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Motor and Motion Control Systems
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Figure 1-17 Cutaway view of a fractional horsepower permanent-magnet DC servomotor.
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than earlier generation comparably rated DC motors with alnico (aluminum nickel cobalt or AlNiCo) magnets. Moreover, integrated circuitry and microprocessors have increased the reliability and costeffectiveness of digital motion controllers and motor drivers or amplifiers while permitting them to be packaged in smaller and lighter cases, thus reducing the size and weight of complete, integrated motioncontrol systems.
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Brush-Type PM DC Servomotors
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The design feature that distinguishes the brush-type PM DC servomotor, as shown in Figure 1-17, from other brush-type DC motors is the use of a permanent-magnet field to replace the wound field. As previously stated, this eliminates both the need for separate field excitation and the electrical losses that typically occur in field windings. Permanent-magnet DC motors, like all other mechanically commutated DC motors, are energized through brushes and a multisegment commutator. While all DC motors operate on the same principles, only PM DC motors have the linear speed torque curves shown in Figure 1-18, making them ideal for closed-loop and variable-speed servomotor applications. These linear characteristics conveniently describe the full range of motor perform-
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Figure 1-18 A typical family of speed/torque curves for a permanent-magnet DC servomotor at different voltage inputs, with voltage increasing from left to right (V1 to V5).
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ance. It can be seen that both speed and torque increase linearly with applied voltage, indicated in the diagram as increasing from V1 to V5. The stators of brush-type PM DC motors are magnetic pole pairs. When the motor is powered, the opposite polarities of the energized windings and the stator magnets attract, and the rotor rotates to align itself with the stator. Just as the rotor reaches alignment, the brushes move across the commutator segments and energize the next winding. This sequence continues as long as power is applied, keeping the rotor in continuous motion. The commutator is staggered from the rotor poles, and the number of its segments is directly proportional to the number of windings. If the connections of a PM DC motor are reversed, the motor will change direction, but it might not operate as efficiently in the reversed direction.
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Disk-Type PM DC Motors
The disk-type motor shown exploded view in Figure 1-19 has a diskshaped armature with stamped and laminated windings. This nonferrous laminated disk is made as a copper stamping bonded between epoxy glass insulated layers and fastened to an axial shaft. The stator field can either be a ring of many individual ceramic magnet cylinders, as shown, or a ring-type ceramic magnet attached to the dish-shaped end
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Motor and Motion Control Systems
Figure 1-19 Exploded view of a permanent-magnet DC servomotor with a disk-type armature.
bell, which completes the magnetic circuit. The spring-loaded brushes ride directly on stamped commutator bars. These motors are also called pancake motors because they are housed in cases with thin, flat form factors whose diameters exceed their lengths, suggesting pancakes. Earlier generations of these motors were called printed-circuit motors because the armature disks were made by a printed-circuit fabrication process that has been superseded. The flat motor case concentrates the motor s center of mass close to the mounting plate, permitting it to be easily surface mounted. This eliminates the awkward motor overhang and the need for supporting braces if a conventional motor frame is to be surface mounted. Their disk-type motor form factor has made these motors popular as axis drivers for industrial robots where space is limited. The principal disadvantage of the disk-type motor is the relatively fragile construction of its armature and its inability to dissipate heat as rapidly as iron-core wound rotors. Consequently, these motors are usually limited to applications where the motor can be run under controlled conditions and a shorter duty cycle allows enough time for armature heat buildup to be dissipated.
Cup- or Shell-Type PM DC Motors
Cup- or shell-type PM DC motors offer low inertia and low inductance as well as high acceleration characteristics, making them useful in many
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