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TRANSFER FUNCTION OF
AC SERVOMOTOR
SPEED TORQUE CHARACTERISTICS
OF TWO PHASE AC SERVO MOTOR
POWERTRONICS
The shape of the characteristics depends upon the ratio of the rotor reactance (x) to the rotor
resistance (R ) In normal induction motors X/R ratio is generally kept high so as to obtain the
maximum torque close to operating region which is usually around 5% slip.
A two phase servo motor differ in two ways from normal induction motor.
1. The rotor of the servo motor is built with high resistance so that its X/R ratio is small &
the torque speed characteristics is as shown in the figure (2). Curve (B) is nearly linear
in contrast to the non linear characteristics with large x/r. It must be emphasized that if
a conventional induction motor with high x/r is used for servo application, then because
of the positive slope for the part of the characteristics, the system using such a motor
becomes unstable. The motor construction is usually squirrel cage or drag cup type.
The diameter of the rotor is kept small in order to reduce inertia & thus to obtain good
accelerating characteristics. Drag sup construction is used for a very low inertia
operation.
2. In servo applications, the voltages applied to the two stator windings are seldom
balanced. One of the phases known as the reference phase is excited by constant
voltage & the other phase is excited by constant voltage supplied to the reference
windings & it has a variable magnitude & polarity. The control winding voltage is
supplied from a servo amplifier. For low power application, AC servo motors are
preferred because they are light weight, rugged & there are no brush contacts to
maintain.
Both the control and reference windings are similar and we can interchange them.
During forward direction the control winding is taken as control winding and reference
winding as reference winding and during reverse direction control winding is taken as
reference winding and reference winding as control winding.
1. POWER
2. RPM
3. AMMETER
6.
7.
Vdc
8.
Eb
9. CONTROL WINDING
Speed - rpm
Table-1
Back emf eb in volts
6. Now with load switch at OFF position, switch ON AC servomotor and keep the speed in
the minimum position. Now vary the control winding voltage by varying the auto
transformer(230V) .You can observe that the AC servomotor starts moving with speed
being indicated by the tachometer and set the speed for maximum speed. Now switch ON
the load switch and start loading AC servomotor by varying the load potentiometer slowly.
Note down the corresponding values of Ia and speed and enter these readings in the table.
And also enter the back emf for different speed from table to plot speed V/s back emf.
7. Repeat the above procedure for different control voltage 200V,180V also and plot the
graph of speed V/s Torque.
Ia mA
N rpm
Table-2
Eb-Back emf
(From table-1)
P-watts
T-Torque(Gm-cm)
1.
2.
3.
4.
5.
6
7
8
9
10
11
Ia is measured by ammeter which is connected in series with the power supply & variable
resistance (LOAD CONTROL). This method does not take in to the account the no load
torque developed by the a. c. servomotor. To measure torque developed at no load (i.e. torque
just required to rotate rotor of a. c. servomotor, rotor of d. c. motor ) the a. c. servomotor is
switched off. Now the d c. machine run as the motor with the help of d. c. power supply,
speed will be controlled by variable resistance. Again we have to effect the measurement of Ia
for a given speed. From the product of Eb (back e. m. f. developed by the motor ) and the
armature current take, we can find the mechanical power developed at the motor shaft.
Again we must use the formula.
P=
2 NT
----------------- N -mts
60
4
P 1.019 10 60
Torque = ------------------------------- gm-cm
2 N
For various speeds, we can note down the no load torque required to be
developed by the motor. This torque is negligible & may not be taken in to account for normal testing.
For various speeds, we can note down the no load torque required to be developed by the
motor. This torque is negligible & may not be taken in to account for normal testing.
Torque calculation for a sample data:
Ia= 0.17 A
Speed N= 850 rpm.
For speed 850 rpm -Eb = 0.96 volts.
Therefore power P= Eb Ia = 0.96 0.17 = 0.1632 watts
4
T=
P 1.019 10 60
-------------------------2 Pi N
T=
0. 1632 1.019 10 * 60
---------------------------------2 3. 142 850
T=
18.68 Gm-Cm
IA A
P Wats
T Torque
0.057
Eb back
emf volts
3.8
1600
0.1938
11.78
1400
0.170
3.2
0.544
37.8
1200
0.273
2.6
0.7098
57.55
1000
0.343
2.2
0.7546
73.42
4
P x 1.019 x 10 x 60
T= -----------------------------2 NT
P in watts
P=Ia Va in watts
T=Torque in Gm- Cm
Repeat the above experiment for control winding voltage 200V,180V,& 150V.
The above readings are not standard.
100
200
300
400
500
600
700
800
900
1100
Speed
1200
Speed in RPM
Vc=230v
Vc=200 v
Vc=180V
Vc= 150V
10
20
TORQUE
30
40
IN
50
GRAM-CMS
60
70
80
- 230V AC
- 0-230V AC
3. Rated Speed
- 2000 RPM
4. Rated Power
- 20 Watts
2
5. Moment of Inertia J
- 0. 70 gm/Cm
6. Friction coefficient-B
-0.021
- J/ (K2+B)
Table 1
Control Voltage = 230 V (rated Voltage)
SL. NO.
Speed rpm
Torque gm-cm
Table 2
Control Voltage = 200 V
SL. NO.
Speed rpm
Torque gm-cm
K2=
____T
N
N1
T
Torque
N2
K1=
Vc
Vc
RESULT:- Transfer function of AC servomotor determined experimentally.