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Agenda

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  1. Agenda Servo Control • Resolvers • Encoders

  2. Servo Control A servo control system monitors a process and uses the feedback to modify the control command.

  3. Servo Control A servo motion controller has greater control over the velocity curve when moving to a commanded position. The shape of the curve can be changed to meet application requirements

  4. Feedback Devices Resolvers Encoders

  5. Resolvers Advantages over encoders. • Higher resolution • Better electronics protection • Absolute position • More rugged.

  6. Resolver Circuit Resolvers produce signals proportional to the sine and cosine of their rotor angle. See the text, section 2-6.

  7. Resolver

  8. Resolver Reference Signal

  9. Resolver Signals @ 0 degrees With the rotor at 0, the amplitude of the sine secondary is 0 since sin(0) = 0, and the amplitude of the cosine secondary is 1, since cos(0) = 1.

  10. Resolver Signals @ 45 degrees With the rotor at 45 degrees, the secondary voltages are the same, but only 70.7 percent of their max, since sin45 = cos45 = 0.707

  11. Resolver Signals @ 90 degrees With the rotor at 90 degrees, the sin voltage is max and the cosine is zero.

  12. Resolver Signals @ 135 degrees • The signals are put into a resolver-to-digital converter that performs two basic functions. • demodulates the signals to remove the carrier and leave only the sin and cos signals. • calculate and provide a digital representation of the angle.

  13. Encoder Construction

  14. Incremental Encoder

  15. Incremental Encoder with Direction

  16. Absolute Encoder

  17. Multi-turn Encoder

  18. Encoder Coding

  19. Gray Codes