User's Manual

STUDY OF SYNCHRO DEVICES

Model : SD-01

Manufactured by:

TECHNO INSTRUMENTS
261/16, Civil Lines, Roorkee-247 667
Ph.: 01332-272852, Fax: 274831 MOODY UKAS
QUALITY
INTERNATIONAL MANAGEMENT
Email: [email protected] 014

Website: www.sestechno.com
 θ

S1
R
1 Shaft
R
2

S3 S2

Fig. 1: Schematic of a Synchro Device

 STUDY of SYNCHRO DEVICES

1. OBJECT
To study the characteristics of a Synchro Transmitter Receiver pair and use these as
torque-synchro and angular error detector.

2. SYSTEM FEATURES
The unit consists of the following components and subsystems.
a) A synchro transmitter (T) with its rotor and stator terminals taken out on the
panel for basic characteristics study.
b) A synchro receiver (R) with its rotor and stator terminals taken out. The pair
may be connected as torque synchros for a basic angular position control
system.
c) Locking arrangement on the synchro receiver to operate the pair as error
detector.
d) Calibrated dial and knobs on both shafts.
e) An electronic de-modulator circuit to demonstrate phase-reversal of the error
signal using an in-built DVM.
f) 20V, 50Hz power for the synchros and IC regulated d.c sources for electronic
circuits.

3. BACKGROUND SUMMARY
Synchro systems have been traditionally used as angular position transducers and
error detectors in a.c position control systems. A.C. position and speed control systems which
employed 2-phase a.c. servomotors, especially operating at 400Hz, are still used in many
precision, low-power instrumentation applications, such as in aircrafts. Some of the
advantages of these systems include small size, light weight, low inertia rotors and hence fast
operation, and no commutator and brushes, unlike a potentiometer or a d.c. motor. These
applications are however being slowly replaced by digital systems using stepper motors. A
study of the 2-phase a.c. systems is, without doubt, an important content for any student of
automatic control systems.

3.1. Basic Devices

A synchro device, whether transmitter, receiver or control transformer, consists
essentially of a stator and a rotor. The stator consist of three windings with their axes 120°
apart, connected in star, as if for three phase supply. The phase of the signals in these
windings, taken out as S1, S2 and S3 are of course the same. In its simplest form, the rotor
consists of a laminated iron core carrying a single winding, the ends of which, R1 and R2 are
brought out to slip-rings. The schematic diagram of a synchro device is illustrated in Fig 1.
Let the a.c. voltage supplied to the rotor be
VR(t) = VR sinωct.
 T R
AC Excitation

S1 S1

R 1,R 2 R 1, R 2

S3 S2 S3 S2

θR
θT
Input Shaft Output Shaft

Fig.2 Torque Synchro System

T CT

S1 S1

AC R R

S3 S2 S3 S2

θo
θi
Input Shaft Output Shaft

Fig.3: Synchro Transmitter-Control Transformer pair as error detector

 The stator terminal voltages at an arbitrary angle θ may be written as
VS1S2 = √3 K VR sin(θ + 240°) sinωct
VS2S3 = √3 K VR sin(θ + 120°) sinωct
VS3S1 = √3 K VR sin(θ) sinωct
where K is a constant. (Note that the three voltages are all in the same phase)
(a) Torque Synchro
In Fig.2. two devices are connected together to form a synchro-pair. Both rotors are
supplied from the same AC source. If the rotor positions in the two elements coincide, then
the emf’s induced in the corresponding coils of both transmitter and receiver are equal, and
no circulating current can flow between the two stators. This is the equilibrium condition
which is always sought by the system. The notation used for this type of system is T for
Synchro Transmitter and R for Synchro Receiver.
If the rotor of one element is turned, the emf’s induced in the two stators will no
longer be equal and currents will circulate in the stator windings. As a result of these currents
a torque is produced which tries to bring the rotors back into alignment. When the transmitter
has its rotor position fixed, it is the receiver rotor that is free to move into alignment. The
output shaft will normally support a very small load requiring relatively small torque to align
it. The torque developed increases with angle of misalignment.
The difference between a synchro transmitter and receiver is only constructional. A
mechanical damper in the form of a small flywheel is attached to the shaft of the receiver.
Any tendency of the receiver rotor to oscillate about its new position following a change in
the transmitter position, is opposed by the inertia of the damper. Also the structure of the
rotor is different in each.
(b) Control Transformer
Torque synchros can produce high accuracy angular information in response to input
shaft position, however, the power available at the receiver output shaft is very limited. At
best a light pointer or indicator can be driven by such a system. If the accuracy inherently
available from synchro devices if to be used in heavier, high inertia, control applications,
more output power must be obtained. Control synchros provide the answer to this problem.
Fig.3, shows a control transformer (CT) set up. The first point to be noticed is that the
AC excitation is fed only to the input device. In this case the synchro transmitter T. The
output is taken from the rotor of a similar device, called the control transformer, CT, as a
voltage signal. In the present unit the synchro receiver is being used as a control transformer,
ie. CT is actually R.
The excitation occurs at the T and, since there is no excitation at the CT, the same
electromagnetic vectors will occur there but in the opposite direction for each. A magnetic
field is produced at the centre of the CT which is the resultant of all three stator vectors and is
called the reconstituted field. Clearly, this field is in the same direction as the original field,
which created all the vectors in the rotor of the T. If the T rotor is angularly displaced, the
reconstituted field at the CT rotor will move with it.
The vectors associated with this system are viewed as instantaneous because it is
convenient for the purposes of explanation. However, in reality, the AC excitation is
changing all the time and therefore inducing the emf’s illustrated are at some point of time.
At the CT rotor, an emf will be induced that is dependent upon the rotor position with respect
 θi > θ0
r.m.s
Error
Voltage
θi = θ0

θi < θ0

Fig. 4: Error Voltage Waveform

a-c supply

T CT
K3
2-phase
A.C. Supply a-c
e induction
amplifier
motor

Gear
Load
θi Trains
θo

Input Shaft Output Shaft

Fig. 5: An A.C. Position Control Sytem

D1
C
T2 R

A.C. ERROR T1 D.C.ERROR SIGNAL

+ - (OUTPUT) TO D.C.
SIGNAL
(INPUT) C SERVOAMPLIFIER

Reference
Voltage
R
D2

Fig. 6: Demodulator Circuit

to the reconstituted field. If the rotor and field are in alignment, the emf induced will be
maximum. If the rotor is perpendicular to the field, the induced emf will be zero (Fig. 4).
Rotation of the CT shaft will produce an emf at the CT rotor which is dependent upon
its angular position with respect to the reconstituted field. The change of phase at the 180°
point should be noted. Thus when the rotor and field are coincident, maximum emf is
induced, and when they are perpendicular zero emf is induced.
In control applications the rotor output is used as an error input to an amplifier, or
processor which then actuates the motor.
(c) AC Position Control
Fig.5 shows the CT in combination with a servomechanism. It is actually acting as the
error detector. The input to the CT is a shaft angle on the three stator lines, from which the
field is reconstituted at the rotor. If the rotor is not exactly aligned to give a zero signal into
the amplifier, the error signal is amplified and drives the motor to reposition the output shaft.
The output shaft position is fed back to the CT rotor and brings it into alignment, reducing the
error signal to zero. At this point the motor ceases to drive and the new angular output is held.
A phase reference is fed into the motor so that it can rotate in the correct direction to reduce
the error on the output shaft. The reference is compared with the phase of the error signal. If
they are in-phase the motor is turned in one direction. If they are 180° out of phase it will be
turned in the opposite direction. This is automatically done in a 2-phase a.c. servomotor.
(d) Demodulator
In the ac position control system the modulated output from the control transformer is
demodulated by the two phase a.c. motor. The demodulation may also be performed by a
diode circuit as explained below.
This circuit is used in servo systems because it not only converts ac to dc, but it is also
able to distinguish the phase of the ac signal by comparing it to a reference voltage. This
circuit may not be confused with other phase detector circuits, such as those used in radar or
communications systems. This demodulator (phase detector) distinguished signals that are
either in phase or 180° out of phase. For this reason this circuit is useful in servo systems
where the ac output from the error detector (CT) is either in phase with the reference signal
or180° out of phase. Whatever type of error detector is used in the servo system, the reference
voltage to the error detector and to the demodulator must be in phase with each other for the
demodulator to do its job. As shown in Fig.6, the anodes of the two diodes are supplied with
the same reference voltage. With no ac error input signal applied to T2 (quiescent state), both
diodes will conduct equally on the positive half-cycle of the reference voltage. The voltage
drops across the two resistance, R, are equal. This results in the two output terminals being at
the same potential; therefore, the output voltage is zero for the positive half-cycle. During the
negative half-cycle, a negative voltage is felt on the anodes of both diodes, both diodes are
cut off, and zero potential is felt across the output terminals. The circuit will remain in this
condition until an ac error signal is applied. As an error signal is applied to T2, D1 will
conduct when the input signal is in phase with the reference voltage, in its positive half-cycle.
D2 will then remain in cutoff. D2 conducts when the phase relationship between the ac error
signal and the reference voltage changes to 180°. At this time D1 will cut off. This change
could be brought about by the error detector in the servo system sensing a change in the
direction of the load movement. The output of the circuit for one complete cycle of the
reference signal will be a filtered, pulsating, dc voltage. As long as the input and reference
signals are in phase, the circuit acts as a half-wave rectifier and a filter network. As we
mentioned earlier, this circuit will also respond to a 180° phase reversal between the input
and reference signals. For instance, when the error signal applied to T2 is 180° out of phase
with the reference signal. D2 conducts and D1 cuts off, causing the output voltage to change
polarity. Variations of the diode phase detector are also possible, however, they all depend on
the same basic principle of operation. To quickly summarize, the demodulator convertes the
ac input signal to a dc error signal. The polarity of the dc error signal is determined by the
phase relationship between the ac error input signal and the reference signal. The amplitude
of the dc error signal is directly proportional to the magnitude of the ac input signal.

4. Experiment Details
The various experiments that can be performed on the unit are detailed below.

4.1 Characteristics of the Transmitter

Step 1: Connect the transmitter rotor terminals, R1 and R2, to the excitation supply Vs on
the panel. Stator terminals S1, S2 and S3 are left unconnected.
Step 2: Vary rotor angle from 0° to 360° in steps of 30° and measure the three voltages,
VS1S2, VS2S3 and VS3S1 with the help of the voltmeter on the panel. The voltmeter
should be set to ‘AC’ position
Step 3: The three stator voltages are next plotted on the same graph sheet as a function
of the rotor angle. Note:- Although the voltages are measured as r.m.s. values,
these are plotted in accordance with the three equations (section 3.1) to show the
relative magnetic field direction in the coils.

4.2 Torque Synchro pair operation

Step 1: Connect both transmitter and receiver rotors to the excitation supply Vs on the
panel. Interconnect the respective stator terminals of the transmitter and receiver,
i.e., S1 to S1, S2 to S2 and S3 to S3. Do not lock the receiver.
Step 2: Vary the transmitter rotor angle from 0° to 360° in steps of 30° and note the
receiver rotor angle. The receiver should follow the transmitter rotor.

4.3 Error detector operation

Step 1: Connect the transmitter rotor terminals, R1 and R2, to the excitation supply Vs on
the panel. Interconnect the respective stator terminals of the transmitter and
receiver, i.e., S1 to S1, S2 to S2 and S3 to S3. Lock the receiver rotor.

Step 2: Connect receiver rotor terminals to the voltmeter on the panel. The voltmeter
should be set to ‘AC’ position. Also connects CRO to display the ‘error voltage’
i.e., the voltage across the receiver rotor terminals.

Step 3: Vary the transmitter rotor angle from 0° to 360° is steps of 30° and record the
error voltage. Note on the CRO the 180° phase change as the error voltage
crosses zero.

4.4 Demodulation of error voltage

In the error detector operation at sec 4.3 above, connect the error voltage to the
demodulator input. Set the voltmeter to read ‘DC’ and connect it to demodulator output. This
20

18

16

14

12

10

8 VS2S3 VS3S1
VS1S2
6

0
0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360
-2

-4

-6

-8

-10

-12

-14

-16

-18

-20

R o t o r A ng l e, T X

Fig. 7, Transmitter Characteristics

360

340

320

300

280

260

240

220

200

180

160

140

120

100

80

60

40

20

0
0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360

I np ut Shaf t A ng le, θ 1

Fig. 8, Torque Synchro Pair

 output, spanning both positive and negative voltages, represents the magnitude and direction
of the angular error between transmitter and receiver shafts.

5. Typical Results
5.1 Characteristics of the Transmitter

S. No. Rotor Shaft VS1S2 VS2S3 VS3S1

Angle θi
1. 0° 2.14 1.85 16.95*
2. 30° 10.95 7.32 18.20*
3. 60° 16.80 2.41 14.40*
4. 90° 18.50 11.25* 7.27*
5. 120° 14.85 17.10* 2.30
6. 150° 7.34 18.58* 11.32
7. 180° 2.52* 14.74* 17.25
8. 210° 11.51* 7.00* 18.50
9. 240° 17.35* 2.74 14.65
10. 270° 18.10* 11.40 6.85
11. 300° 14.50* 16.80 2.40*
12. 330° 7.05* 18.00 11.00*
The above is plotted in Fig. 7 and shows the changing magnetisation of the stator coils
as the rotor moves.
*Reading in STAR are 180° phase shifted signal.
5.2 Torque Synchro Pair

S. No. Input Shaft Angle θi Output Shaft Angle θο

1. 0° 0°
2. 30° 32°
3. 60° 61°
4. 90° 91°
5. 120° 120°
6. 150° 150°
7. 180° 181°
8. 210° 212°
9. 240° 241°
10. 270° 272°
11. 300° 301°
12. 330° 330°
The above is plotted in Fig. 8. This demonstrates how the output shaft follows the
input shaft.
25

20

15

10

0
0 25 50 75 100 125 150 175 200 225 250 275 300 325 350

-5

-10

-15

-20

-25
A ng ul ar Er r o r , ( θ i - θ 0 )

Fig. 9 Error Detector Characteristics

5.3 Error Detector Operation (output shaft locked at θο = 0)

S. No. Input Shaft Angle Error Voltage Ve Demodulator

θi (rms) Output Vd (d.c.)
1 0° 17.11* -7.05
2 30° 14.30* -6.30
3 60° 7.53* -3.60
4 90° 1.05 0.48
5 120° 9.50 4.70
6 150° 15.45 6.80
7 180° 17.15 7.25
8 210° 14.10 6.42
9 240° 7.25 3.57
10 270° 1.40* -0.50
11 300° 9.50* -4.70
12 330° 15.30* -6.60
The plots in Fig. 9 shows that error voltage is a sinusoidal function of the angular
error of the two shafts, (θί – θο). For small errors a linear function may however be assumed.
*Reading in STAR are 180° phase shifted signal.
6. References
(a) M. Gopal, “Control Systems – Principles and Design”, Tata Mc GrawHill
Publishing Co., New Delhi, 2002.
(b) B.C. Kuo, “Automatic Control Systems”, Prentice Hall of India Pvt. Ltd., 1989.
 A PRODUCT OF AN
ISO 9001 : 2000
CERTIFIED COMPANY
STUDY OF SYNCHRO DEVICES
MODEL : SD-01
AC

DC
TRANSMITTER RECEIVER

S1 S1

R1 R1
S2 S2
R2 R2

CARRIER S3 S3
IN DEMODULATOR OUT

ON
T TECHNO INSTRUMENTS, Roorkee

PANEL DRAWING