Relay Servomechanisms: The Shunt-Motor Servo With Inertia Load
Tracie A. Rogers, Walter C. Hurty · Transactions of the American Society of Mechanical Engineers · 1950
Abstract This paper develops the theory of the shunt-motor relay servomechanism in terms of dimensionless motor parameters. Operating curves are drawn in the phase plane illustrating the effect of parameter changes on the stability of the servo for three forms of input signal. The first two forms of input signal, a step function and a uniform variation with time, have been discussed before and are included only for completeness. The third form of input signal, a sine function, is of most interest and is treated at greater length. The phase-plane curves, obtained from a differential analyzer, show three modes of operation which have been related to the servomechanism parameters by a relatively simple expression.