Tobin Stephen M. DC Servos: Application and Design with MatLAB

CRC Press, Taylor & Francis Group, 2011. XVII, 201 p. — ISBN13: 978-1-4200-8005-6 (Ebook-PDF).Features
Brings together fundamental information on DC servo design
Explains how to use the MatLAB Control System Toolbox to speed up the servo design process and make it more interactive
Presents two complete, bench-tested reference designs that can be easily duplicated using parts that are readily available
Supplies detailed coverage of the use of op-amps within control loops
Includes an extensive bibliography of relevant literatureFundamental 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.DC Servo Systems DefinedScope 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 ServoAnatomy of a Continuous-Time DC ServoDescriptionIntended 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-ThroughDC Motors in Servo SystemsOperational 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 ModelFeedback Control SystemsMathematical 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 MethodProportional Control of a Second-Order DC ServoProportional 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 CommandCompensation of a Continuous-Time DC ServoCompensation 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 PredictionDC Servo Amplifiers and Shaft EncodersDC Servo Amplifiers
PWM Switch-Mode Amplifiers
Sign/Magnitude Control with the LMD18200
Voltage Source versus Current Source
Shaft EncodersControl of a Position Servo Using a PIC MicrocontrollerInitial Motor Selection
Setting the Move Requirements
Hardware and Software DevelopmentAppendix