introduction to servo motion
TRANSCRIPT
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What is Servoing?
A servo is a device, electrical,
mechanical or electro-mechanical,
that upon receipt of a stimulus or
input, will employ feedback for velocity
and/or position control, creating a
closed loop.
Dynamic Solutions
" Servos provide dynamic solutions
" Precise control of the load
" High accelerations
" High decelerations
" Superior motion profiles Photo courtesy of NASA
Motion Dependent Applications
" Packaging & Converting
" Electronic Assembly
" Semiconductor
" Textile
" Medical
" Aerospace & Defense
" Automated Guided Vehicles
Servo Actuator vs. Hydraulic
" Easy replacement for many hydraulics
" Strokes up to 1500mm
" No hydraulic lines
" No Hydraulic leaks
" Can position to an accurate point in mid stroke
" No danger of high pressure line breaks
" High forces
" Rugged Design
" Established in
industry
Servo Actuators Hydraulic Actuators
Servomotor
" 3 Phase Motor windings
" Torque on command
" Velocity Loop Control
" Position Loop Control
" Continuous Duty Zone
" Intermittent Duty Zone
" Closed Loop Design
" 3-Phase Wye Wound
" 3-Phase Delta Wound
" High Power Magnetics
" Various Feedback Devices
Motor Phasing
" Phase sequence
results in CW
rotation of motor
shaft
" Halls aligned to
motor’s back-emf
Housing Types
" Standard Servomotor
" Linear Motor
" Direct Drive Housed
" Direct Drive Cartridge
" Direct Drive Frameless
" Explosion Proof
Frame & Stack
" Frame
# Flange Size
# Pilot Diameter
# Shaft
" Stack
# Length of Motor
# Usually 1, 2, 3, etc
Servo system
" Servos are electronically commutated
" Current loop, velocity loop, and in some cases, the position loop reside in the drive
" Can interface with external controllers for velocity or position
" The motor and drive make up the system
Current Loop " Based on Motor Inductance
" Set for optimum system performance
" Not adjusted in the field
Icmd
I
Ie
Velocity Loop " Tuned for the system inertia, friction
and system compliance
" Compliant system must be de-tuned
" Adjust the current to maintain the
commanded velocity
Icmd
I
Ie
Vcmd
Vfb
Ve
Position Loop
" Complex processing to create a trajectory with a final position
" Commands the velocity to be at the correct point at the correct time over time
I
Icmd I
e V
cmd
V
Ve
Pfb
Pcmd
Pe
Torque & Speed
" System Performance Curves
" Curves can be Speed/Torque or Torque/Speed
" Two regions, continuous and intermittent
Scope Tool " Captures data points for selected parameters
" Show actual performance against commanded
" Useful in understanding system Band Width
" Saves startup time
Bode Plot Tool
" Creates a map of the
system mechanics
" Displays frequency
response of the
system
" Discovers natural
resonance frequency
FAR
FR