1. Chapter 6 Position and Speed Regulation in DC Servomechanism § 6.1 DC Servo System § 6.2 Servo Components § 6.3 Component Model § 6.4 System Control

2. § 6.1 DC Servo System (1) Fundamental Operations of DC Servo: (1)Speed servo Speed regulation, speed tracking (2)Position servo (Servomechanism) Position control, position tracking

3. § 6.1 DC Servo System (2) Stable operation Fast transient response Small steady-state error System robustness Command following Disturbance rejection Control Objective: Implies

4. § 6.1 DC Servo System (3) Generic Motor Position Control: PC: Position controller VC: Velocity controller CC: Current controller

5. § 6.1 DC Servo System (4) Mechatronic View Point:

6. Ex: DC servo control of liquid-level process § 6.1 DC Servo System (5)

7. G m (s): Servo motor and gear train § 6.1 DC Servo System (6)

8. § 6.2 Servo Components (1) DC motor http://www.shangyi.com.tw/c_produact_c.htm Rotary Encoders Resolvers http://www.encodersindia.com/products.html Hardware Components:

9. § 6.2 Servo Components (2) Optical Encoders http://www.usdigital.com/products/hd25a/ http://www.mi-technologies.com/catalog/antennas/indencdr.pdf Inductosyn Encoders Potentiometer http://www.islproducts.com/prod/pots.htm

10. § 6.2 Servo Components (3) Classifications of DC Motor:

11. § 6.2 Servo Components (4) Feedback Devices:

12. § 6.2 Servo Components (5) Resolution of Displacement Sensors:

13. DC Servomotor: Ex: Armature Control (1) Static model § 6.3 Component Model (1)

14. (2) Dynamic model § 6.3 Component Model (2)

15. § 6.3 Component Model (3) Gear Train (3) Simplified Servo Motor (with gear train)

16. § 6.3 Component Model (4) Tachometer: Potentiometer:

17. § 6.4 System Control (1) Plant Dynamics: (1) Dynamics 0 Servo MotorCommandDisturbance (2) States Position Speed

18. § 6.4 System Control (2) (1) Position feedback Control law: By potentiometer F.B. increases stiffness Closed-loop Control: Position feedback is to increase response speed. Closed-loop:

19. (2) Velocity feedback Control law: By tachometer F.B. increases damping Velocity feedback is to decrease response overshoot. Closed-loop: § 6.4 System Control (3)

20. (3) Position and Velocity feedback Control law: By tachometerBy potentiometer Optimal control of fast speed and minimum overshoot by optimal design of a and b, respectively. Optimal control law is realized by state equations with states feedback in modern control theory. Closed-loop: Control response speed Control overshoot FeedbackStates feedback § 6.4 System Control (4)

21. Speed Control with Current Loop: § 6.4 System Control (5)

22. Digital Control Configuration: (1) System structure § 6.4 System Control (6)

23. (2) Procedure in real-time sampling and control § 6.4 System Control (7)

24. (3) Discrete PID § 6.4 System Control (8) Continuous form Discretization Discrete form