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    Lab #6 - Closed Loop Position Control

    Uploaded by

    Christy Cheriyan
    1) The document describes a lab experiment to investigate closed-loop position control of a DC motor using an analogue controller module. Students will construct the control system and test the response under different gain and load conditions. 2) The experiment involves using Matlab/Simulink to simulate the closed-loop position control system and observing the response to step inputs under various gain and load scenarios. 3) Key results to record include steady state error, rise time, overshoot percentage, settling time and oscillation frequency for different controller gains and load conditions.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Lab #6 - Closed Loop Position Control

    Uploaded by

    Christy Cheriyan
    168 views4 pages
    1) The document describes a lab experiment to investigate closed-loop position control of a DC motor using an analogue controller module. Students will construct the control system and test the response under different gain and load conditions. 2) The experiment involves using Matlab/Simulink to simulate the closed-loop position control system and observing the response to step inputs under various gain and load scenarios. 3) Key results to record include steady state error, rise time, overshoot percentage, settling time and oscillation frequency for different controller gains and load conditions.

    Original Description:

    Lab 6 for McMaster University

    Original Title

    Lab #6 - closed loop position control

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    © © All Rights Reserved

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    1) The document describes a lab experiment to investigate closed-loop position control of a DC motor using an analogue controller module. Students will construct the control system and test the response under different gain and load conditions. 2) The experiment involves using Matlab/Simulink to simulate the closed-loop position control system and observing the response to step inputs under various gain and load scenarios. 3) Key results to record include steady state error, rise time, overshoot percentage, settling time and oscillation frequency for different controller gains and load conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    168 views4 pages

    Lab #6 - Closed Loop Position Control

    Uploaded by

    Christy Cheriyan
    1) The document describes a lab experiment to investigate closed-loop position control of a DC motor using an analogue controller module. Students will construct the control system and test the response under different gain and load conditions. 2) The experiment involves using Matlab/Simulink to simulate the closed-loop position control system and observing the response to step inputs under various gain and load scenarios. 3) Key results to record include steady state error, rise time, overshoot percentage, settling time and oscillation frequency for different controller gains and load conditions.

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    © All Rights Reserved
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    PROCTECH 3CT3

    LAB 6: Closed Loop Position Control


    of a D.C. Motor Servomechanism Using Analogue Controller Module

    1. OBJECTIVE

    Use the MS-15 D.C. motor control module to investigate the effect of gain changes on a
    closed loop position control system.
    Use Matlab/Simulink to simulate a position control system.

    2. EQUIPMENT

    DC Motor Control Module, MS-15 D.C.


    Analogue Control Module
    12V, +5V Power Supply
    Oscilloscope

    Figure 1, Control System Block Diagram.


    Power Supply

    +12V 0V -12V

    PID
    Controller

    Inverter
    I

    0V

    I/P O/P
    VRef
    Function +
    LPF
    P +
    34/160Hz -
    -
    Generator
    JB1
    0V

    Power Supply Switch, Out = FB1


    bypass/disconnect

    0V
    Amplifier
    D A1

    C
    +
    Vin +
    FB3

    FB2

    Enable Socket Analogue Control Module

    Vout2

    Motor Control Module MS15

    Figure 2, Motor Control ModuleMS15 D.C.


    3. PROCEDURE

    PART A

    1. Construct the closed loop position control circuit shown in figure 1. Refer to the wiring
    diagram given in figure 2.

    NOTE: The drive enable jumper (refer Fig. 2 MS15 D.C. Motor Control Board) is not to
    be applied until everything else is ready and the power turned on. To shut down the motor,
    the enable jumper should be removed to stop the motor before any other connections are
    changed and before power is turned off.

    2. Pull up the magnetic brake lever to the zero position to remove the load torque from the
    drive.

    3. Keep controllers gain Kp = 5 (I, D and LPF switches = out); carefully check all connections
    then apply power.

    4. Arrange the signal generator to give a 1 Vpp square waveform, 0 offset, frequency of
    0.25 Hz and connect to the system as shown in Fig. 2. Turn on DC power then enable the drive
    (by using the enable jumper).

    5. Use the oscilloscope to obtain the response to the 1 volt peak to peak square wave.
    Record the waveform and the steady state error. Furthermore, record the time to reach the first
    peak, Tp, the magnitude of any overshoot, %OS, and the frequency of any transient oscillation,
    d. If the response is overdamped, record the time constant (when reached 63% of the final
    value).

    6. Decrease the controller gain to 3 and then repeat step 5.

    7. Decrease the controller gain to 0.5 ( at 5 * 0.1 ) and then repeat step 5.

    8. Pull down the magnetic brake lever to the middle position to apply a load torque; and repeat
    steps 3 to 7.

    PART B

    9. Use Simulink to simulate the system in Figure 3 for the following scenario. Use a Mux
    block to display both the reference command and the potentiometer output on the same scope
    1
    [Hint: Use an Integrator block for the transfer function ; and Gain blocks for transfer
    functions 1 (), 3 (), and ()]
    Scenario A: the reference voltage is a unit step, the load torque is zero, the controller gain
    = 5.
    Scenario B: the reference voltage is a unit step, the load torque is zero, the controller gain
    = 0.5.
    Scenario C: the reference voltage is a unit step, the load torque is unit step, the controller
    gain = 5.
    Scenario D: the reference voltage is a unit step, the load torque is unit step, the controller
    gain = 0.5.

    Assume the following transfer function values:


    Motor transfer functions:

    1 () = 47 [/]
    1
    2 () = [//]
    0.28 + 1
    Gear box transfer function:
    3 () = 0.11
    Potentiometer transfer function:
    () = 1.617 [/]

    TL

    _
    Vref + Tm m Vout2
    + 1
    KP G1(s) G2(s) G3(s) H(s)
    _ s
    controller
    Motor Gear Box Potentiometer

    Figure 3, model of a D.C. Motor position control system.

    4. REPORT

    1. Show all waveforms obtained from procedures 3.1 to 3.8.


    2. Make a table that shows the values of the steady state error, Tp, %OS, and obtained in
    each procedure. Note, if no overshoot exists, state only the time required to reach 63% of
    the steady state outputs, i.e. . For each of the responses state if it is overdamped,
    underdamped, or undamped.
    3. What is the effect of increasing the load torque on the system response? Explain why.
    4. Show your Matlab/Simulink Model and the system responses for procedure 3.9.

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