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In control engineering a servomechanism, usually shortened to servo, is an automatic device that uses error-sensing negative feedback to correct the action of a mechanism. On displacement-controlled applications, it usually includes a built-in encoder or other position feedback mechanism to ensure the output is achieving the desired effect. The term correctly applies only to systems where the
feedback Feedback occurs when outputs of a system are routed back as inputs as part of a chain of cause-and-effect that forms a circuit or loop. The system can then be said to ''feed back'' into itself. The notion of cause-and-effect has to be handled ...
or error-correction signals help control mechanical position, speed, attitude or any other measurable variables. For example, an automotive power window control is not a servomechanism, as there is no automatic feedback that controls position—the operator does this by observation. By contrast a car's
cruise control Cruise control (also known as speed control, cruise command, autocruise, or tempomat) is a system that automatically controls the speed of a motor vehicle. The system is a servomechanism that takes over the throttle of the car to maintain a ...
uses closed-loop feedback, which classifies it as a servomechanism.


Applications


Position control

A common type of servo provides ''position control''. Commonly, servos are electric, hydraulic, or pneumatic. They operate on the principle of negative feedback, where the control input is compared to the actual position of the mechanical system as measured by some type of transducer at the output. Any difference between the actual and wanted values (an "error signal") is amplified (and converted) and used to drive the system in the direction necessary to reduce or eliminate the error. This procedure is one widely used application of
control theory Control theory is a field of mathematics that deals with the control system, control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive ...
. Typical servos can give a rotary (angular) or linear output.


Speed control

Speed control via a
governor A governor is an administrative leader and head of a polity or political region, ranking under the head of state and in some cases, such as governors-general, as the head of state's official representative. Depending on the type of political ...
is another type of servomechanism. The
steam engine A steam engine is a heat engine that performs mechanical work using steam as its working fluid. The steam engine uses the force produced by steam pressure to push a piston back and forth inside a cylinder. This pushing force can be ...
uses mechanical governors; another early application was to govern the speed of water wheels. Prior to World War II the constant speed propeller was developed to control engine speed for maneuvering aircraft. Fuel controls for gas turbine engines employ either hydromechanical or electronic governing.


Others

Positioning servomechanisms were first used in military fire-control and marine navigation equipment. Today servomechanisms are used in automatic machine tools, satellite-tracking antennas, remote control airplanes, automatic navigation systems on boats and planes, and antiaircraft-gun control systems. Other examples are
fly-by-wire Fly-by-wire (FBW) is a system that replaces the conventional manual flight controls of an aircraft with an electronic interface. The movements of flight controls are converted to electronic signals transmitted by wires, and flight control ...
systems in
aircraft An aircraft is a vehicle that is able to flight, fly by gaining support from the Atmosphere of Earth, air. It counters the force of gravity by using either Buoyancy, static lift or by using the Lift (force), dynamic lift of an airfoil, or in ...
which use servos to actuate the aircraft's control surfaces, and
radio-controlled model A radio-controlled model (or RC model) is a model that is steerable with the use of radio control. All types of model vehicles have had RC systems installed in them, including ground vehicles, boats, planes, helicopters and even submarines and ...
s which use RC servos for the same purpose. Many autofocus cameras also use a servomechanism to accurately move the lens. A
hard disk drive A hard disk drive (HDD), hard disk, hard drive, or fixed disk is an electro-mechanical data storage device that stores and retrieves digital data using magnetic storage with one or more rigid rapidly rotating platters coated with mag ...
has a magnetic servo system with sub-micrometer positioning accuracy. In industrial machines, servos are used to perform complex motion, in many applications.


Servomotor

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4. actuator arm A ''servomotor'' is a specific type of motor that is combined with a rotary encoder or a potentiometer to form a servomechanism. This assembly may in turn form part of another servomechanism. A potentiometer provides a simple analog signal to indicate position, while an encoder provides position and usually speed feedback, which by the use of a PID controller allow more precise control of position and thus faster achievement of a stable position (for a given motor power). Potentiometers are subject to
drift Drift or Drifts may refer to: Geography * Drift or ford (crossing) of a river * Drift, Kentucky, unincorporated community in the United States * In Cornwall, England: ** Drift, Cornwall, village ** Drift Reservoir, associated with the village ...
when the temperature changes whereas encoders are more stable and accurate. Servomotors are used for both high-end and low-end applications. On the high end are precision industrial components that use a rotary encoder. On the low end are inexpensive radio control servos (RC servos) used in
radio-controlled model A radio-controlled model (or RC model) is a model that is steerable with the use of radio control. All types of model vehicles have had RC systems installed in them, including ground vehicles, boats, planes, helicopters and even submarines and ...
s which use a free-running motor and a simple potentiometer position sensor with an embedded controller. The term ''servomotor'' generally refers to a high-end industrial component while the term ''servo'' is most often used to describe the inexpensive devices that employ a potentiometer. Stepper motors are not considered to be servomotors, although they too are used to construct larger servomechanisms. Stepper motors have inherent angular positioning, owing to their construction, and this is generally used in an open-loop manner without feedback. They are generally used for medium-precision applications. RC servos are used to provide actuation for various mechanical systems such as the steering of a car, the control surfaces on a plane, or the rudder of a boat. Due to their affordability, reliability, and simplicity of control by microprocessors, they are often used in small-scale
robotics Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrat ...
applications. A standard RC receiver (or a microcontroller) sends pulse-width modulation (PWM) signals to the servo. The electronics inside the servo translate the width of the pulse into a position. When the servo is commanded to rotate, the motor is powered until the potentiometer reaches the value corresponding to the commanded position.


History

James Watt James Watt (; 30 January 1736 (19 January 1736 OS) – 25 August 1819) was a Scottish inventor, mechanical engineer, and chemist who improved on Thomas Newcomen's 1712 Newcomen steam engine with his Watt steam engine in 1776, which was ...
's
steam engine A steam engine is a heat engine that performs mechanical work using steam as its working fluid. The steam engine uses the force produced by steam pressure to push a piston back and forth inside a cylinder. This pushing force can be ...
governor A governor is an administrative leader and head of a polity or political region, ranking under the head of state and in some cases, such as governors-general, as the head of state's official representative. Depending on the type of political ...
is generally considered the first powered feedback system. The windmill fantail is an earlier example of automatic control, but since it does not have an
amplifier An amplifier, electronic amplifier or (informally) amp is an electronic device that can increase the magnitude of a signal (a time-varying voltage or current). It may increase the power significantly, or its main effect may be to boost t ...
or
gain Gain or GAIN may refer to: Science and technology * Gain (electronics), an electronics and signal processing term * Antenna gain * Gain (laser), the amplification involved in laser emission * Gain (projection screens) * Information gain in de ...
, it is not usually considered a servomechanism. The first feedback position control device was the ship steering engine, used to position the rudder of large ships based on the position of the ship's wheel. John McFarlane Gray was a pioneer. His patented design was used on the SS Great Eastern in 1866. Joseph Farcot may deserve equal credit for the feedback concept, with several patents between 1862 and 1868. The telemotor was invented around 1872 by Andrew Betts Brown, allowing elaborate mechanisms between the control room and the engine to be greatly simplified. Steam steering engines had the characteristics of a modern servomechanism: an input, an output, an error signal, and a means for amplifying the error signal used for negative feedback to drive the error towards zero. The Ragonnet power reverse mechanism was a general purpose air or steam-powered servo amplifier for linear motion patented in 1909. Electrical servomechanisms were used as early as 1888 in
Elisha Gray Elisha Gray (August 2, 1835 – January 21, 1901) was an American electrical engineer who co-founded the Western Electric Manufacturing Company. Gray is best known for his development of a telephone prototype in 1876 in Highland Park, Illino ...
's Telautograph. Electrical servomechanisms require a power amplifier.
World War II World War II or the Second World War, often abbreviated as WWII or WW2, was a world war that lasted from 1939 to 1945. It involved the World War II by country, vast majority of the world's countries—including all of the great power ...
saw the development of electrical fire-control servomechanisms, using an amplidyne as the power amplifier.
Vacuum tube A vacuum tube, electron tube, valve (British usage), or tube (North America), is a device that controls electric current flow in a high vacuum between electrodes to which an electric potential difference has been applied. The type known as ...
amplifiers were used in the UNISERVO tape drive for the
UNIVAC I The UNIVAC I (Universal Automatic Computer I) was the first general-purpose electronic digital computer design for business application produced in the United States. It was designed principally by J. Presper Eckert and John Mauchly, the inven ...
computer. The Royal Navy began experimenting with Remote Power Control ( RPC) on HMS Champion in 1928 and began using RPC to control searchlights in the early 1930s. During WW2 RPC was used to control gun mounts and gun directors. Modern servomechanisms use solid state power amplifiers, usually built from
MOSFET The metal–oxide–semiconductor field-effect transistor (MOSFET, MOS-FET, or MOS FET) is a type of field-effect transistor (FET), most commonly fabricated by the controlled oxidation of silicon. It has an insulated gate, the voltage of which d ...
or
thyristor A thyristor () is a solid-state semiconductor device with four layers of alternating P- and N-type materials used for high-power applications. It acts exclusively as a bistable switch (or a latch), conducting when the gate receives a current ...
devices. Small servos may use power transistors. The origin of the word is believed to come from the French "''Le Servomoteur''" or the slavemotor, first used by J. J. L. Farcot in 1868 to describe hydraulic and steam engines for use in ship steering.IEEE Industry Applications Magazine March/April 1996, pg 74 The simplest kind of servos use bang–bang control. More complex control systems use proportional control,
PID control A proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuousl ...
, and state space control, which are studied in modern control theory.


Types of performances

Servos can be classified by means of their feedback control systems:G. W. Younkin, Industrial Servo Control Systems – Fundamentals and Applications – Second Edition, Taylor and Francis, 2007. * type 0 servos: under steady-state conditions they produce a constant value of the output with a constant error signal; * type 1 servos: under steady-state conditions they produce a constant value of the output with null error signal, but a constant rate of change of the reference implies a constant error in tracking the reference; * type 2 servos: under steady-state conditions they produce a constant value of the output with null error signal. A constant rate of change of the reference implies a null error in tracking the reference. A constant rate of acceleration of the reference implies a constant error in tracking the reference. The servo bandwidth indicates the capability of the servo to follow rapid changes in the commanded input.


See also

* Fractional horsepower motor * Motion control * Servo control *
Synchro A synchro (also known as selsyn and by other brand names) is, in effect, a transformer whose primary-to-secondary coupling may be varied by physically changing the relative orientation of the two windings. Synchros are often used for measuring ...
, a form of transmitter and receiver motor used in servomechanisms


Further reading

* * Hsue-Shen Tsien (1954
Engineering Cybernetics
McGraw Hill, link from
HathiTrust HathiTrust Digital Library is a large-scale collaborative repository of digital content from research libraries including content digitized via Google Books and the Internet Archive digitization initiatives, as well as content digitized locall ...


References


External links


Ontario News "pioneer in servo technology"






{{Authority control Control theory Control devices Mechanical amplifiers