SERVO MOTOR

A servo mechanism or servo is an automatic device that uses error sensing feedback to correct the performance of a mechanism. The term correctly applies only to systems where the feedback or error correction signals help control mechanical position or other parameters. For example, an automotive power window control is not a servomechanism, as there is no automatic feedback which controls position the operator does this by observation. By contrast the car's cruise control uses closed loop feedback, which classifies it as a servomechanism.

A servomechanism is unique from other control systems because it controls a parameter by commanding the time based derivative of that parameter. For example a servomechanism controlling position must be capable of changing the velocity of the system because the time-based derivative (rate change) of position is velocity. A hydraulic actuator controlled by a spool valve and a position sensor is a good example because the velocity of the actuator is proportional to the error signal of the position sensor.

A common type of servo provides position control. Servos are commonly electrical or partially electronic in nature, using an electric motor as the primary means of creating mechanical force. Other types of servos use hydraulics, pneumatics, or magnetic principles. Usually, servos operate on the principle of negative feedback, where the control input is compared to the actual position of the mechanical system as measured by some sort of transducer at the output. Any difference between the actual and wanted values (an "error signal") is amplified and used to drive the system in the direction necessary to reduce or eliminate the error. An entire science known as control theory has been developed on this type of system.

Today servomechanisms are used in automatic machine tools, satellite-tracking antennas, remote control airplanes, automatic navigation systems on boats and planes, and antiaircraftgun control systems. Other examples are fly-by-wire systems in aircraft which use servos to actuate the aircraft's control surfaces, and radio-controlled models which use RC servos for the same purpose. Many autofocus cameras also use a servomechanism to accurately move the lens, and thus adjust the focus. A modern hard disk drive has a magnetic servo system with sub-micrometer positioning accuracy.

EXAMPLE APPLICATIONS
A

motion controller that can accept input from an

encoder mounted to the conveyor and reference all of the speeds and distances of the label roll to the encoder is required for this application.
A

servo system is also required to provide the

torque and speed to overcome the friction of the dispensing head and the inertia of the large roll of labels. photosensor connected to a programmable input on the controller monitors the bottles positions on the conveyor. The controller commands the label motor to accelerate to line speed by the time the first edge of the label contacts the bottle. label motor moves at line speed until the complete label is applied, and then decelerates to a stop and waits for the next bottle.
The A

STEPPER VS SERVO
Motion Characteristics
High Torque, Low Speed

Servo Motors
Can be considered if cost/ complexity is not an issue. A DC servomotor can deliver greater continuous shaft power at high speeds compared to steppers. High speed up to 12000 rpm is possible. Use servo if you need high dynamic requirements.

Stepper Motors
Continuous duty applications requiring high torque and low speed. If speeds are less than 2000 rpm stepper may be economical. Stepper becomes bulky at high torque.

High Torque and high speed (>2000 rpm)

Short, Rapid Repetitive Moves

Stepper will offer more economic solution when requirements are more modest. Use stepper motor if torque is lower than 500 oz-in, less 2000 rpm, low to medium acceleration rates.

Positioning Applications

Servo can handle effectively when load is mostly inertia instead of friction. The ability to overdrive servo motor in intermittent duty allows a smaller motor to be used. If positioning is critical in micron level use servo. Use brushless servo motor. Use DC servo. Closed loop.

Applications in Hazardous Environments Low Speed, High Smoothness Control Method

Use step motor. Use microstepping. Preferred to be used in open loop applications.

One of the main differences between servo motors and stepper motors is that servo motors, by definition, run using a control loop and require feedback of some kind. A control loop uses feedback from the motor to help the motor get to a desired state (position, velocity, and so on). There are many different types of control loops. Generally, the PID (Proportional, Integral, Derivative) control loop is used for servo motors. When using a control loop such as PID, you may need to tune the servo motor. Tuning is the process of making a motor respond in a desirable way.

Tuning a motor can be a very difficult and tedious process, but is also an advantage in that it lets the user have more control over the behavior of the motor. Since servo motors have a control loop to check what state they are in, they are generally more reliable than stepper motors. When a stepper motor misses a step for any reason, there is no control loop to compensate in the move. The control loop in a servo motor is constantly checking to see if the motor is on the right path and, if it is not, it makes the necessary adjustments.

In general, servo motors run more smoothly than stepper motors except when microstepping is used. Also, as speed increases, the torque of the servo remains constant, making it better than the stepper at high speeds (usually above 1000 RPM).

ADVANTAGES
Some of the advantages of servo motors are as follows:
High

intermittent torque High torque to inertia ratio High speeds Work well for velocity control Available in all sizes Quiet

DISADVANTAGES
Some of the disadvantages of servo motors are as follows:
More

expensive than stepper motors Cannot work open loop feedback is required Require tuning of control loop parameters More maintenance due to brushes on brushed DC motors

SERVO MOTOR