Abstract
The characteristics of the torque variation in 2-phase servo-motor is analyzed using analog computer, and the causes of the vibration when the servo-motor rotor is fixed through finite stiffness are investigated. In the forceservo system particularly in the servo-manipulator, this vibration bothers the operator's sensibility in manipulation.
In consequence, it is clarified that the asymmetric circuit constants of two windings, the amplitude difference in applied voltages and the phase difference in two voltages could not be the direct causes of rotor vibration, but that, (1) higher harmonics or d.c. component in applied voltages, (2) dependency of source impedance on the feed current and (3) unbalance of rotor coils, generally cause the time variation in the stall torque of the servo-motor, and then induce the rotor vibration.
