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USU ECE 5320 - DC Motor Servos

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ECE5320 Mechatronics Assignment #1: Literature Survey on Actuators DC Motor ServosOutlineReference listTo explore further (survival pointers of web references etc)RC Car Servo Major applicationsRC Car SERVO ExampleTheory of Driving RC servosControlling an RC Car ServoTypical Movement Limits of RC Car ServosMore RC Technical DataApproximate Size of Small RC ServoApplications of Small RC ServoMultiple Servo Applications and WiringPros of RC type servosCons of RC type servosCommercial DC Servo MotorsCommercial Servo MotorDC Servo Motors Fundamentals`Commercial ApplicationAnother ExampleECE5320 MechatronicsAssignment #1: Literature Survey on Actuators Assignment #1: Literature Survey on Actuators DC Motor ServosPrepared by: Robert SilverDept. of Electrical and Computer Engineering Utah State University3/10/200601/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-2Outline –Reference list–To probe further–RC Car Servo–Basic working principle illustrated–A typical sample configuration in application (application notes)–Major specifications–Limitations–Commercial servo motors and examples01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-3Reference list•http://zone.ni.com/devzone/conceptd.nsf/webmain•http://www.allegromicro.com/techpub2/compumot/a03.pdf•G:\mechatronics\Intro to RC Servos.htm01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-4To explore further (survival pointers of web references etc) •http://zone.ni.com/devzone/conceptd.nsf/webmain•www.globalspec.com•http://www.allegromicro.com/techpub2/compumot/a03.pdf•http://www.electricmotors.machinedesign.com/•http://www.aerotech.com/products/amps/amplifiers.html•http://www.netmotion.com/htm_files/mc_servo_driver.htm01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-5RC Car Servo Major applications •Steering motor for rc cars•Positioning of a shaft•Reversible positioning•Motion control01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-6RC Car SERVO Example• Controlling of the servo motors is used using pulse controlling. •The control pulse is positive going pulse with length of 1 to 2 ms which is repeated about 50-60 times a second. Details in the figure below:• Sending 1 ms pulses sets the servo to one end position and sending 2 ms pulses sets it to the other end position. Sending 1.5 ms pulse sets the servo motor to the center position. 1-2 ms18-25 ms5vdc01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-7Theory of Driving RC servos •The pulse width to the servo is the most important deciding factor of its desired position•Frequency of the pulses must be within a certain range for servo operation•A 10 µSec pulse width increase results in about a degree of movement on the output shaft, however this varies some from manufactures to manufactures•The Servo has built into it position feedback sensor•The Servo has built into it a closed loop position control system•Thus the position of the servo motor is dependant on the pulse width and frequency it receives.01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-8Controlling an RC Car Servo Here a 555 timer circuit is used to drive the servo motor with a pulse. This pulse is adjustable from the 100k pot which will adjust the pulse width and hence the position of the servo.01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-9Typical Movement Limits of RC Car ServosMost vary from approximately -45° to +45 °Some only have a 45 ° range of motion01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-10More RC Technical Data•The motors inside a RC car servo are not like a stepper motor. They rotate many times before the output shaft of the servo has moved 180 °. This is due to set of gear reducers.•The output shaft gear is connected to a arm that is sensed by a simple position sensor. The RC servo has a simple built in controller that determines the appropriate position of the output shaft according to the pulses given it from the timer control input.01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-11Approximate Size of Small RC ServoG:\mechatronics\Intro to RC Servos.htm01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-12Applications of Small RC Servo•For the steering motor in an RC car•For the rudder in a RC airplane•The aileron in an RC airplane•For control animation purposes •Small robot applications01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-13Multiple Servo Applications and Wiringhttp://gbaxport.sourceforge.net/rcservo.pdf01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-14Pros of RC type servos•Small and compact•Lightweight•Very inexpensive for pwm control movement•The web has lots of information on how to build a simple pwm controller for these small servos01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-15Cons of RC type servos•Movement is restricted to 200 ° maximum, some to only 45 °•Torque output is small, so can’t turn heavy devices•Very precise angular movement not feasible01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-16Commercial DC Servo Motors• High torque and load applications• High speed positioning• High resolution• Very rugged design01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-17Commercial Servo Motor http://zone.ni.com/devzone/conceptd.nsf/webmain/0B12F0C5C73B63008625680A004951CD01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-18DC Servo Motors Fundamentals`•Ability to operate at many different speeds•Ability to operate at zero speed or low speeds for a sustained period.•Retains sufficient torque to hold a position under a load•Some have encoders built into them•Others that are driven by a variable frequency drives don’t need encoders for speed, but for position they do01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-19Commercial Applicationhttp://zone.ni.com/devzone/conceptd.nsf/webmainMotor turning worm drive to position conveyer belt full of bottles into the right place01/13/19ECE5320 Mechatronics.


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USU ECE 5320 - DC Motor Servos

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