DC Servos: Application and Design with MATLAB®, 1st Edition (Paperback) book cover

DC Servos

Application and Design with MATLAB®, 1st Edition

By Stephen M. Tobin

CRC Press

219 pages | 126 B/W Illus.

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pub: 2017-05-22
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pub: 2010-10-13
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Fundamental to the control of mechatronic devices, the servomechanism applies feedback from the device in question to regulate its position, velocity, or some other physical attribute. Successful mastery of servo control requires an understanding of a wide range of engineering disciplines, making it difficult and time-consuming to master it all—and even harder to find an all-encompassing guide that shows you how.

DC Servos: Application and Design with MATLAB® is designed and written with this problem in mind. It breaks down the practical knowledge required from the various branches of applied science—electrical and mechanical engineering, analog electronics, mechanics, control theory, digital electronics, embedded computing, and firmware design—into a cohesive and usable framework. Today, DC servos are working around the world in countless applications—CD players, ink-jet printers, robots, machining centers, vending machines, eyeglass manufacturing machines, home appliances, and automotive seat positioners, just to name a few.

This book balances coverage of theoretical and practical aspects of application and design of DC servomechanisms. It also provides detailed coverage of feedback transducers, particularly the application of optical encoders to real systems. It covers how to use the MATLAB® Control System Toolbox specifically for servo design, to make the design process faster and more interactive. It also presents two complete, bench-tested reference designs that can be duplicated using readily available parts, so you can build your own servo and see it in action.

Author Stephen M. Tobin is an expert in motion control and electro-optical instrumentation and a respected consultant in the medical device and manufacturing automation communities. In order to instill confidence in the engineers, scientists, students, and hobbyists designing the ever more complex machines of the 21st century, Tobin guides the reader on a short journey through "servo school," imparting his lifelong passion for motion control along the way.

Table of Contents

DC Servo Systems Defined

Scope and Definition

The Concept of Feedback Control

Types of Control

Comments on Motion Control

Introduction to a DC Motor Driving a Mechanical Load

Realization of a Velocity Servo

Anatomy of a Continuous-Time DC Servo


Intended Use

The Prototype

Electrical Design and Construction

Mechanical Design and Construction

Parts List

The Prototype as a Control System

Block Diagram Representations

Electrical Schematic Walk-Through

DC Motors in Servo Systems

Operational Principles

Basic Classes of DC Motors

Considerations in Motor Selection

Procedure for Meeting a Design Goal

Mathematical Modeling of DC Motors and Transmissions

Direct-Drive Model

Motor and Gear Train Model

Feedback Control Systems

Mathematical Notation

Linear, Time-Invariant Systems

Oscillations, Rotating Vectors, and the Complex Plane

From Fourier series to Laplace Transform

Elementary Laplace Transforms

System Analysis Using Laplace Transforms

Philosophy of Feedback Control

Accuracy of Feedback Systems

Stability Assessment—the Root-Locus Method

Proportional Control of a Second-Order DC Servo

Proportional Control

Second-Order Approximation

Basic Approach

Transfer Function Development

Response to a Step-Input Command

Response to a Ramp-Input Command

Response to a Sinusoidal-Input Command

Compensation of a Continuous-Time DC Servo

Compensation Using Derivative Control

Compensation Using Integral Control

Compensation Using Derivative and Integral Control

Tools for Predicting Performance

Overall Compensation Strategy

Op-Amps and Control Systems

Compensation by Theoretical Prediction

DC Servo Amplifiers and Shaft Encoders

DC Servo Amplifiers

PWM Switch-Mode Amplifiers

Sign/Magnitude Control with the LMD18200

Voltage Source versus Current Source

Shaft Encoders

Control of a Position Servo Using a PIC Microcontroller

Initial Motor Selection

Setting the Move Requirements

Hardware and Software Development


About the Author

Stephen M. Tobin is the founder and president of Optical Tools Corporation. He received his B.S. degree in Mechanical Engineering from the University of New Hampshire in 1983. He spent the first five years of his career in the motion control field, working in step motor and optical encoder design engineering with divisions of Allied-Signal and Dresser Industries. He then turned his attention to the development of electro-optical instrumentation. He joined General Eastern Instruments (now a division of General Electric) in 1988, working on closed-loop optical humidity measurement systems. While employed at General Eastern, he earned his M.S. degree in electrical engineering with a concentration in electro-optics from Tufts University in 1994. He later spent six years developing medical devices at Arthur D. Little, a world-renowned consulting firm based in Cambridge, Massachusetts. Motion control continues to be a lifelong passion for Mr. Tobin, who founded Optical Tools Corporation in 2004 and continues to consult for the medical device and manufacturing automation communities. He holds four U.S. patents and is a member of the Tau Beta Pi National Engineering Honor Society.

Subject Categories

BISAC Subject Codes/Headings:
TECHNOLOGY & ENGINEERING / Industrial Design / General