Professional Documents
Culture Documents
EXPERIMENT
DC MOTOR POSITION CONTROL
OBJECTIVE
Doing experiment of control system is essential to knowing the comparison between control
theory and the practical. DC motor position control can show the response of first order
system and also second order system. Adjusting the gain controller will change the behavior
of the system.
REFERENCE
--,DC Servo Trainer Users Manual ED-4400B. Korea: ED Co., Ltd, 2012.
EXPERIMENT EQUIPMENT
In this experiment will used some servos as shown Table 1.
PRE-EXPERIMENT TASK
1. Explain open loop and closed loop of control system!
2. How position control of DC servo motor works?
INTRODUCTION
The purpose of this laboratory experience is to provide an introduction to control systems and
give explanation application of control system. In this experiment will give explaination
about position control of DC motor. First experiment will do error investigating, the second is
simple position control system the last is closed loop control system.
1
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
Voltage Regulation
For permanent magnet dc motors, the magnetic field value is constant. Then you only need
to set the magnitude of the voltage at the motor terminals. Current passing through the
armature will cut the magnetic field of permanent magnet. According to the Lorentz law, if
there is a current-carrying conductor in a magnetic field then, there will be a force that
moves the conductor. The magnitude of the force is proportional to the current through
conductors. The amount of current is affected by the voltage received by conductor. A force
that emerged later converted into a rotation force by mechanical rings.
The equivalent circuit of the motor can be seen in Figure 1. While armature resistance is
constant, by regulating the voltage at the terminals, it will regulate the speed of the motor.
Then by doing closed-loop analysis, will be obtained Equation 1.
(1)
Increasing the value will increase the speed of DC motor. If the rotor of the DC motor
attached to output potentiometer is increased the value of and suddenly decrease it to the
zero value will bring the shaft of motor in the certain position.
2
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
there is an excessive current flowing in the circuit. Turn the power off immediately, and
check cause of the overload.
3
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
4
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
A.Operational Procedure
1. Set the equipment of ED-4400B to be like Figure 8.
2. Set U-152 switch to a and U-151 to 10. Turn the power of U-156 on. Set U-157 dial
to 180 degrees.
3. Adjust U-153 to make the output of U-154 zero. Once the adjustment is done, do not
alter U-153 setting.
4. Set U-151 to 9. Within + 20ofrom original 180osetting, turn U-157 either clockwise or
counterclockwise, and see if U-158 follows the movement. U-158 motion should lag U-
157, In case U-158 leads U-157, switch the wires of U-161 motor.
5
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
5. Turn U-157 clockwise from 0o position by 10o increment up to 150o. Measure the angle
of U-158 at each position of U-157. Repeat the measurement with U-157 turned
counterclockwise. Calculate the offset error angle between U-157 and U-158 at each
position.
6. Increase the system gain by setting U-151 to 7, 5, 3, and 1. At each U-151 setting, repeat
step 5 experiment. Observe the change in offset error angle as a function of the system
gain.
7. Plot the result of steps 5 and 6. Plot the relationship between system gain and deadband.
B.Experimental Data
The value that get from step number four from operational procedure of Closed Loop
Position Control System, write in Table 2.
6
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
A.Operational Procedure
1. Set the equipment of ED-4400B to be like Figure 9.
2. Set ATT-1 and ATT-2 of U-151 to 10respectively, and set U-152 switch to b.
3. Turn the power on U-156. Using U-153 Zero Adjust, set the output of U-153 to 0. Also
set a Function Generator to 0.2 Hz.
4. Increase the system gain by changing ATT-1 from 10 toward 0.
5. Change ATT-2 from 10 to 0.
6. Set ATT-1 to half of the gain setting in step 4, and repeat step 5.
7. Set U-153 output switch to a, and repeat steps 4 and 5. Compare the difference in servo
time delay.
7
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
B.Experimental Data
The value that get from step number four from operational procedure of Position Control
with Speedfeedback, write in Table 3.
10
6
........................
4
10
6
........................
(Gain value is halffrom initiall
gain ATT-1)
4
8
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
9
Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember
10