MECHANICAL ENGINEERING DEPARTMENT

POLITEKNIK KOTA KINABALU

LAB SHEET & REPORT

DJM40092: Control System
Closed Loop Position Control

SESSION : I 2022/2023
PROGRAM : MECHATRONIC ENGINEERING
CLASS & SECTION : DEM4B
LECTURER : NUR ANITA HANIM
GROUP :

STUDENT’S NAME REGISTRATION NUMBER

adam arfan bin awang albeh 07dem20f2038

MARKS :

PREPARED BY : APPROVED BY :
SERI ALIFAH BINTI DAHNEL
Ketua Program
Diploma Kejuruteraan Mekatronik
Jab. Kejuruteraan Mekanikal
Politeknik Kota Kinabalu, Sabah

YOU MAY ENCLOSE ANY ATTACHMENTS RELATED TO THIS WORKSHOP’S REPORT AND PLEASE MAKE
MARKING SCHEME
SURE IT SHEET
IS AT THEFOR INDIVIDUAL
PROPER SECTION. PRACTICAL
 DJM40092: Control System Closed Loop Position Control

PRACTICAL TASK RUBRIC

CLO2 : Construct experiment on different types of controller mode in order to analyse and
interpretation of data (P4,PLO3)
EXCELLENT GOOD AVERAGE LIMITED WEAK
CRITERIA SCORE
(5 marks) (4 marks) (3 marks) (2 marks) (1 marks)
A. Safety and Observes Observes good Sufficient Minimal Unsafe, risky
discipline excellent laboratory safety adherence of adherence of behaviors in
laboratory safety procedures and laboratory safety laboratory lab,
procedures and discipline and discipline safety and uncommited to
discipline discipline instructions /10
B. Procedure Demonstrate Good Sufficient Minimal No knowledge
Organization excellent knowledge and knowledge and knowledge and and no attempt
knowledge and organization in organization in organization in of organization
organization in following the lab following the lab following the in following the
following the lab procedures. procedures. lab procedures. lab procedures.
procedures. /10
C. Assemble Efficiently Perform all Able to perform Able to perform No effort to
system perform all wiring and setup most wiring and most wiring perform wiring
wiring and setup of system setup of system and setup of and setup of
of system according to according to system system
according to procedure with procedure, according to according to
procedure minimal moderate procedure, procedure
without supervision supervision constant
supervision supervision /10
D. System Able to Able to Able to Able to No effort to
Troubleshooting troubleshoot troubleshoot troubleshoot troubleshoot troubleshoot
system system system with system with system
independently independently minimal lots of help
and proactively, and proactively assistance
and assist
others as well /10
E. Dismantle Disassembled Disassembled Disassembled Dissassembled Equipment and
and stow away all equipment most equipment equipment, and stow away workstation left
safely, return safely, return return them, and equipment, but in a mess
them orderly, them orderly, did not fully but did not clean
and clean up and clean up did not up workstation
workstation sufficiently completely clean
completely workstation up workstation /10
F. Data System System mostly System partially System System fail to
Collection & completely able able to function able to function minimally able function
Results to function according to according to to function according to
according to given instruction given instruction according to given
given instruction with correct data with acceptable given instruction with
with accurate collection. data collection instruction with lot of errors in
data collection some errors in data collection.
data collection /10
G. Technical Able to explain Able to explain Able to explain Able to explain Unable to
Explanation very clearly with clearly with with some minimally with explain with
correct technical correct technical correct technical some correct any technical
terms terms terms technical terms terms /10
PRACTICAL TASK SCORE /70
PRACTICAL REPORT SCORE /30

DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 1

 DJM40092: Control System Closed Loop Position Control

1.0 COURSE LEARNING OUTCOME

Upon completion of this course, students should be able to :

1.1 Construct experiment on different types of controller mode in order to analyse and interpretation
of data. (P4, PLO3)
1.2 Demonstrate the ability to work in team for completing assigned task during practical work
session. (A3, PLO9)

2.0 OBJECTIVES

2.1 To perform and observe simple closed loop position control by using output of PA150C to
control the motor rotation and provide feedback error signal from the OA150A.
2.2 To understand the role of input potentiometer, output potentiometer, servo amplifier, operational
amplifier and motor driver.

3.0 EQUIPMENT

3.1 Feedback MS150 servo system

3.2 Analog or Digital Multimeter

4.0 SAFETY AND HEALTH

It is the individual’s responsibility to practice the following general safety guidelines at all times and
keep your workspace reasonably tidy.

4.1 Always wear lab coat during the lab session

4.2 Always wear shoe with thick rubber on bottom as insulator
4.3 Proper attire for the lab session
4.4 Anything happen during/before the experiment, please report to the supervisor
4.5 Behave with good attitude during the experiment

DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 2

 DJM40092: Control System Closed Loop Position Control

5.0 INTRODUCTION
A simple closed loop position control can be achieved with the use of comparator. Figure 1 shows
a block diagram of a closed loop position control.
Op amp
comparator
Reference
transducer Pre-amplifier Controller Actuator
( input (servo amplifier) (Motor driver) (motor)
potentiometer)

Transducer
(output potentiometer)

Figure 1

The information is fed back to the comparator for comparison with a reference signal. In this exercise,
we shall utilise the error signal output of the operational amplifier to drive the output potentiometer
via the pre-amplifier and motor. The upper potentiometer can now be used as a gain control and
should initially be set to zero before switching on the power. Adjust the ‘zero set’ so that the motor
does not rotate.

The input potentiometer is set to some arbitrary angle and the output potentiometer cursor should
rotate to an angle nearly equal to that of the input potentiometer cursor.

If the output cursor stops before arriving at the set position, the system is tolerant to an error and the
motor will not respond till the error exceeds a certain value. Increase the gain so that this tolerance
is overcome and you get the correct alignment.

6.0 PROCEDURE

Figure 2
DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 3
 DJM40092: Control System Closed Loop Position Control

6.1 Connect the circuit as shown in Figure 2.

6.2 Set the upper potentiometer to zero and turn on the power supply. Adjust the ‘zero set’ so that
the motor does not rotate.
6.3 Set the input potentiometer to some arbitrary angle and the output potentiometer cursor should
rotate to an angle nearly equal to that of the input potentiometer cursor. Record your result in
Table 1 below.
6.4 Observe that the output potentiometer rotates to the same angle as the input potentiometer. If
there is an offset, adjust the DC offset of the servo amplifier.
6.5 Set the gain of the servo by adjusting the input potentiometer of the attenuator. Start with a small
gain (position 0.5) and make increments accordingly to observe the output potentiometer
response. Is it fast or slow?

7.0 RESULT
7.1 State your result based on the procedure 6.3.

Output Cursor Position (degrees)

Required Actual Misalignment
10 10 0

30 29 -1
45 0
45
60 60 0
90 90 0
120 0
120
145 -35
180
oo oo
190
220 oo oo
240 241 1
300 299 -1

310 309 -1
321
320 1
340 342
2
360 358
-2
Table 1 (5 marks)

DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 4

 DJM40092: Control System Closed Loop Position Control

8.0 QUESTION

8.1 Explain what is happening to the output potentiometer when gain is increased.
whne the gain is increased,the output of the potentiometer become faster.however it become easier to
________________________________________________________________________
overshoot A missaligntment as the number goes up at certain point the respond become unstable
________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________
(5 marks)

8.2 Propose some methods to overcome the overshoot.

to overcome the overshoot,we need to decrease the gain of the system.this will cause the system to
________________________________________________________________________
become slow,however,the system become more stable and reduce the overshoot.

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________
(5 marks)

9.0 DISCUSSION

9.1 Explain your observation on what is happening to the output potentiometer cursor when the input
potentiometer is set to some arbitrary angle.
when the input of potentiometer is set to some arbitary angle,the output potentiometer tries to imitates
________________________________________________________________________
the input that given.it will choose the shortest path to match the input potentiometer.
________________________________________________________________________
if the gain is set high,the output potentiometer will respond faster.it will have overshoot then
________________________________________________________________________
slowly stabilize to get the same reading as the input potentiometer.if the gain is low,
________________________________________________________________________
the potentiometer output will respond sloer,however,it become more stable and have less
________________________________________________________________________
overshoot.at certain angle(190-220)
________________________________________________________________________
the output potentiometer become completely unstable and rotate indefinitely. (5 marks)
DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 5
 DJM40092: Control System Closed Loop Position Control

9.2 Explain the role of the input potentiometer, output potentiometer, servo amplifier, operational
amplifier and motor driver.
the role of input potentiometer is to give a signal to output potentiometer,the output potentiometer
________________________________________________________________________
will perform to the desired action given by the signal that had been receivedform the input
________________________________________________________________________
potentiometer,the servo amplifier monitors the feedback
signal form the system and continously adjust for deviation from expected behavior
________________________________________________________________________
to smoothen the output potetntiometer.for the operational amplifier,it integrates the circuit that will
________________________________________________________________________
amplify the weak electric signals in the system,whic can cause overshoot or error in the
system,motor drivers is small curent amplifier whose function to take low curren signals and the
________________________________________________________________________
nturn it into a higher current signal that drive a motor.
________________________________________________________________________
(5 marks)

10.0 CONCLUSION
in conclusion,throught the lab session we manage to perform and observe simple closed loop position
________________________________________________________________________
control by using outpuyt of pa150c to control the motor rotation and provide feedback error signal form
the OA150A.we also manage to udnerstand the role of input potetntiometer output potentiometer servo
________________________________________________________________________
amplifier,operational amplifier,and motor driver.the lab session aslo teachs us to understand the system
diagrham and assemble the system correctly following the diaghram.i hope that knowledge that we
________________________________________________________________________
gained from the lab session can help us to enchance our understanding during the theory classes.
________________________________________________________________________

________________________________________________________________________

________________________________________________________________________
(3 marks)

11.0 REFERENCES
1.https://electronicscoach.com/closed-loop-control-system.html
________________________________________________________________________
2.https://www.electrical4u.com/control-system-closed-loop-open-loop-control-system/
________________________________________________________________________
(2 marks)

DEPARTMENT OF MECHANICAL ENGINEERING, POLITEKNIK KOTA KINABALU 6