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Classification
DC Servo motor
AC Servomotor
DC Servomotor classification
Electromechanical
Servoactuator
Electromechanical Servoactuator
Figure shows schematically a servoactuator
comprising a permanent-magnet dc servomotor
and an electronic amplifier used to control the
velocity of a rotary inertia load.
Gearing is used to match the motor torque
capability with the load requirements.
Assumptions
A simplified dynamic model may be derived
based on the following assumptions:
1. The amplifier bandwidth is
considerably greater than that of the
servomotor load portion of the system.
2. The gears have zero backlash and
infinite stiffness.
3. The connecting shafts all have
infinite stiffness.
Assumptions 2 and 3 eliminate some
important dynamic effects that may need to
Mathematical Model
The basic equations which describe the
dynamic behavior of the servoactuator are
as follows:
Amplifier equation:
(12)
(13
)
(14
)
(15)
(16)
(17)
(18)
(21)
Where
(24)
(25)
(27)
(29)
Electromechanical Servosystem
Mathematical Models
An approximate linearized model may be derived for
the servosystem by combining the open-loop system
model Eq. (19) with the following equations:
(30)
(31)
(32)
Where
(35)
(36)
(38)
(39)
(40)
(41)
(42)