Modern Practice in Servo Design
International Series of Monographs in Electrical Engineering
Published on 22. October 2013
332 pages
978-1-4831-4547-1 (ISBN)
Description
International Series of Monographs in Electrical Engineering, Volume 2: Modern Practice in Servo Design focuses on servomechanics and feedback control systems. The selection first takes a look at basic servomechanism theory, including block diagrams, servo components and compensation, power amplification, absolute stability, transfer functions, and frequency response design methods. The book then discusses the design of a large servomechanism and development of the servo design, as well as digital servo techniques, effects of disturbances, performance specification, mechanical resonance, and completed control loop and its stability. The text describes the design of large antennas for radio telescope and satellite trackers. Topics include servo system performance, tracking accuracy requirements, closed loop performance, and dynamic performance. The book also takes a look at the application of analog computers to the design of a servomechanism and the use of hybrid computers in servo design. The selection is a valuable source of information for readers interested in servomechanics and feedback control systems.
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Derek Robert Wilson
Modern Practice in Servodesign
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12/1970
Pergamon
€64.48
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Content
ContentsPreface Authors Chapter 1. Basic Servomechanism Theory 1.1. Introduction 1.2. The Laplace Transform and Complex Frequencies 1.3. Transfer Functions 1.4. The Complex Frequency Plane 1.5. Block Diagrams 1.6. Closed Loop Transfer Functions 1.7. Absolute Stability 1.8. Frequency Response Design Methods 1.8.1. NyquistPlot 1.8.2. Bode Plot 1.8.3. Nichols Charts 1.8.4. The Root Locus Method 1.8.5. Servo Design Using the Root Locus Method 1.8.6. Routh's Stability Criterion 1.9. Servo Components 1.9.1. Error Detectors 1.9.2. Potentiometer Detectors 1.9.3. Synchro Error Detectors 1.9.4. Block Diagram of the Error Detector 1.10. Servo Compensation 1.11. Power Amplification 1.12. The d.c. Servo Motor 1.13. Gearing and Mechanical Load Resonance 1.14. Conclusion ReferencesChapter 2. Preliminary Design of a Large Servomechanism 2.1. Introduction 2.2. Performance Specification 2.3. Steady State and Transient Performance 2.3.1. Servomechanism Errors 2.3.2. Steady-state Error Coefficients 2.4. Selection of Motor and Gear Ratio 2.4.1. d.c. Servo Motors 2.4.2. Gear Ratio Selection 2.4.3. Motor Rating 2.5. Effects of Disturbances 2.5.1. Evaluation of Errors from Spectral Density Functions 2.6. Example: Ward-Leonard Speed Regulator 2.6.1. Series Compensation 2.6.2. Feedback Compensation References Chapter 3. Development of the Servo Design 3.1. Introduction 3.2. Mechanics 3.3. The Motors 3.4. The Power Stage 3.4.1. General Requirements 3.4.2. The Rotary Power Drive 3.5. The Exciter and Servo Amplifiers 3.6. The Completed Control Loop and Its Stability 3.7. Saturation Levels and Designed Non-linearities 3.7.1. Effects of Saturation on Stability 3.7.2. The Error Channels 3.7.3. Saturation Levels 3.7.4. Coarse Braking 3.8. Mechanical Resonance 3.8.1. Resonance Inside the Feedback Loop 3.8.2. Resonance 3.8.3. Anti-resonance 3.8.4. Locked Rotor Resonant Frequency 3.8.5. The Anti-resonant Rotor Frequency 3.8.6. The Free Rotor and Load Resonance 3.8.7. Resonance Outside the Servo Loop 3.8.8. Cascaded Resonances and Compensation 3.8.9. Example 3.9. Additional Factors 3.10. Summary 3.11. Appendix References Chapter 4. Digital Servo Techniques 4.1. Introduction 4.2. Speed Control 4.3. Digital Codes 4.3.1. Binary Code 4.3.2. BCD Code 4.3.3. Gray Code 4.4. Digital Circuitry 4.4.1. Logic Functions 4.4.2. Boolean Algebra 4.4.3. Bi-stable Memory Unit 4.4.4. Binary Counters 4.4.5. 8421 BCD Counter 4.4.6. 2421 BCD Counter 4.4.7. Bi-directional Counters 4.4.8. Digital Subtractors 4.5. Digital Encoders 4.5.1. Brush Contact Encodes 4.5.2. Optical Encoders 4.5.3. Magnetic Encoders 4.5.4. Inductive Encoders 4.5.5. Capacitive Encoders 4.5.6. Encoder Ambiguity 4.6. Digital to Analog Convertors 4.7. Stepper Motors 4.8. Digital Position Control of a Large Antenna 4.9. Conclusions References Chapter 5. Design of Large Antennae for Radio Telescope and Satellite Trackers 5.1. Introduction 5.2. Servo System Performance 5.2.1. Radio Telescopes 5.2.2. Satellite Trackers 5.3. Servo Control Input Equipment 5.3.1. Radio Telescopes 5.3.2. Other Methods of Polar Coordinate to Alt./Az. Coordinate Conversion 5.3.3. Input Equipment for Satellite Trackers 5.4. Choice of Servo Configuration 5.4.1.
