.

A, 2012

30 2012.
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A, 2012

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Copyright 2012
. All rights reserved.
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2012


,

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(servodrive) .
.
,

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2
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, , R/C servos
digital servos.
3
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4
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Abstract
The requirement for high torque, speed and position control of the electric drive, led to
the rapid development of servomotors and the servomotor systems. Servomotors are new
technology motors which incorporate feedback deivce and with the help of the servodrive
system they can ensure precision movement. Usually they are used in automation control
systems.
Generally speaking this diplomatic paper is a presentation on operating principles,
characteristics and main applications of servomotors and servosystems.
The first chapter provides a general introduction to the servomotors, main parts, basic
characteristics, advantages and disadvantages, categories and selection criteria for the
applications.
The second chapter provides an analysis of the basic types of electric servomotors such as
induction motors, direct current motors, permanent magnet synchronous motors, hybrid
servos, R/C servos and digital servos.
The third chapter refers to the servomotor systems, the functional diagram, the feedback
devices, the cost, the servo amplifiers and DC - AC motors servodrive systems.
The fourth chapter refers to the application areas of the servomotors and generally of the
servosystems. Servomotors offered to motion control systems the possibility for parallel
control of velocity and position with great accuracy. This makes them suitable for a wide
range of industrial applications. In this chapter we analyze several such examples in order
to fully understand their function.

eywords
Servomotors, Servosystems, Electromotors, Servomechanisms, Automation Control
Systems, Movement Control


..............................................................................................................................5
..................................................................................................................................7
Abstract....................................................................................................................................9
............................................................................................................................11
.....................................................................................13
1:
1.1 ...........................................................................................................17
1.2 .........................................................................18
1.3 ............................................................................................20
1.3.1 ......................................................................................22
1.3.1.1 .........................................22
1.3.1.2 ................................................23
1.4 .................................................................................25
1.4.1 ...............................................................26
1.4.2 ...........................................................................26
1.4.3 ..............................................................27
1.5 ......................................................31
1.6 .....................................................32
2:
2.1 .............................................................................................35
2.1.1 ................................................................................35
2.1.2 .................................................36
2.1.3 .....................................37
2.1.4 ..........................................42
2.2 ........................................................................ .........45
2.2.1 ...............................................................45
2.2.2 .....................................................46
2.2.3 (armature contol)......................48
2.2.4 (field control)..............................49
2.3 ............................................................................51
2.4 ...............................................................................................54
2.4.1 ....................................................................54
2.4.2 O ....................................................................................56
- 11 -

2.5

(digital servos)....................................................................57
2.5.1 .....................................................................................57
2.5.2 ........................................59

2.6 R/C servos..........................................................................................................................61

3:
3.1 ........................................................................................... ................................65
3.2

........................................66

3.3 .......................................................68
3.3.1 ...........................................................................................................69
3.3.2 (resolver)........................................................70
3.3.3 (optical encoder)......................................................73
3.3.3.1 .........................................................74
3.3.3.2 .......................................................75
3.3.3.3 (linear encoder)...........................77
3.3.4 Hall (Hall-effect transducers)......................................................78
3.3.5 ............................................................80
3.4 .......................................... ................80
3.5 - ..............................................82
3.5.1 .............................................86
3.5.2 .................................89
3.5.2.1 -....................90
3.5.2.2 ................................. ........................................................93
3.6 ...............................................................95
4:
4.1 ................................................................................97
4.2 ..................................................................98
4.3 ..............................................100
4.4 .................................... ....................108
4.5 ............................................................................109
4.6 ..............................................111
4.7 ...................................................112
4.8 ..................................................................114
.......................................................................................................................117
.............................................................................. ...............................................119
...................................................................... ....................................................123
- 12 -


1.1

-
, .............................................................19

1.2

......................20

1.3

() (brushless.)...............21
() ..............................................................21

1.4

(i)
(ii) ...........................................................................................23

1.5

(linear servo motor)................................24

1.6

()-
................................................................ ...................................28

1.7

-
...................................................................... .............................29

1.8

-
......................................................................................30

1.1
..................................................................................... ..........................33
2.1

..........................................36

2.2

() I .................................................................38
() I Thevenin.............................................................................38

2.3

,
......................................39

2.4

..........................................................................................................40

2.5

....................41

2.6

.....................41

2.7

, , ................43

2.8

, , ...............43

2.9

............................44

2.10

.
a , fe..........................45

2.11

.................................................47

2.12

........47

2.13

a.................................48

2.14

...........................................49

2.15

....................................49

2.16

...........................................50

2.17

.....................................................51
- 13 -

 2.18

..............................................................................54

2.19

.......................55

2.20

(resolver).............................................................................................................56

2.21

Servo ..........................................58

2.22

Servo F ...............58

2.23

on/off :
.1: ...............................................................59
.2: , ...59
.3: ,
a..............................................................................................................59

2.24

(deadband)
servo .
servo
, servo........................................................60

2.25

()
().....................................................................................................61

2.26

R/C servo....................................................................61

2.27

Servo................................................62

2.28

R/C servo.......................................................... ...............................63

3.1

.............................66

3.2

Laplace...............................................................................................................68

3.3

3.2....................................68

3.4

........................................69

3.5

..............69

3.6

( laser)....................................................................70

3.7

Resolver (built-in type resolver)..................................70

3.8

brushless transmitter revolver: ()

() ..................................................................................71

3.9

brushless transmitter resolver variable

reluctance resolver..........................................................................................72

3.10

resolver .......................73

3.11

B ............................................74

3.12

..............................................................75

3.13

4-bit Absolute Encoder..............................................................76

3.14

4-bit Absolute Encoder Gray........................76

3.15

Absolute Encoder 10-bits................................................................76

3.16

.......................77

3.17

....................77

3.18

Hall........................78

- 14 -

 3.19

Hall....................................................................................................................79

3.20

Hall
( ,
).............................................................................................................79

3.21

............80

3.22

.................81

3.23

......................................82

3.24

........................................................84

3.25

: () ()
........................................................................................87

3.26

(ac-dc )
.........................88

3.27

Ac-dc
: ()
()
............................................................................................88

3.28

......................................................89

3.29

........................................................................................................90

3.30

........................90

3.31

PWM ....................................91

3.32

.......92

3.33

() ()
..................93

3.34

PWM .....93

3.35

..........................................................94

3.36

...............................................94

3.37

()-()
() .........95

4.1

RC servo...........................99

4.2

PUMA 200......100

4.3

.......................................................................................................101

4.4

.......................................................................................................102

4.5

(filament winding)....................................103

4.6

- .......................104

4.7

.........................105

4.8

...................106

4.9

.....................................107
- 15 -

 4.10

(AGV)
.................................................................................................108

4.11

...................109

4.12

............................110

4.13

............................................................................................................110

4.14

.....................111

4.15

...........................................................................................................112

4.16

...................113

4.17

,
,
...........................................................................................................113

4.18

a................................114

4.19

...................................................................................................115

4.20

,
servo ............................................................115

(SEW EURODRIVE) .......................................... 120

CMD............................................121

- 16 -

1.1 I
Le Servomoteur
. servo
servus
J.L. Farcot 1868
.
1898 H.
Calendar.

,
.
, ,

.
,
(speed control) (motion control).

.

- 17 -

1.2

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,

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inverters,
(positioning).
(resolver encoder)
.

:

,

.
()
.

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.

,
.
,
PLC (servodrive)
.
,
.

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- 18 -

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1.1 (
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bit.
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360
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1.1: - ,
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- 19 -

( )
.

L/R .

1.3
:
:

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( ) (
).
:
.

1.2: E .

, -
(brushless dc servomotors),
(permanent-magnet servomotors).
,
AlNiCo (- -), (rare
- 20 -

earth).
, .

.

(a)

(b)

1.3: () (brushless)
(b)

,
.

:
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(.. )
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- 21 -

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1.3.1
1.3.1.1
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- 22 -

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V/f,
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1.3.1.2

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1.4 1.5.

1.4: (i)
(ii) .
- 23 -

,
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1.5: (linear servo motor).

T
:
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.
3 m/s
5 m/s.
:
, 100 .
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- 24 -

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1.4
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- 25 -

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1.4.1
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(direct drive).

1.4.2
( ):

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.
15 kW, , ,
.
:

.
(cogging torque),
(ripple)
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- 26 -

:
(
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.

1.4.3

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:
1.
2.
3.
4.
5. (rare earth magnet)
6. (brushless)
,
1500 ( ) 10W
.
( 1.6),
.
,
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10 KW,
. ,
- 27 -

,
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.
(brushless)
.

1.6: ()-
.

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, . 1.7.
.
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- 28 -

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-
rare earth .

1.7: - .

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1.8 (saturated settling
time) , .

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- 29 -

1.8: - ,
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1. : ' ,
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3. :
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- 30 -

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4. : ,
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1.5
:

( )
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/
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(
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. 90%.

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- 31 -

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1.6

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- 32 -

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2.000 ,
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2.000
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:

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-
( 1.1).
.

(Brushed)

(Hybrid)

,


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- 33 -

200%

.

,

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.
,
80-90%.

.

70%
.

2000

.

.

.


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,
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,

.

(RPM).

,
90%
.

80%
, 90%
.

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/ .

1.1:

- 34 -

2
H

2.1
2.1.1
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- 35 -

,
.
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.
(squirrel-cage rotor)
(wound rotor).
,
( ).
80%
.

2.1: .

2.1.2
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.

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V/f .


.


- 36 -

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2.1.3
,
,
Bs.
:

[rad/s]

(2.1)

[]

(2.2)

60

, e [rad/s], fe
[z] p
.
mnsyncn
:

n = ns - nm

(2.3)

s, :

- 37 -

(2.4)

, s=1,
,
(s=0).
,

m = (1-s)s

(2.5)

fR = sfe

(2.6)

,
:

(1)
(1)

(2.7)

.
( 2.2), ,
Thevenin.

2.2: () I
() I Thevenin

- 38 -

Thevenin :

+ ( + )

( + )
+ ( + )

(2.8)

= + +

(2.9)

. 2.2.
:

(2.10)

2
2
/) +( + )

= 3 2

3 2
( + /)2 +( + )2

(2.11)

3 2

)
( + /)2 +( +

(2.12)

2.12 ,
. , V,
.

2.3: ,

- 39 -

2.3
, 2.12. ,
,
. ,

. s > 1
,
(plugging).
H sm :

+( +

)2

(2.13)

2.4
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2.4: .

. 2.5.
- 40 -

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2.5: .

, 2.4 2.5,
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. 2.6.

2.6: .
- 41 -

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2.6.

:

Tm = Kt I

(2.14)

2.1.4

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fb, (base).

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V/fe .
(m = E / fe ).
2.8 ,
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- 42 -

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.

2.7: ,
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, 2.9.

2.8: ,
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.
, (inverters),

- 43 -

. 2.10
.

2.9:

,
. Vdc,
, C.

.
, MOSFET (Metal Oxide
Semiconductor Field Effect Transistor) IGBT (Insulated Gate Bipolar Transistor).
,
dc ac .
,
PWM (Pulse Width Modulation).
PWM
. ,
fs, fe.
fs (switching frequency). 2.11
o
, PWM .
,
.
.

- 44 -

2.10: .
, fe.

2.2
2.2.1
:
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V

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- 45 -

.


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2.2.2

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- 46 -

2.11: .

2.13.

2.12: .

f, i.
,
. ,

() ():

= i

(2.15)

, :

Vin = E + R i

(2.16)

R Vin
.
:

E = f m = n f n
- 47 -

(2.17)

P
.
K =

(2.18)

Jpm = T - Tm

(2.19)

(, , )
.
T ,
.
.
Vin, i.

2.2.3
(armature contol)
:
L =

Va = Vb + Raia

(2.20)

Vb = K1

(2.21)

= K2ia

(2.22)

M K1, K2
.

2.13: .

- 48 -

= 1 +

(2.23)

Va :

= 3 1
3 =

(2.24)
(2.25)

=f()
1 > 2 > 3 .
( 2.15).

2.14: .

2.2.4
(field control)
:

2.15:

- 49 -

La = Vb = .... :

= +

Va = rIa + RaIa + Vb

(2.26)
(2.27)

r , RaIa + Vb
rIa. :

Va = rIa = r ( )

(2.28)

=1if

=K2if

(2.29)

.
( ),
Vb = K .

2.16: .

.. (
):

()

.

(
).

, ....
,
.

- 50 -

2.3

. ,
, ( ) .


( )
. , ( )
.
(
),
.

2.17: .

,
.
(brushless PM ac synchronous motors sineware
PM brushless motors),
- 51 -

. , (brushless PM dc
synchronous motors square-wave PM brushless motors)
,
, brushless dc .

(surface type)
(interior type).
.

,

.
,

.

, :
,
.
AliCo (
)
.

( ).


.

.
AlNiCo, , , ,
, .
,
.
, AliCo
.
,
.
- 52 -

.
(NdFeB), .
,


( ).

.
.
(SmCo),

NdFeB,
.

.

Watt W,
.
: /,
.
. ,
200KW, (..
)
.

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.

.



. , (
)
.
- 53 -

2.4
2.4.1

. ,
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. 2.19
: , , C C,
D D.
.
15
.
.

2.18: .

, 2.19
. 6 3 ,
, .
, C
C 5 2 C
C 15 .
D D
- 54 -

4 1
15 .
.
.

.
.

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.
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.

, 2.20.
.

2.19: .

,
. :

V = ( - )

(2.30)

V , i ,
o .
,
L, :

V = RI + Ls
- 55 -

(2.31)

, :

Tm = Kt I

(2.32)

2.4.2 O

- (brushless) .
.
.
- , .
brushless
, .
,
brushless, (..
resolver), .
" ",
( 2.21).

2.20:
(resolver).

. ,

- 56 -

.
.

(
).
,
-.
, ,
. ,
(
, ).

,
-. ,
, ,
.
,
,
.


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.

.
.

2.5 (digital servos)

2.5.1.
, servo ,
,
.
, .
,
.

- 57 -

2.21: .

2.22: F .

', " .
, ,
.
,
(), .
,
,
(deadband),
.
servo ,
, . ,
/ . ,
, 50
, ( on/off),
2.24. ,
, /
.

- 58 -

,
.

2.23: on/off .
.1: .
.2: , .
.3: , .

servo, (n)
(off) ,
. ,
, ,
,
,
.

2.5.2
:

,
. ,
- 59 -

,


servo.

.
, 50 /sec,
300 /sec.
, (
on/off )
. ,
,
.

(deadband), ,
/,
.

2.24: (deadband)
.

, servo.

,
, ,
.
,
.
- 60 -

2.6 R/C servos

RC (Remote Control) servos
,
, .

.

2.25: ()
().

RC servos 3 : , .
50Hz.
.
.
R/C servo ( 2.26) :
1. ,
2.
3. .

2.26: R/C servo.

- 61 -

,
, .


.

. ,
,
.
,
. ,
,
.
() .
1.5 millisecond,
90 . 1.5 milisecond
0 .
1.5 millisecond
180 .

2.27: Servo.

,
.
.
.

- 62 -

2.28: R/C servo.

RC servos
.
:

.
:
.
.

.

- 63 -

- 64 -

3.1

.
.
, ,
.



.
,
,
.
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:
1) ( ),
( )

2) ( ,
- 65 -

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)
3) ( ,
)

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(
) (servo system)
.
.
.

.

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.

3.2
:
, , ,
3.1.

3.1: .

- 66 -

) : ,
.
, , , .
) (converter):
( ) ( ).
(inverter).

PWM , PWM ( ,
, ) .
) :

.
. ,
,
PI
.

.
) :
, .
(transducers)
(.. , , , , ) ,
. ,

(, ),
,
.

. 3.2

Laplace. : L(s)
, D(s) dc N(s)
.
:
Gm(s) , Gin(s) , Gc(s) H(s)
.

- 67 -

3.2: Laplace

, .
D(s) N(s).
, .

3.3: 3.2.

3.3

.
. V/f
. ,


. ,
(resolvers), (optical
encoders) Hall (Hall-effect transducers).
- 68 -

3.3.1
(
)
.

3.4: .

( 3.5).

.
,
. ,
.

3.5: .

.

laser (). laser
- 69 -

laser

( 3.6).
.

3.6: ( laser).

3.3.2 (resolver)
(resolver)
, .
resolver

.
( 40.000
), .

3.7: Resolver (built-in type resolver).

resolver

. resolver
- 70 -

,
.
resolver (shaft type resolver)
,
. ,
(built-in type resolver),
, 3.7. resolver

.


.

()

()
3.8: brushless transmitter revolver: () ()
.

resolver ,
.
.
- 71 -

3.8. 3.8. .
resolver brushless transmitter resolver.
resolver ,

.
.
resolver.
resolver
. resolver
.
resolver (variable reluctance resolver)

.
brushless transmitter
resolver, ,
3.9.

3.9: brushless transmitter resolver variable

reluctance resolver.

resolver 3.10.
:

R1-R2 = E0 sint

(3.1)

S1-S3 S2-S4 :

S1-S3 = Km R1-R2 cos = Km E0 sint cos(X)

- 72 -

(3.2)

S2-S4 = Km R1-R2 sin = Km E0 sint sin(X)

(3.3)

m , , = 2f,
,
0
.

3.10: resolver .

3.3.3 (optical encoder)

.
(infrared
emitter) (), 11.

.

,
.
(incremental
encoders relative encoders) (absolute encoders).

(index
),

.

.

- 73 -

3.3.3.1

.
(
3.11)
.

.
900 ( ) .

.

3.11: .

.
(index ) .
index
,
. ,
, .
,
index
index . ,
index
. ,
index ,
index
. ,
.

- 74 -

3.12: .

3.3.3.2
absolute encoder ,
(tracks).
(sectors),
. ,

.

.
encoder.

,

.
.
Gray
(contrast)
.
3.13 3.14,
absolute encoders 4 , 24=16
.
Gray.

Gray.

- 75 -

3.13: 4-bit Absolute

Encoder

3.14: 4-bit Absolute

Encoder Gray

Gray
bit, bit. ,

Gray.

absolute encoder 12 bits ().
212=4096 ,
.

3.15: Absolute Encoder 10-bits.

3.15 absolute encoder 10 bits.

210=1024
.

- 76 -

3.3.3.3 (linear encoder)

.
(scale)
(light source) (photocells), 3.16.

3.16: .

.
( 3.17),

.

3.17: .

.
- 77 -

3.3.4 all
Hall (Hall-effect transducer) ,
(on)
( ) (off)
. Hall
Hall ( Edwin Hall 1879)
( Hall)
,
. Hall (Hall-effect
Element), 3.18, Hall
.
Hall effect generator.
,
.

3.18: Hall.

Hall
3.19. 1200 .

.
,
Hall.
Hall
,
.
Hall,
( 900).

- 78 -

3.19:
Hall.

hall,
.
3.20,
. ,
. Hall

(
) .

3.20: Hall
( , ).

3.19. 3.20,

. ,
, Hall
.

- 79 -

3.3.5

. ,
,

. ,

,
.


. sensorless .

.

3.4

.
,
,

.
3.2 r(t)
TL(t).

3.21: .
- 80 -

y(t)
3.21 3.22 .

:

(Overshoot, M%):
.

(Rise time, tr):

y(),
.

(Settling time, ts):

y()
2%.

,
.

. ,

.

3.22: .

,
. ,
, ,

. ,


.

- 81 -

3.5 -

.

(servodrive).
. E

.

.
:
)
)
)
)
)
)

3.23: .

3.23,
, (.. , ,
, , ,
, ).

. , 1 2,
3,
, /1.
- 82 -

.
.
1 2
3 ,
.
.

.
,
,
,
.
inverter,

.
:
.
.
.

. .
,


.

.

.
,
.
.


. (
)

.
- 83 -

.


.

.


.

inverter, 3.24.
servodrive

.
/, ,

.

3.24: .

PLC
DCS,
PLC DCS.
,
servodrive PLC
DCS.
.
CNC.
- 84 -

O
, ,
-. T
,
. .
,
,
.
,
. ,
.
,
. X .
,
.
(resolver) .

, .

jitter, . To jitter


. , ,
,
.

( ,
).

.

,
.
,
.
( ) .
. ,
, , .

- 85 -

, 100ms 2ms.
,

.

.

,
.
,
.
,
,
.
, .

.


.

.

3.5.1
3.25
.
.
.
3.25. (-
)
0<r<b ( b ). 3.25.

(
,
r<b).

- 86 -

()

()
3.25:
: () () .

( )
( r* r* )
/
.

(rectifier), .
3.26
.
(two quadrant),
. ,
,
.
.
- 87 -

3.26: (ac-dc )
.

,
,
( 3.27.) ac-dc
( 3.27.).

()

()
3.27: Ac-dc
: ()
() .
- 88 -

, 3.27.

.
3.27.
.

3.5.2
3.28

(, ).
( ) .
, ( ),
.

3.28:
.

.
:
(1) - (rectifier-inverter)
(2)

- 89 -

3.5.2.1 -


( 3.29)

3.29: .

:
() (voltage source)
() (current source),
.
,
:
() ,

() ,

() ,

,
,
-
, .

3.30: .

- 90 -

3.30
-
.

.

3.31: PWM .

.
,

.
(Pulse Width Modulation, PWD).

,

. , ,
MOSFETs IGBTs.
PWM
Vc ( 5 10 kHz)
Vr
( 3.31).
Vr Vc ,
- 91 -

.

. Vr ,

, Vr
.

3.32: .

3.32. ,
. ,
Idc ,
,

3.33..
, .

,
.
,
(hysteresis band current control inverter).
PWM
,
. 3.34
PWM
,

.
, PWM
.
- 92 -

3.33: () ()
.

3.34: PWM .

3.5.2.2


- 93 -

dc ( 3.35).
-
( )
. ,
.

3.35: .

,
(step-down cycloconverter),

(step-upcycloconverter).

,

.

.
,

3.36.

3.36: .

- 94 -

3.37: ()-() ,
() .

3.37.-
. 3.37.

fout = fin/n, n

. 3.37.
3.37.,

. 3.37.

fin . ,
fout = 3 fin .

3.6


. (,
, , , .),
,
(
). ,
.

- 95 -

- 96 -

4.1

,
, ,
.

.

.
, ,
, (cruise
control), .
, fly-by-wire
.
RC servos.

.
,
.
- 97 -

(..
) .

,
.
,
(CNC).
.
,
12 .
.

, ,
. ,
,
. ,
.

, , ,
.

,
.
(extruders, blow, ..).
, .

. ,
pick and place.
, , ,
, .

4.2

.
, .

- 98 -

.

. -,
,
, ,
.

.
,
.

,
.
RC servos
,
, , 4.1.
,
,
.

4.1: RC servo.

: , .
,
.
- 99 -

,
.
,
.
,
.
,

.
PUMA, 4.2,
. PUMA
,
.
,
.
.

4.2: PUMA 200.

4.3
:
, 4.3,
. ,

. ,
- 100 -

.
,
. ,
,
.

4.3: .

. ,

.

:

, , 4.4.
,
.

.
,

.

- 101 -

,

.

4.4:
.

.
,
.

.

(filament winding), 4.5.

2000 rpm .
(Parker Motion & Control application),
0,2 lbs 0,6 lbs
2" 4".
, -

- 102 -

.
(ballscrew) 60 rpm.

4.5: (filament winding).

(),
,
. ,
.
2:1, 50%.
, 3:1 . (
,
).
( ).
,
.

:

.
, 4.6.

.

- 103 -

4.6: - .

.

.
, .

(standalone multiple-axis controller).

.

.



.
,
.

.
- 104 -

, ,
.

:
(injection molding machines)
. , 4.7,
,
5
. ,
. ,
,
.
,
.
,
. ,
.
.

4.7: .

,
. , ,
.
.
, .
- 105 -

, ,
.

:
, 4.8,
.

, .
.
,
, .
,
.

4.8: .

. (master encoder)
.
,
.
,
.

- 106 -

.
,
.

.

:

, 4.9.
( ) (
Super Market) ( ) ,
.

, , (
) .

4.9: .

,

.
(controller).

1s
( ) ,
.

- 107 -

:
(utomated Guided Vehicle)

.
, 4.10.

4.10: (AGV) .

. , ,

,
.

4.4

, 4.11.
,
.
, .

.

- 108 -

4.11: .

CT,
CT. ,
,
CX .
CT. ,
CT.
CT .
,
.
, CT
CX. ,
,
CT. CT
CX, .
.

4.5

.
- 109 -

4.12.

,
,
.

4.12: .

,

4.13.

4.13:
.

,
,
.

- 110 -

4.14: .

4.6

( ),
( ).
. , ,

.
(line-by-line).
,
.
,

.
,
.
.
.
,
.

. ,

, . ,

.
,
. ,
,
15
- 111 -

(..
30 ).

4.7

.
,

, (
).
4.15.

, . ,

.
.
,
.
,
,
.

4.15:
.
- 112 -

,
.

.

4.16: .

.
,
, 4.16.

4.17: ,
,
.

.
- 113 -

,

. ,
4.17,

.

4.8


. ,
( ),
, 4.18. ,
.
(),
, , .
,
.

4.18: .

, ,

. ,
. ,
.
,
,
, .
- 114 -

4.19:
.

4.9
(R/C servos)
.
servo (resolution),

. servo , ,
(indirect drive) .
, servo,
.

4.20: ,
servo .

4.20. servo , ,
.
servo.
- 115 -

servo .
, servo
. ,
servo . servo
. (proportional).
, servo
. , , servo
.

- 116 -


, ,
.

.

,
,
.

,
, .

,
, , ,
.

.

,
. ,
, ,
, , , ,
.

.

- 117 -

- 118 -

- 119 -

- 120 -

- 121 -

- 122 -


[1]

Riazollah Firoozian, Servo Motors and Industrial Control Theory, Springer

Science + Business Media, New York, LLC 2009.

[2]

- , ,
, 2008.

[3]

. , , H A,
, 1992.

[4]

. , K A , 1998.

[5]

Parker Motion & Control, Step Motor & Servo Motor Systems and Controls,
Compumotor 1996/1997.

[6]

Timothy J. Maloney, Modern Industrial Electronics - Third Edition, Prentice

Hall, New Jersey 1996.

[7]

.. , : ,
, 1991.

[8]

. ,
, 2010.

[9]

John C. West, Textbook of Servomechanisms, The English Universities Press LTD,

London 1962.

[10] SEW Eurodrive, CM - ,

01/2003.
[11] Thomas E. Kissell, Industrial Electronics, Prentice Hall, New Jersey 2000.
[12] Futaba, Digital FET Servos.
[13] SEW Eurodrive, CMD55/70/93/138-
05/2005.
[14] ETCS Richard J. Bliss, Navy Electricity and Electronics Training Series, Module 15
Principles of Synchros, Servos and Gyros, Naval Education and Training
Professional Development and Technology Center, September 1998.
[15] T. Kenjo, Electric Motors and their Controls, Oxford University Press, Oxford
1991.
[16] Richard C. Dorf and Robert H. Bishop, ,
, 9 2008.
[17] Hubert M. James, Nathaniel B. Nichols and Ralph S. Philips, Theory of
Servomechanisms, McGraw-Hill Book Company, Inc, United States of America
1947.
- 123 -


[1]

http://www.cncroutersource.com/stepper-vs-servo.html

[2]

http://uniquemachines.blogspot.com/2010/10/servomotors-stepper-motorsandactuators.html

[3]

http://www.alpha-motion.gr/

[4]

http://www.eetimes.com/design/industrial-control/4013767/Basics-of-the-ElectricServomotor-and-Drive--Part-1-Basic-Magnetics-and-Motor-Control-Overview

[5]

http://www.intellidrives.com/AppNotes_linear_actuators.htm

[6]

http://www.advantech.com.tw/sector/machineautomation/CaseStudies.aspx?doc_id={BF2DB1B4-D021-4779-99DE-5C1971A3C71

[7]

http://13epal-esp-thess.thess.sch.gr/eps.htm

[8]

http://www.advantech.gr/sector/machine-automation/CaseStudies.aspxdoc_id=%7BC994A9FA-784D-4530-9216-83E623F0F3F.htm

[9]

http://www.metadosi-ischios.gr/article.php?ID=83

[10] http://www.compumotor.com/catalog/cataloga/A31-A33.pdf
[11] http://zone.ni.com/devzone/cda/ph/p/id/234
[12] http://www.ehow.com/about_4706437_principles-behind-servo-motors.html
[13] http://www.microplanet.gr/perifereiaka/servo
[14] http://www.pc-control.co.uk/servo_control.htm

- 124 -