PI Speed control of a servomechanism - METUae384/Servo_Lab.pdf · Servo Trainer Figure 1.2 CEIIO Servo Trainer The CEIIO Servo Trainer is shown in Figure 1.2. It comprises a motor

Speed Control of a Servomotor using a PI Controller

SERVOMOTORA servomotor is a rotary actuator that allows for precise control of angular position, velocity and acceleration.

A servomotor is basically a DC/AC motor coupled with sensors for feedback and a control circuit.

SERVOMOTOR

Servo Motor Applications

• Servos are used in radio-controlled airplanes to position control surfaces like elevators, rudders and ailerons.

• In robot manipulators or operating grippers.

• Cruise control of automobiles

• Electronic devices such as DVD and Blu-ray Disc players use servos to extend or retract the disc trays

SERVOMOTOR

Closed loop Control System

SERVOMOTOR

Schematic representation of the Closed loop Control System

SERVOMOTOR SYSTEM MODELLING

w w

y (s) be the output speed gotten from the sensor

y (s) k (s)

wlet

w

1

1 w m

(s) (s)1

G k k'

w

Gy v

Ts

Controller Selection

Controller Selection

Controller Selection

Controller Selection

HOMEWORK

A) Obtain the system model, G(s) relating ouput speed to the input voltage of a servomotor,

(Hint: Follow the steps in the presentation slides, show all steps, do not skip over steps like the presentation does.)

HOMEWORKB) Using Matlab/Simulink, Design : i) A propotional controllerii) A proportianal and integral controllerWith good performance (Left to your discretion)For a motor with system model :

(s) 0.98

(s) 1.5 1

wy

V s