Definition: A servomechanism, or servo system, is a closed-loop control system that uses

feedback to accurately control and maintain the position, speed, or other parameters of a
mechanical system. It is designed to follow or track a desired trajectory or setpoint.

Components: A typical servomechanism consists of the following components:

Actuator: The actuator is responsible for converting the control signal into a mechanical
motion or force. It can be an electric motor, hydraulic cylinder, or pneumatic actuator.

Feedback Sensor: The feedback sensor measures the actual output or position of the system
and provides feedback to the control system.

Control System: The control system compares the feedback signal with the desired setpoint
and generates an error signal. It then processes this error signal and sends a control signal to
the actuator.

Power Supply: The power supply provides the necessary electrical power to operate the
actuator and control system.

Operation: The servomechanism operates by continuously comparing the actual output or

position of the system with the desired setpoint. The control system calculates the error signal
as the difference between the setpoint and the feedback signal. Based on this error signal, the
control system adjusts the control signal sent to the actuator, driving it to move in a way that
reduces the error. The feedback loop ensures that the system maintains the desired position or
follows a specified trajectory accurately.

Applications: Servomechanisms find applications in various fields, including:

Robotics: Servo motors are commonly used in robotic systems to control the movement and
position of robot arms, grippers, and other mechanical components.

Industrial Automation: Servos are used in manufacturing processes to precisely control the
position and speed of conveyors, robotic assembly lines, and CNC machines.

Aerospace and Defense: Servo systems are employed in aircraft control surfaces, missile
guidance systems, radar antenna positioning, and stabilization of cameras or sensors.

Automotive: Servos are utilized in electric power steering systems, throttle control, braking
systems, and active suspension systems.

Home Electronics: Servo motors are found in devices such as printers, disk drives, camera
gimbals, and home automation systems.

Advantages:

Accuracy: Servomechanisms provide high positional accuracy and repeatability due to their
closed-loop control design.
Stability: The feedback loop helps maintain stability and minimize errors, even in the
presence of disturbances or variations in the system.

Flexibility: Servos can be easily programmed or adjusted to follow different trajectories or

setpoints.

Responsiveness: Servomechanisms can quickly respond to changes in the desired setpoint,

allowing for dynamic and precise control.

In summary, servomechanisms are closed-loop control systems that use feedback to

accurately control and maintain the position, speed, or other parameters of a mechanical
system. They find widespread use in robotics, automation, aerospace, automotive, and other
industries where precise control and motion tracking are required.

The layout of a typical servomechanism includes several components arranged in a specific

configuration. Here's a description of the layout:

Actuator: The actuator is the component responsible for converting the control signal into
mechanical motion or force. It is usually a servo motor, which consists of a motor and a built-
in feedback device such as an encoder or resolver. The servo motor generates the required
torque or force to actuate the system.

Feedback Sensor: The feedback sensor measures the actual position, speed, or other relevant
parameters of the system and provides feedback to the control system. Common feedback
devices used in servomechanisms include encoders, resolvers, potentiometers, or Hall effect
sensors. The feedback sensor provides accurate information about the system's current state
to enable error detection and correction.

Control System: The control system compares the feedback signal from the sensor with the
desired setpoint or reference signal. It calculates the error signal as the difference between the
setpoint and the actual feedback value. The control system then processes this error signal
using control algorithms to generate a control signal for the actuator.

Power Supply: The power supply provides the necessary electrical power to operate the
actuator and the control system. It typically supplies voltage or current to the servo motor,
allowing it to generate the required mechanical motion or force.

Communication Interface: In more advanced servomechanisms, there may be a

communication interface that allows external devices or controllers to send commands or
receive information from the servomechanism. This interface can use protocols such as RS-
485, CAN bus, or Ethernet.

The layout of a servomechanism can vary depending on the specific application and
complexity of the system. In some cases, additional components such as amplifiers, motor
drivers, or signal conditioners may be included to enhance the performance or interface with
other system elements.
An example of a servomechanism is the positioning control system of a robotic arm. Here's
how the servomechanism layout can be applied in this context:

Actuator: The actuator in this case would be a servo motor that provides rotational motion to
the robotic arm. The servo motor is typically equipped with a built-in feedback device, such
as an encoder, that accurately measures the position of the motor shaft.

Feedback Sensor: The feedback sensor, in this case, would be the encoder attached to the
servo motor. It continuously measures the actual position of the motor shaft and provides
feedback signals to the control system.

Control System: The control system receives the feedback signals from the encoder and
compares them with the desired setpoint or reference position. It calculates the positional
error by taking the difference between the setpoint and the actual position.

Control Algorithms: The control system employs control algorithms such as proportional-
integral-derivative (PID) control to process the error signal and generate a control signal.

Power Supply: The power supply provides the necessary electrical power to the servo motor
and the control system.

Communication Interface: In more complex robotic systems, there may be a communication

interface that allows external devices, such as a computer or a robot controller, to send
commands or receive information from the servomechanism. This interface facilitates higher-
level control and coordination of multiple servomechanisms within the robotic system.

In this example, the servomechanism enables precise positioning control of the robotic arm.
The control system continuously adjusts the control signal sent to the servo motor based on
the feedback from the encoder, minimizing the positional error and accurately maintaining
the desired position of the arm.