Department of Mechanical & Industrial Engineering Concordia University

MECH 371 Analysis and Design of Control Systems

Laboratory Manual

T. Wen, W. Xie, H. Hong, G. Huard 11/30/2010

Table of Contents
Lab 1: Familiarization with Lab Equipments .............................................................. 2 Lab 2: Determination of DC Motor Parameters, Gain of Preamplifier, Servo-Amplifier and Tachometer ........................................................... 12 Lab 3: Time Response of Basic Closed-Loop System and Effect of Tachometer Feedback .............................................................................................. 22 Lab 4: Frequency Response of Basic Closed-Loop DC Motor System ...... 29 Lab 5: DC Motor Position Control with Cascade PID Compensation ....... 33

Labs are scheduled on an alternative week basis (every two weeks). Therefore, formal lab reports must be submitted every two weeks during your lab period. Please submit your fifth lab report directly to your lab instructor at his/her office, two weeks after you have performed the lab. No late lab reports will be accepted.

Lab 1: Familiarization with Lab Equipments & Instruments

Objectives
To familiarization students with MS150 DC Motor Control Modules, instruments such as function generator and oscilloscope and to calibrate potentiometers, Op Amp and pre-amplifier.

Introduction
In this lab each station (MS150 System) is equipped with a DC motor, with a tachometer to measure angular velocity, turning potentiometer (designated as input pot and output pot ) to give and measure angular position, and power amplifier (also known as pre-amp and servo-amp) to drive the motor. The command signal can be provided by the function generator or input pot, and the output of angular position or velocity can be measured by the oscilloscope. Figure 1-1 shows the MS150 system.
Function Generator Scope SA150D DCM150F IP150H PS150E

OA150A

OP150K GT150X AU150B

PA150C

Figure 1-1 MS150 DC Motor Control System

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Power Supply PS150E provides the 15 volt DC power supplies through two sets of sockets. These sockets are used to operate small amplifiers and provide reference voltage. The Ammeter is used for monitoring motor overload. The AC outputs are not used in our experiments. The front panel is shown in Figure 1-2. Potentiometers: showing in Figure 1-3. The module includes an Input Potentiometer IP150H (input position transducer), an Output Potentiometer OP150 K (output position transducer), and an Attenuator Unit AU150B containing two smaller potentiometers, which are used to adjust gains in the forward and feedback paths. The Figure 1-2 Power Supply: PS150E input and output pots are fitted with discs graduated (in degrees) on their

A : Input Pot IP150H

B : Output Pot

OP150K

C : Attenuator AU150B

Figure 1-3 Potentiometers

shafts. However, the output pot can be rotated continuously over 360, whereas the input pot has a limited rotation of about 150. Both these 'angular position transducers' are normally supplied with +15 and 15 volts, so that their outputs can vary linearly from zero to almost either of these limits as their shafts are rotated in either direction from a central (zero) position. Normal operation is symmetrical about this zero position. Note that in the output pot, a zero-voltage transition also occurs at the + or 180 position, hence requiring operation which ensures output angular displacements within these limits. Assuming that the total voltage applied across the output pot is 30 volts, and the rotation is 360, the position-to-voltage transducer sensitivity K0 will be 30 / 360 0.083 volt / deg., or approx. 4.8 volts/radian. The input and output potentiometers should be calibrated to obtain their sensitivity constants and/or to confirm whether Ki Ko.
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The pots in the Attenuator unit are provided with knobs and scale graduations from 0 to 10. These pots can be used as voltage dividers and to obtain the very small voltages.

Operational Amplifier OA150A is an op-amp normally connected as a unity-gain summing-inverter by means of the 3-position switch mounted on it. It is used as the angular-position-error detector. Since the unit is a summing amplifier, the feedback signal polarity must be reversed with respect to the reference signal, in order that the output will represent the error. The unit has three summing input terminals, and the output is available at two (or three) output sockets. The unit also has a zero-set control and a selector switch, which selects the feedback (normally resistive) within the unit. The selector switch is normally Figure 1-4 Op-Amp OA150A switched to the leftmost position indicating resistive feedback with unity gain. The op-amp must be zeroed before use. {ZERO PROCEDURE: With no input applied (input terminals left open circuited), the Zero-Set control should be carefully adjusted until the output is zero.} The Preamplifier PA150C, DC motor DCM150F, Servoamplifier SA150D, Tachometer DTX150X will be introduced in next lab session.

Experiment Procedure
In these experiments, we will begin with the power source and display, calibration of potentiometers (attenuator, input pot and output pot) then Op-amp. Please preview Experimental Results at P#11, pay attention to these questions during each Experiment. Exp#1 DC voltage measurement using DMM and Oscilloscope The objective here is to get variable voltage (signal) output from a fixed power source through potentiometer (attenuator in our case), monitor and measure it using DMM and Oscilloscope. [In this case, +15, -15 volt supply should be used as input] 1. Display and measure DC voltage by Oscilloscope and check the reading by DMM: The oscilloscope used in our lab is a 2 channel storage oscilloscope. It can display and measure two different signal sources simultaneously. DMM is 8085A.
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Figure 1-5 Attenuator Calibrate Connection

+15 V in

V 1 out

Top Pot

-15 V in

V 2 out

Bottom Pot

Figure 1-6 Attenuator Calibration Scheme

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1) Make connection as show in Figure 1-5. DMM set to: DC, V, scale to 20, connect V/K/S to terminal #2 of AU150B. com to terminal #1 of AU150B. 2) Scope Ch1 red terminal connect to output of attenuator (terminal #2 in AU150B), Ch1 black terminal to the common ( #1 of AU150B). Ch2 red to #5 in AU150B. Note only one ground in scope is connected to circuit common. 3) To make signal display correctly on the screen by adjusting the time scale (SEC/DIV) and voltage scale (VOLTS/DIV) knob. On the bottom of screen, it display: CH1 1.00V, CH2 2.0V, M 100ms. The signal can be displayed or not displayed by press button above the knob. 4) Push the MEASURE button to see the side Measure menu. 5) Push the top menu box button to select Source. Select CH1 for the first measurements, second button to select type: MEAN. 6) Push the second menu box button again to select CH2, select Type: MEAN. The CH1 and CH2 mean values are shown in the menu and are updated periodically. If it is a question mark or not display, clockwise turn the Time scale until it is in auto run mode. 2. Adjust top pot knob from 0 position to 10 position and record voltage from CH1 mean, check with DMM and fill out the following table. 3. Repeat Step 2 by adjusting the bottom pot knob, and record from CH2 mean.
Top knob Position 0 1 2 3 4 5 6 7 8 9 10 Voltage input (#3) V in 15 v 15 v 15 v 15 v 15 v 15 v 15 v 15 v 15 v 15 v 15 v Voltage output(#2) V out CH1 K1 (gain) Vout/Vin Bottom knob Position 0 1 2 3 4 5 6 7 8 9 10 Voltage input (#6) V in -15 v -15 v -15 v -15 v -15 v -15 v -15 v -15 v -15 v -15 v -15 v Voltage output(#5) V out CH2 K2 (gain) Vout/Vin

Exp#2 Calibration of Input, Output Potentiometers 1) Apply +15 and 15 volts to the Input and Output pots (150H and 150K) exactly as shown in Figure 1-7, noting the physical 'cross-connection' with respect to the pot terminal polarities*. Rotate the pot shafts until each output is zero volts. [Note that the Output pot shaft can be rotated only by turning the motor shaft which is between DCM150F and GT150X. DO NOT FORCE THE SHAFT WHICH IS CONNECTED TO THE OUTPUT POTENTIOMETER]. Check that the graduated disc
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attached to the pots indicates zero degree position, and the voltage output of each pots should be zero volt, if not, record the angle and use it as an offset. Dont force to adjust disc to

zero.. *Note: This 'cross-connection' is necessary in the final setup (close loop control setup), since both pots are
rotated in the same direction, their outputs will be with opposing polarities. Thus, if the outputs are summed (as is done in the lab by the operational amplifier module 150A), the op-amp output indicate the error in angular position between the two potentiometers. The op-amp thus serves as the error detector. If the two pots are physically identical, then setting both to the same angular position should result in zero output from the op-amp. The generation of the error signal is observed in the next step.

2) Rotate input pot shaft in steps and record the output voltage from IP150H #3(CH1 mean), fill out the following table. 3) Repeat step #2 for output pot, rotate motor shaft (not Disc) to change the disc position.

Figure 1-7 Input and output pot calibration setup

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Figure 1-8 Input and Output pot Calibration Scheme

Input Pot position (150H) ( Degree) -120 -100 -80 -60 -40 -20 -10 0 10 20 40 60 80 100 120 *turning the pot clockwise for positive polarity Voltage From #3 Vi CH1 (volt) Output Pot Position (150K) (Degree) -170 -120 -90 -60 -30 -10 0 10 30 60 90 120 170 Voltage from #3 Vo CH2 (volt)

Exp#3 Observation of the Error Signal 1. Zero Op-Amp (Figure 1-9): Connect a common (0 volt) signal to one of the op-amp inputs (leave the other two inputs open). Then adjust the zero set knob so the output of the op-amp is zero.

+15V

0V

-15V

2. Remove the common signal from #1 of Op-amp. Connect the input and output potentiometer as in figure 1-10. Rotate the input pot shaft approximately to Vi= 2.5V position. Use DMM to check Vi. 3. With the input potentiometer position left undisturbed, from start point position (0 degree), vary the output pot position by slowly turning the motor shaft and observe the change in Op-amp output. Fill out the following table.

CH2

Figure 1-9 Zero Op-Amp

Figure 1-10 Op-Amp Calibration and Error Signal connection

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Figure 1-11 Op-Amp as a Summing and Error Signal Block Diagram Input pot Vi Output Pot Position (Deg) -170 -150 -120 -90 -60 -30 -10 0 10 30 60 90 120 150 170 Output Pot Vo CH1 Op-Amp Output Ve CH2 Erro (Cal) Ve= -(Vi+Vo) Difference of Ve(cal) and Ve(real)

2.5

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Experiment Results
Exp#1 Calibration of Attenuator 1) What is the model of oscilloscope used in your station? Explain how to measure a DC voltage of 0.5 V by this scope? 2) Obtain the calibration curves showing the Pot Coefficient k =Vout/ Vin versus scale reading(knob position). The plots yield the correct value of k1 and k2 to be used. 3) If we need a variable voltage out 0 ~ 0.5v, but we only have a power supply which can give fix +15v output. Can we use two attenuators to do so (the second attenuator must output 0~0.5v by adjusting knob position 0~10). How to connect it, Referring Figure 1-5, Figure 1-6 and draw your connection similar as Figure 1-6. 4) Can you explain which terminal is input, which is output if we use AU150B as a voltage divider. Do we need a ground for it, explain why.

Exp#2 Calibration of Input, Output Potentiometers 1) Obtain the calibration curve of output voltage versus input angle in both directions from zero, and hence calculate the sensitivities Ki and Ko of the two pots in volts/rad. If the two values are close to each other, the average value may be calculated. 2) What is the cross connection mean in experiment. 3) Can you explain which is input signal, which is output signal for IP150H. How can you give input, what is the unit, how and where can you get output, and what is the unit. 4) Can you explain which is input signal, which is output signal for OP150K. How can you give input, what is the unit, how and where can you get output signal, and what is the unit

Exp#3 Observation of the Error Signal 1) Explain how to check if the op-amp is zero or not. Can you use DMM to do so. Please explain in detail. 2) From above experimental results table, explain how to make connection to get a signal subtraction. 3) Referring Figure 1-10 and 1-11, please use one attenuator to adjust (decrease) the error signal and measure it use scope ch2. Draw the connection similar as Figure 1-10 (add attenuator unit AU150B to Figure 1-10, redraw the connection). 4) Referring Figure 1-10 and 1-11, if we switch the connection of IP150H (#1 to +15, #2 to -15). What is the effect on Ve error signal.

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Lab 2: Determination of DC Motor Parameters, Gain of Preamplifier, Servo-Amplifier and Tachometer

Objectives
To familiar with the DC motor module, amplifiers and tachometer. To verify DC motor parameters, calibrate the gain of pre-amplifier, servo-amplifier and tachometer.

Introduction
Preamplifier PA150C is a low-power control amplifier which is used to provide the "deadband compensation" voltage, as well as a fixed forwardpath gain Kp. The module has two summing input terminals and two output terminals. {An additional input terminal labelled "Tacho" may also be present.} A positive voltage applied to either input yields an amplified positive voltage at the upper output socket(3),the socket(4) staying near zero; a negative voltage applied to either input yields an amplified positive voltage at the lower output socket(4), the socket(3) staying zero. The two output terminals provide the positive voltage drive required as input for the servoamplifier. Thus, if the output terminals are connected to the servoamplifier input terminals, the motor will reverse direction whenever the preamplifier input voltage changes polarity.

Figure 2-1 Preamplifier PA150C

With zero input, the voltages at both output sockets must be equal, and this condition must be achieved by adjusting the Zero Set control on the preamplifier. { PROCEDURE: Power on preamplifier. With the input terminals left open circuited, adjust the Zero Set knob until the differential voltage between the two output sockets is zero, i.e., until the voltages at the two output sockets are equalized}. The preamplifier must remain reasonably balanced for proper operation. Maximum output is about 12 volts, and the linear voltage gain is about 10 to 15 V/V. 'Deadband' occurs due to the presence of mechanical static-friction (Coulomb-friction) effects in the commutator brushes and in the bearings. The term 'deadband' which essentially is "the noresponse of the motor until the servoamplifier[motor] input voltage Vm, exceeds a certain value Vd " [see Figure 2-2 (a)] occurs in both rotational directions. The 'deadband' prevents the modeling of the servomotor as a linear element. In the experimental equipment, the motor is 'linearized', by providing the servoamplifier input with a bias voltage Vb which is approximately
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equal to the deadband voltage. The required bias is obtained from a pre-amplifier which has the transfer characteristic shown in Figure 2-2(b). The bias voltage Vb is somewhat less than Vd in order to prevent motor response due to spurious noise signals which may be present in the preamplifier output. At balance, identical output voltages of 1 to 1.5 volts should be obtained.

Figure 2-2 (a) Motor Deadband Vd

Servoamplifier SA150D is the poweramplifier which drives the motor. Its panel shows a simplified schematic of the amplifier. The left side of the panel contains two input terminals which accept only positive input signal voltages: A positive input voltage [exceeding the deadband voltage], when applied to one input terminal will rotate the motor in one direction, a similar positive voltage applied to the other terminal will produce reverse rotation. Negative inputs will have no effect. The panel also contains a set of 15v terminals which can be used by other units. The servoamplifier is already connected to the power supply unit by a cable, and does not require further power connections.

(b) Preamplifier Bias Vb

DC Motor DCM150F & Reduction Gear Figure 2-3 Servoamplifier SA150D Tacho Unit GT150X consists of a DC motor mechanically coupled to a tachogenerator on high speed input end,( tachometer sensitivity is 0.025 Volts per radian-sec-1 and its output polarity can be reversed by appropriate patching), through a 30:1 reduction gear (a 90 worm gear assembly), to an output shaft on the other end. The output shaft is coupled to the
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Output Potentiometer through a coupling link. A top panel display can be switched to indicate speed in r/min or to monitor an external DC voltage. The motor is operated in the armaturecontrolled mode, through appropriate patch-cord connections made on the servoamplifier. The motor is already connected to the Servoapmplifier by cables, and does not require further power connections.

Figure 2-4 DC Motor DCM150F coupled Tacho- gear GT150X

The armature-controlled DC Motor is used in the laboratory equipment. The motor is driven by a servoamplifier [the combination of the two being called a 'Servomotor]. The overall transfer function can be written as follows : (2-1) where is the output angular velocity, Vm is the servomotor input voltage, Km is the servomotor gain constant and is an equivalent electro-mechanical time constant. The two characteristic constants in (2-1) can be experimentally determined. The block diagram is shown in Figure 2-5.

Figure 2-5 Block Diagram: SA150D+DCM150F+ GT150X

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Experiment Procedure
In these experiments, we will learn to balance the preamplifier, connect modules, calibrate the amplifier gain, determine the bias, motor deadband, and servomotor time constant. Exp#1 Determination of Preamplifier Bias and Gain 1) Balance the Preamplifier and determine Preamplifier Bias: Power PA150C, connect a common signal (0V) to the inputs (input 1 and 2). Monitor (using the oscilloscope and its measurement feature, scope vertical position and scale should be same) both outputs (3 and 4), adjust the Balance Control (zero set knob) until both outputs have the same voltage. This voltage should be in the range of 1.0 to 1.5 volts and is the Figure 2-6 Balance PA150C "bias" voltage which is intended for overcoming part of the system Deadband. The zero set knob should not be disturbed after balancing. Record the bias value. 2) Set up the circuit to obtain a small voltage signal: as shown in Figure 2-7 using the Attenuator modules. Note that the pots in the Attenuator are connected in cascade so that very small DC voltages required as input for the gain determination can be easily obtained. Set top pot 0.5 volt (after get 0.5V at #2, dont touch the top knob any more), then bottom pot will yield an output of 0 to 0.5 volt over its entire knob-rotation range at socket 5. If -15V connect to # 3, then # 5 can obtain an output of 0 ~ -0.5V. 3) Preamplifier Gain: Disconnect the common signal from the pre-amp and connect the signal from the bottom pot #5 as show in figure 2-8. Apply various Figure 2-7 Using AU150B voltages to the preamplifier input #1 and scope CH1. Connect PA150C output #3 to scope CH2. Leave input get small variable Signal #2 and output #4 unconnected. Vary input signal from 0~0.5 by turning bottom knob, (Oscilloscope setting: fisrt side menu: source: CH1, Type: mean. Second side menu: Source: CH2, Type: mean, properly adjust voltage and time scale to get
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reading from Scope), record data at the following table. Then disconnect +15V and connect -15V to AU150B socket 3, thus a variable signal (varies from 0~ -0.5V) can be obtained at #5 on AU150B and at input #1 on PA150C, the amplified signal output to PA150C output #4, leave input 2 and output 3 unconnected, record data at the following table.

Figure 2-8 Preamplifier Calibration Connection

Input Voltage CH1 Volt 0 (real reading here) 0.1 0.2 0.3 0.4 0.5 0 -0.1 -0.2 -0.3 -0.4 -0.5 16 Output Voltage CH2 Volt

Input terminal # 1 1 1 1 1 1 1 1 1 1 1 1

Output Terminal # 3 3 3 3 3 3 4 4 4 4 4 4

Exp#2 Servomotor Deadband and Gain Determination 1) Set up the circuit shown in Figure 2-9. Apply 0 ~ 3 volts (using top attenuator AU150B #3 connect to +15v, #2 to input #1 of PreAmp PA150C). Scope CH1 to input #1 of Servo-amp SA150D. Note that the motor does not respond until the input voltage exceeds a certain threshold value Vd, which is the deadband voltage for one direction. Gradually increase the voltage allowing the motor to start to turn. Continue to increase the input voltage to 1.5V (read from CH1 of scope), read the LED display (rpm), CH2 volts and record all values on the following table. Continue to increase input voltage to 2.5V (read from CH1), read LED display (rpm), CH2 volts, and record all values on the table. 2) Then apply the negative 0 ~ -3V input voltage to terminal #1 of the Pre-amplifier PA150C (Switch top attenuator #3 to -15v, CH1 switch to terminal #2 of Servo-amp SA150D ). Also note that the motor responds similarly but in the opposite direction. Repeat step 1. Record all values same as above.

Figure 2-9 Servomotor Gain and Deadband Connection

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Servo Amp Input

Terminal #
#1 #1 #2 #2

Tachometer Output
n RPM Rad/S Vt Volts (CH2) Kt Volts.S/rad

Vm Volts (CH1)
1.5 V 2.5 V 1.5 V 2.5 V

Exp#3 Servomotor Time Constant determination:

1. How to use Function Generator and measure low frequency signal by Scope: 1) The function generator is used to apply a square-wave input to the servo-amplifier. It can generate three different signals: Sine, Square, and Saw signal. We can adjust the Frequency, Amplitude, Offset (pull out offset knob to adjust DC offset) and Duty of these signals. 2) Directly connect Function Generator 50 output to Scope CH1. Set Oscilloscope to operate in Scan Mode(100ms/div to 5 sec/div) which produce a scrolling trace. Adjust the position knob of CH1 and CH2 of DSO to have zero vertical position. 3) Check signal on Scope by run/stop, freeze display, press Cursor, voltage, two horizontal cursor will display, put first cursor to 0 position and second to final step position, the Delt volt in side menu is the Amplitude of this signal. You can check frequency also by switch Type: Voltage to Time, two vertical cursors will display. Put two cursors at a whole period position, the Delt is the period time and the under is the frequency reading. 4) You can also check signal by counting grids by adjusting voltage scale. Setting scope to 200mv/div, if voltage changed in 2 grids, the amplitude is 0.4 v. If it changed in 3 grids, it is 0.6v. 5) Use function generator to obtain a square wave with a frequency of 0.3 Hz, Slowly adjust the 'DC offset' and 'Amplitude' controls on generator such that the minimum value of the square wave is zero and its maximum 0.4 volts. 2. Use the circuit shown in Figure 2-10. Connect Servo-Amp terminal #1 to scope CH1. The tachometer output to CH2 will display the rising exponential curve of the (firstorder) servomotor. Power on motor and fine adjust offset to make sure motor run in one direction and full stop periodically. 3. Adjust oscilloscope amplitude (volts/div) and time base (sec/div) controls until the positive-going half-cycle of the square wave appears as a 'step' in the display [see Figure 2-11]. Press Run/Stop ** button in Scope to display the rising wave form. Use the
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voltage and time cursors to graphically determine the servomotor time constant by reading off the time corresponding to 63.2 % of the 'final' value*. Capture the display and mark the time constant and final value, fill out the following table. * How to get Time Constant using Cursor measurement: 1) From Scope, Press Cursor: Type: Voltage, Source: CH1, Turn vertical position to move 2 horizontal cursors, read Delta, Vm (volt). Then switch to Source CH2, using cursor to read Delta, Vt (volt). 2) Refer to Figure 2-11, find the cursor of 63.2% of Vt( e.i. if Vt=0.38v, the 63.2% of Vt is 0.240 v, move second cursor to delt=0.24v) . Adjust Horizontal Position knob to move waveform to a marked (known) position (center of screen or any vertical grid line), Switch cursor type to Time, two vertical cursor display, set first cursor to initial position, second to marked (known) position. The Delta is the time constant. Capture a graph of this waveform and measurement.

V Function Gen. 0~0.4 V -0.4V ~0V

Vm (CH1)

Tachometer (Vt CH2)

Time Constant

4. Connect CH1 to terminal #2 of Servo-Amp and adjust Function Generator Offset down to -0.4V ~0V (dont touch Amplitude) to make sure motor run in reverse direction and full stop periodically. Repeat the steps #3). Fill out above tables second row. 5. Repeat Step #2, switch CH1 to #1 of Servo-Amp, increase AM PL of Function Generator to 0~ 0.8 V, Adjust Offset also to make sure motor run in one direction and stop periodically. This will yield data same direction as step #2 but for big input voltage.

V Function Gen. 0~0.8 V -0.8V ~0V

Vm (CH1)

Tachometer (Vt CH2)

Time Constant

6. Repeat Step #4, (keep amplitude, only adjust DC offset), fill out above tables second row. ** Alternate method to get one shot wave form: 1) Scope setting: Ch1: 2v, Ch2: 2v, M: 50 ms, adjust Horizontal Position to set M Pos: 0.0 s, Trigger level set to +1v for rising wave or -1v for falling wave. 2) Press Scope Trigger Menu: Type: Edge, Source: CH1, Slope: Rising (Falling depending on waveform), Mode: Auto, Couple: DC. 3) Run motor by turn power. Press Scope: Single Seq. A rising (or falling waveform) will display and freeze on screen. Now you can use cursor to measure it.

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Figure 2-10 Servomotor Time Constant Connection

Figure 2-11 Servomotor Time Constant Scope display

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Experiment Results
Exp#1 Determination of Preamplifier Bias and Gain Obtain a plot of output voltage (terminal 3) versus input voltage from 0~ +0.5 V (input terminal #1). Next, on the same graph, plot other output (terminal #4) versus Vin from 0 ~ -0.5V (input terminal #1). A V-shaped characteristic will result if the preamplifier has been well balanced. Find Kp from these plots. Exp#2 Servomotor Deadband and Gain Determination 1) From the table, calculate and Kt, (Rad/s), 2) Plot versus Vm in both input terminal #1 and #2 in one graph. The fitted line. Find Vd from this plot.

. , is the slope of

Exp#3 Servomotor Time Constant Determination 1) From the recorded table and plot, get average time constant. 2) Find servomotor gain from the final value and input square-wave amplitude. Refer to (2-1) and Figure 2-5,

, when t, S0,

. Compare this Km with

obtained from Exp#2. 3) Using above obtained parameters to simulate the DC motor in Matlab Simulink. Compare your result with experimental one. Pre-Lab 3: Following the block diagram Figure 3-3, Draw a connection in Figure 3-4. Submit connection diagram during next lab.

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Lab 3: Time Response of Basic Closed-Loop System And Effect of Tachometer Feedback
Objectives
To observe the time response of the closed-loop DC motor position control system, investigate the performance of second order system, and effect of tachometer feedback on the second-order system response.

Introduction
Basic angular position control system: The block diagram of the basic system which is investigated is shown in Figure 3-1. The speed reducing gear coupled at the output shaft of the motor is represented as a block having the transfer function (1/SN), to indicate speed reduction as well as angular velocity - to - position conversion. Ki and Ko are the transfer functions of the Input and Output potentiometers, Kp is the pre-amp gain, and Km is the servo-motor gain respectively, which were obtained by calibration in the previous lab.

150 X Gear Box

Figure 3-1 Basic Angular Position Control System

The op-amp 150A is used to sum multi-signals as Reference Comparator or Error Detector. The error voltage Ve is the difference between desired voltage Vi and real voltage Vo (or ).
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The close loop transfer function of the system of Figure 3-1 (including Ki) may be obtained as: (3-1)

Where the Natural Frequency is

(3-2)

, and the Damping Ratio is

(3-3)

Transient time response specifications to a step input are defined as follows (refer to Figure 3-2):

1.4

1.2

tr

P.O O.S X2 X1 X3
2%

0.8

0.6

0.4

tp T

0.2

ts

10

12

14

16

18

20

Figure 3-2 Time Response of Basic Angular Position control System

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Period Time:

where the damped natural frequency is

Rise time, tr: the time required for the response to rise from 0 ~ 100% of its final value for a underdamped second-order system. Peak Time: time taken to reach the first maximum,

Percent Overshoot (P.O.): the maximum peak value of the response curve measured from unity. (3-4) Settling Time: the time required for the response curve to reach and stay within a range about the final value of size specified by absolute percentage of the final value (usually 2% or 5%). , (2% settling time) The time-domain specifications are quite important since most control systems must exhibit an acceptable time response. Except for certain applications where oscillations cannot be tolerated, it is desirable that the transient response be sufficiently fast and be sufficiently damped. Thus, for a desirable transient response of a second-order system, the damping ratio must be between 0.4 and 0.8. Small values of yield excessive overshoot in the transient response and a system with a large value of responds sluggishly. An overshoot in the range of 2 to 6% is considered to be the optimum, a range being necessary because setting the P.O. may involve a trade-off with other specifications. Note that an increase in KM, while providing an increase in the natural frequency (ie. speed of response or rise-time), will also result in a reduction in the damping ratio, thereby increasing the tendency towards instability (ie. larger overshoot and settling time). Thus, a 'trade-off exists between, say, the rise-time and the settling time. Furthermore, in the experimental setup, all of the above system parameters are constant and any adjustment capability can only be obtained through an effective variation in the forward-path gain. In the experimental setup, such a gainvariation is obtained by an attenuator which is ahead of the pre-amplifier (see Figure 3-3) to effectively reduce the gain of that amplifier (ie. 0< overall forward-path gain KM , in our case, KM=K1KpKm , where K1 is the potentiometer constant which was calibrated in previous lab and ranged from 0 to 1) Basic angular position control system with velocity feedback: The restrictive trade-off situation between and in the basic system described above may be somewhat improved by using additional 'derivative feedback'. In obtaining the derivative of the output position signal, it is desirable to use a tachometer instead of physically differentiating the output signal. In our lab, the angular velocity of the motor (Tachometer feedback or Velocity feedback or Rate feedback) is introduced. In the laboratory system, a tachogenerator
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(Tachometer) is physically coupled to one end of the motor. It produces a DC voltage output , which is used as an additional negative feedback signal as shown in Figure 3-3. This system can be shown to have the same transfer function given by Eqn. (3-1) where remains unchanged but with now given by: (3-5) The Damping Ratio is now multiplied by the factor (1 + KMK2Kt). Thus, can now be independently set for any given In the laboratory setup, an attenuator (with pot constant k2) is used in cascade with the tachometer output, so that an effective adjustment range for Kt from zero to its full value is possible. For the basic system, optimum* step response should normally occur with the pot coefficients k1=0.4 and K2 = 0.02, respectively. It can be seen that velocity-feedback improves stability by introducing extra damping.
150A

Ki
150H

K1
150B top

Kp
150C 150D +150F 150X

K2
150B
Bottom

Kt
150X

Ko
150K

Figure 3-3 Basic Angular Position Control System with Velocity Feedback Experiment Procedure
Pre-lab: Please review Lab#1 and Lab #2 and connect a basic angular position control system with velocity feedback as shown in Figure 3-3. The lab equipments layout is shown in Figure 34. All the +15V and -15V and 0V voltage will be connected in the lab later. The power supply PS150E, servo-amplifier SA150D and DC motor DMC150-F are internal connected. Please note that input pot IP150H and output pot OP150K must be cross connected (referring Figure 1-8). Make sure Ve is a voltage difference and not a voltage sum. The reference voltage of IP150H
25

and OP150K is 15V. Draw your connection on Figure 3-4 and submit it to your lab demonstrator after finishing exp#1 connection.

PA150C

SA150D

PS150E

DCM150F

GB150X

OA150A K1

K2

IP150H

AU150B

OP150K

Figure 3-4 Pre-lab connection for block diagram of Figure 3-3

Exp #1 Basic Closed-loop System Set Up Notes: Throughout the following experiments, it will be assumed that the op-amp and the pre-amp remain zeroed and balanced respectively and that the supplies to the input/output pots are cross-connected so that the op-amp is the difference between the input and output position signals.
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1) With no power applied, set up the circuit in Figure 3-4 (Figure 3-3 is the block diagram for this). Set the input and output pots to their mid-positions, indicating approximately zero output voltages. Also set the two pots in the Attenuator unit to K1 =0.5, K2 = 0. 2) Offset the reference input pot by about 30 and turn the power on, the output pot will then rotate to follow the reference pot position if the system is functioning as a negative feedback system. If it does not, then the feedback signal polarities of either position or velocity or both are incorrect and must be reversed as required until the system shows the proper position following response. (Letting K2=0, check position feedback first. Switch +15,-15 connect of IP150H to make sure system is controllable and stable. Then add K2=0.5, if system is unstable, switch the polarities of GB150X.) 3) Replace input pot by function generator and connect to terminal #1 of OP150K. Set square wave, 4V pk-pk, frequency 0.3 Hz. Connect scope CH1 to Vi, (terminal #1 of OP150K), CH2 to Vo (terminal #2 of OP150K). Set the DSO time base to produce a scrolling trace (scan mode). Now observe the responses to step input with various settings of K1 and K2 which are the two control pots in the Attenuator module. Note that K1 effectively sets the forward-path gain (from zero to 1) while K2 sets the magnitude of the tachometer feedback signal. 4) With K2 remaining at zero (thereby removing the velocity-feedback loop): increase K1 in steps and observe the change in the transient response. Capture input and output in one plot for same K2=0 but with K1=0.1, 0.2, 0.4. Try to measure Tp, T and P.O for each case. (using run/stop and Cursor to do). Refer to Figure 3-2. Exp #2 Closed-loop System with Tachometer Feedback

1) Keep same as above steps 1)3). 2) With K1 set at maximum (=1), observe the change in transient response as the tachometer (velocity) feedback is gradually introduced by increasing K2. Using RUN/STOP , capture plot for same K1=1 but with K2=0.1, 0.2, 0.3 or 0.05(if the system shows too sluggish). Also try to measure Tp, T and P.O for each case. Exp #3 Closed-loop System Time Response

1) Keep same as Exp#1 steps 1)3). 2) Select k1 and K2 which yields what you consider to be the 'best' step-response (approximately 5% of overshoot). From the displayed 'best' response curve, use the DSO cursors to graphically determine the Percentage Overshoot and use it to estimate the damping ratio. Capture of this 'best' response for the report. 3) Repeat step 2) for choosing approximately 10% or more of overshoot. Make sure the system is stable

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Experiment Results
Exp#1 Basic Closed-loop System Set Up Write a summary of your observations in your report. Calculate recorded T, Tp, and P.O for each case. Comment on your results. , and from your

Exp#2 Closed-loop System with Tachometer Feedback Write a summary of your observations in your report. Calculate , and from your recorded T, Tp, and P.O for each case. Pay attention to . Comment on your results. Exp #3 Closed-loop System Time Response 1) Estimate two from your best response experiment by equation (3-4). Compare them with value calculated using equation (3-5)

where the selected values of K1 and K2 have been introduced to take into account the effective modified values of the gain KM= Kp*Km and the tachometer sensitivity Kt. Tabulate the results of your comparison. N = 30 is the output shaft gear ratio. You can find all the other parameters in your former experiment results. 2) Use Matlab Simulink to simulate the system as in Figure 3-3. K1 and K2 are the two values used in the lab (Exp#3, step #3, one is 5% of overshoot, other is 10% of overshoot). N = 30 is the output shaft gear ratio. You can find all other parameters in your former experiment results. Plot the simulated results and check the P.O. in graphs. Compare them with your experimental plot.

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Lab 4: Frequency Response of Basic Closed-Loop DC Motor System

Objectives
To study the frequency response of a basic closed-loop DC motor system by observing its natural response, and compare the experimental response with computer simulation response.

Introduction
The frequency response means the steady state response of a system to a sinusoidal input. The resulting output for a closed loop DC motor system is sinusoidal in the steady state; it differs from the input waveform only in amplitude and phase angle. Consider the DC motor described by Equation (3-1), (4-1)

t
3 2 1 0 -1 -2 -3 -4

10

20

30

40

50

60

Figure 4-1 Frequency response of closed loop system

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The input

(t) is sinusoidal and is given by:

If the system is stable, then the output

can be given by

Where We can present frequency response characteristics in graphical forms, Bode Diagrams or Logarithmic Plots. A Bode Diagram consists of two graphs: one is a plot of the logarithm of the magnitude of a sinusoidal transfer function ( ), or called dB; the other is a plot of the phase angle (deg) or phase shift; both are plotted against the frequency in logarithmic scale.
System: DC Bode Diagram Frequency (rad/sec): 10.6 Magnitude (dB): 10.3

20

10

Mp (in dB)
Magnitude (dB)

-10

System: DC Frequency (rad/sec): 15 Magnitude (dB): 0.00225

-20

-30

-40 0

-45
Phase (deg)

-90

-135

-180 10
0

10

10

Frequency (rad/sec)

Figure 4-2 Bode diagram of closed loop DC motor System

An example of input and output sinusoidal waveform is shown in Figure 4-1. The output/input magnitude ratio:
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M (dB) =

(4-2)

Phase shift: (degree) = (4-3) Figure 4-2 shows the Bode Diagram of closed loop DC motor system. We can estimate the underdamped natural frequency and damping ratio by the asymptotic lines from Bode diagram. , (4-4)

Experiment Procedure
1) Set up the circuit shown in Figure 3-3, make sure system is controllable and stable, use function generator to replace input pot 150H. Get step response by setting K1, K2 to your value which yielded your 'best' step-response. Set the oscilloscope to read DC at 1 volt/div and adjust the sec/div setting until the waveform is scrolling, 100-500mS/div. Turn on the 'invert' for Ch2 of scope. Adjust the function generator controls to obtain a sine wave output of approximately 1 Hz, 4 volts peak-to-peak, symmetrical about the zero volt baseline. 2) Keep the peak-to-peak input voltage magnitude constant, vary the frequency from 0.1 Hz to approximately 10 Hz in steps. Sweep frequency from 0.1 to 10 Hz, find the resonance peak, more readings will have to be taken near the peak so that it is well defined in a plot. Conversely, less readings may be taken in regions where the response is 'flat'. At each frequency fin, 'freeze' the signal and use cursors to find the input period T, pk-pk amplitude , pk-pk amplitude , and the phase-shift time t between input and output waveforms. Tabulate the results.

Fin (Hz) 0.1 1 2 3 . f peak .. .. 7 8 9 10

T (sec)

t (sec)

(pkpk) (volt)

(pk-pk) (volt)

(rad/S)

M ( dB)

Phase (deg)

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Experiment Results
1) Calculate the output/input Magnitude Ratio M (dB) and the Phase shift (degrees) at each frequency and put them into the table above. For an input and an output which lags the input, the (degrees) and M (dB) may be calculated by (4-3) and (4-4). Plot the Magnitude Ratio M (dB) and the Phase-lag (degrees) against the radian-frequency =2f, using twocycle, semi-logarithmic graph paper. Example M and plots are shown in Figure 4-2. Typical data points are also shown to emphasize the need to take more readings at frequencies where rapid changes occur. Note: A distinct peak will not be obtained if the system is set for near critical damping. 2) Estimation of undamped natural frequency n and damping ratio from the resulting frequency response plot. The magnitude (dB) frequency data points plotted on semi-log graph paper can be used to obtain system parameters such as and n, as shown in Figure 4-2. Use asymptotic lines to estimate the n and the peak (if any) to find the by (4-4). Compare the result of with the corresponding value calculated earlier in Lab#3. 3) Use Matlab M scripts to plot the Bode diagram given the system parameters as in the previous lab. The K1 and K2 are chosen in this lab. Find the and from the Bode diagram and compare it with above experimental results and in lab #3. 4) Use Matlab Simulink to simulate the system. Fist get step response with the K1 and K2 same as in experiment, then use Chirp signal input and Spectrum Analyzer output. Compare the result with 3) and experimental results.( You can find Spectrum Analyze in Simulink Extra library).

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Lab 5: DC Motor Position Control with Cascade PID Compensation

Objectives
To investigate PID controller and cascaded PID with tachometer feedback, compare the experimental response with computer simulation response.

Introduction
'Compensation' is the modification of system (plant) performance characteristics so that they conform to certain desired specifications. This is accomplished by effectively changing the transfer function (more specifically, the OLTF) of the system, by introducing a compensator block at some suitable point in the closed loop. The compensator is usually located near the input comparator, since the signal levels are low there and hence the compensator can be a lowpower device. In cascade Proportional-Integral-Derivative (PID) compensation, the time-integral and time-derivative of the comparator output are obtained and added to that output itself and the composite signal is used as the actuating signal (refer to Figure 5-1). In the laboratory setup, a Proportional-Integral-Derivative amplifier unit (called PID unit PID150Y) is used in the forward path, following the reference comparator, for the investigation of cascade compensation. The Proportional-Integral-Derivative unit PID150Y is a three-mode control amplifier. It provides three operational paths (P+I) or (P+D) or (P+I+D). The block diagram is shown in Figure 5-2. Switching possibilities can be readily seen on the simplified schematic shown on the faceplate of the unit (see Figure 5-3). This amplifier has the following transfer function: Gc(S) = K [1 + (1/sTi) + sTd] (5-1)

where the proportional gain K and the integral and derivative time constants Ti and Td can be varied over specified ranges by means of three calibrated knobs on the unit. [The gain K can be varied from 0.11 to 11 in two decade ranges. The Integral Time Constant Ti can be set from 0.11 to 11 seconds (in two decade ranges) and the Derivative Time Constant Td can be set from 2 milliseconds to 220 milliseconds in two ranges. Also, the Integral and Derivative functions can be independently switched on or off as required.]

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150A

150C

Ki
150H

PID
150Y PID

Vc

Kp
150C 150D +150F 150X

K2
150B

Kt
150X

Ko
150K

Figure 5-1 DC Motor Position Control with Cascade PID + Velocity Feedback Compensation

Ti

Td

Figure 5-2 PID150Y Block Diagram

34

Ve Multiplier Switch

Select Switch

Vc

Figure 5-3 PID150Y Module

Now consider the system with the PID unit in the forward path, but with the tachometer feedback removed (with the PID module parameters K, Ti and Td set, K2=0, this will correspond to cascade PID compensation). Using and , the CLTF is given by may be found, assuming .

The equivalent unit-feedback transfer function by:

(5-2) Equation (5-2) clearly shows that (a) the system Type has been changed to Type 2, and (b) a pair of zeros has been introduced. ie: the system will now have zero steady state error for both step and ramp inputs. However, its transient response will depend on the location of the roots of the system characteristic equation [ie: closed loop poles].

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Experiment Procedure
Pre-lab: Please review Lab#1, Lab#2 and Lab#3, connect a basic angular position control system with PID controller and cascade velocity feedback as shown in Figure 5-1. The lab equipments layout is shown in Figure 3-4. All the +15V and -15V and 0V voltage will be connected in the lab later. The power supply PS150E, servo-amplifier SA150D and DC motor DMC150-F are internal connected. Please note that input pot IP150H and output pot OP150K must be cross connected (referring Figure 1-8), make sure Ve is a voltage difference not a voltage sum. The reference voltage of IP150H and OP150K is 15V. draw the connect in Figure 3-4 and bring to lab. Expt. #1 Dc Motor Position Control With PID Compensation Notes: Throughout the following experiments, it will be assumed that the op-amp and the pre-amp remain zeroed and balanced respectively and that the supplies to the input/output pots are cross-connected so that the op-amp is the difference between the input and output position signals. Check system is controllable and stable, then replace input pot with function generator. Set up the circuit shown in Figure 5.1. Set K2 to zero to eliminate the velocity feedback. Adjust the function generator controls to obtain a square wave output of about 4 volts peak-to-peak, symmetrical about the zero volt baseline, at approximately 0.4 Hz. Notes: For the following each steps, record your observations (Stop/Run scope, capture display for your report) and comment on them. Attempt a correlation of your observations with a rootlocus diagram drawn using your values of system parameters. 1. Proportional Compensation: switch out the Integral (Ti=0) and Derivative (Td=0) paths, and switch in only the Proportional path. Observe the change in 'step' (square-wave) response of the angular-position output as the proportional compensator gain K is varied from 0.1 to 10. Momentarily switch the input waveform to a triangular-wave and observe the change in the "follower" (ramp) response as K is changed. (Let: K=0.1, 0.3, 1, 10) 2. Proportional-Integral Compensation*: Switch in the Integral path. Set the proportional gain K=0.3, and observe the effect on the output responses for square wave and triangular wave input when Ti is set to various values, Let . 3. Proportional-Derivative Compensation*: With K=0.3, switch out the Integral path and switch in the Derivative path instead. Observe the effect on the output responses for square wave and triangular wave input when Td is set to various values. Decrease the proportional gain if necessary, to reduce noise. Let . 4. Proportional-Integral-Derivative Compensation*: Next, switch in the Integral path again. The compensation is now a "cascade PID". Observe the effect on the 'step' (square-wave)

36

response and triangular-wave response when the gain K, Ti and Td are set to various values. Let a) (K=0.3, . b) (K=0.3, . c) (K=0.3, . d) (K=0.3, , ). Expt. #2 DC Motor Position Control With PID Compensation and Tachometer feedback Cascade Compensation with Tachometer feedback: Velocity feedback compensation can be introduced in addition to any of the cascade compensation schemes given in Expt#1,steps 1, 2, 3 and 4 above, by means of pot coefficient K2. Note that the tachometer feedback is now applied directly to the preamplifier (Y150C, input#2) in an internal loop which is also called a "minor" feedback loop. Observe the effect of increasing K2 in each of the above cases. Record your observations and comment on them. a) P+ Tach: (K=0.3, K2=0.1) (K=0.3, K2=0.05) b) PI+Tach: (K=0.3, ) , (K=0.3, )

Experiment Results
Expt. #1 1). Derive the transfer Function (real position of DC motor)/ motor) from Figure 5.1 given K2=0.

(desired position of DC

2). In Expt.#1, draw a Root-Locus plot for each step 1,2, 3 and 4 using system parameters and the value in the experiments. Comment on them. 3). In Expt.#1, Simulate block diagram Figure 5.1 for each step 1,2, 3 and 4 using system parameters and the value in the experiments, compare it with the experimental results. 4). In Expt.#1, get step response of the transfer function from question #1 for each step 1,2, 3 and 4 using system parameters and the value in the experiments. Compare the results with Question #3 and experimental results. Expt. #2 1). Derive the transfer Function (real position of DC motor)/ motor) from Figure 5.1 with velocity feedback K2.

(desired position of DC

2). In Expt.#2, Simulate block diagram Figure 5.1 with K2 using system parameters and the value in the experiments of each case, compare them with the experimental results. 3). In Expt.#2, get step response of the transfer function from question #1 for each case. Compare the results with Expt#2 Question #2 and experimental results.

37