The stator has two each other by 90° electrical. One winding is winding is excited by constant a.c. voltag winding is excited by variable control voltage electrical buthaving a phase displacement of 90° is obtained from a servoamplifier. The dire voltages applied to the two windings. The reversing the phase difference between cont The rotor of a.c. servomotors are of two types The squirrel cage rotor having large length air gap of squirrel cage is kept small. In drag cup type there are two airgaps. For the rotor a cup of non-magnetic conducting material is used. A stationary iron coreis placed between the conducting, servoamplifier cup to complete the magnetic circuit. The resistance of drag cup type is high and therefore having high starting torque. Generally aluminium is used for cup. Figure 9.4. Shows the schematic diagram of two phase a.c. servomotor and Fig. 9.5(a), and (b) shows the two types of rotor. er classified distributed wit called main win ‘as armature controlled d.c. servomotors and fietg and rotor. A.C. servomotors are two phase ndings. These windings are displaced from, ding or reference winding, The reference e. The other winding is called control winding. This of the same frequency as the reference windin |. The variable control voltage for control windin, “ ‘ction of rotation depends upon phase relationship of direction of rotation of the rotor can be reversed by trol voltage and reference voltage. (a) squirrel cage rotor (b) drag cup type rotor. so its resistance is very high. The jy stator and small diameter, Control winding main winding or ‘rang ac. supply Fig. 9.4. A.C. servomotor Stator LLL) Fig. 9.5 (a) Squirrel cage rotor Drag-cup rotor Suet ans Stator Fig. 9.5 (b) Drag cup type rotor imControl System Components // 411 9.4.2. Torque-speed Characteristic The torque speed characteristic of tw reactance to resistance. For high resistanc large ratio of X to R it becomes non-linear for various control voltages are }© phase induction motor depends upon the ratio of e and low reactance, the characteristic is linear and for as shown in Fig, 9.6(a). The torque-speed characteristics almost linear as shown in Fig, 9.6(b). | Vj>Vy>Va> Vy Large X y R é i 8 e x E Smal yy Vy Speed—> Speed —> @) © Fig. 9 8.4.3. D.C. Servomotors D.C. servomotors are separately excited or permanent magnet d.c. servomotors. The armature of d.c. servomotor has a large resistance, therefore torque speed characteristic is linear. The torque speed characteristic shows in Fig. 9.7(b). Fig 9.7(a) shows the schematic diagram of separately excited d.c. servomotor. ke Vy>V> V5 8 RR Xx & + & a Jp ¥ “ 0 0 : Speed —> (@) Separately excited d.c. servometer (b) Torque speed characteristic Fig. 9.7. The d.c. servomotors can be controlled from armature side or from field. In field controlled de. servomotors the ratio of L/R is large i.e., the time constant for field circuit is large. Due to large time constant, the response is slow and therefore they are not commonly used. Transfer function of field controlled d.c. servomotor is given in Chapter 1. The speed of the motor can be controlled by adjusting the voltage applied to the armature. In armature controlled d.c. servomotor the time constant is small and hence the response is fast. The efficiency is better than the field controlled motor. The transfer function of armature controlled d.c. servornotor is derived in Chapter 1. 8.4.4, Application of Servomotors Servomotors are widely used in radars, electromechanical actuators, computers, machine tools, tracking and guidance system, process controllers and robots.9.5. TACHOGENERATORS (TACHOMETERS), Tachometers are electromechanical devices, which transforms the mechanical energy into elects energy. In tachometers its magnetic flux is constant and induced e.m.f is proportional to the speed of the shaft ie., angular speed. The tachometers are classified as d.c. tachometers ang 4 tachometers. 9.5.1. D.C, Tachometer In control systems most common type of tachometers are d.c. tachometers. D.C. tachometer, contains an iron core rotor and permanent magnet. The magnetic field is provided by the permanent magnet and no external supply voltage is necessary. The input to the tachometer is the speed of the shaft and the output is voltage which is proportional to the angular speed of the shaft, = e= Katt) 04) where ¢ = tachometer generator voltage K = tachometer sensitivity = angular speed of the shaft. Laplace transform of equation 9.4 E(S) = KS) : (95) ~. Transfer function of tachometer is E(S) K= 765) (S) -~(9.6) In dic. tachometers the windings on rotor are connected to the commutator and the output voltage is taken across the brushes. The permanent magnet tachometers are compact and relizble but having high inertia. For reducing the voltage drop across the brushes, metal brushes with silver tips are used. 9.5.2. Advantages of D.C. Tachometers 1. At zero speed there is no residual voltage. 2. It is possible to generate a very high voltage gradients in small size. 3. It can be used with high pass output filters to reduce servo velocity lags. 9.5.3. A.C. Tachometers A.C. tachometers are similar to two phase induction motor. The schematic diagram of a.c. tachometer is shown in Fig. 9.8. Here two stator windings are placed in quadrature with each other and rotor is short circuited. The east rotor of tachometer is a thin aluminium imary winding cup. The two stator windings are known jay. 1 as primary winding and secondary M winding. Primary winding also known t as reference winding. ' The primary winding carries a aes voltage V_/90®. This voltage is fixed in magnitude at fixed frequency known as carrier frequency. The coil axis of primary in winding is called direct axis. When the Fig. 9.8. A.C. tachometerControl System Components // 413 current in primary winding flows a pulsating field M, is produced along direct axis. When the rotor is stationary an e.m-f. is induced in it, Since the motor is short circuited eddy current flows in it. Due to this eddy current a pulsating flux M, is produced opposite to the M,. Therefore a pulsating flux >, is produced due to the vector sum of M, and M,, Since the secondary winding is in quadrature no e.m-f. will produced in it due to 6,. Now if the rotor rotates it cuts the flux and an e.m4f is induced in it, due to this induced e.m.f a current will flow in the rotor and a pulsating flux will appear along the coil axis of secondary winding. This flux 6, will induce the voltage in secondary winding. The magnitude of the output voltage will be proportional to the ‘rotor speed.4.34, PNEUMATIC SYSTEM Smee ea 1.121. In Fig. 1.121 a source is SUPP! ying air and the air is stored in a. the source N/m? See. the vessel N/: ‘m2 Consider the Fig. Let, P; = Pressure of air of P, = Pressure of air in AP, = Change in air pressure of source AP, = Change in air pressure of vessel R = Resistance to air flow into the vessel C = Capacitance of the vessel q = Rate of flow of air due to the differential pressure Fig. 1.121. _ AR- AR Cae (1.155) ‘The volume of air stored in vessel increases the pressure inside the vessel. Volume V = CAP, (1.156 : ' av _.dABy <. Rate of stora; J = ce ge in vessel = a (1157) Volume of air in flow V = [qat = [22=4% low fa J ha (1.158) Rate of air in flow = 22 = AR=Ah dt R (1.159) Rate of air in flow = Rate of storage of air in vessel dah _ AR~AP, Take Laplace transform Gia 1 sCAPp =p [AR(s) - AR(s)] 4% 1 ay URC (1.161) Time constant = RC