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Automation and Computer System Laboratory

Department of Automation Electronics


Faculty of Vocational
Institut Teknologi Sepuluh Nopember

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.

Tabel 1.Equipment of DC Motor Position Control Experiment


Quantity Designation Description
1 U152 Summing Amplifier
1 U153 Pre Amplifier
1 U154 Motor Driver
1 U155 Tacho Amp Unit
1 U156 Servo DC Power Supply
1 U157 Potentiometer (Reference)
1 U158 Potentiometer (Motor Coupling)
1 U151 Dual Attenuator
1 U161 Servo Motor
1 U162 Function Generator
1 U163 Magnetic Brakes
50 Jumper Cable
2 Power Cable

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.

The Components of the Control System


The basic goal of a control system is to produce an output as a response to an input signal or
command and keep it this way in the presence of external interference, disturbances, etc.
Control systems can be basically classified as open-loop systems or closed-loop systems
depending on how they are built. This introductory lab experience will explore both types of
systems.

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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)

Where is voltage terminal, is induction voltage, is armature resistance, and is


armature current.

Figure 1. Equivalent Circuit of Permanent Magnet DC Motor

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.

Equipment: DC Servo Trainer ED-4400B


DC Servo Trainer ED-4400B is a lab instrument to practice speed and position control on dc
motor. Parts of modular servo system ED-4400B is consist of dual attenuator, summing
amplifier, pre-amplifier, motor driver amplifier, tacho amp unit, DC power supply,
potentiometer (reference) and potentiometer (motor coupling), tachometer, servo motor,
function generator, magnet brakes with air gap about 4mm (10 step variable).

DC Power Supply (U156)


Supplying power to the modular servo with AC input voltage 115V and 230V, 50/60 Hz,
40VA. The resulting output DC 24V, + 15V DC and -15V DC, with current must not exceed
2A. When the OVERLOAD indicator of the power supply unit (U156) is on, it means that

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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.

Figure 2. Power Supply U156

DC Servo Motor U161


DC servo motor that used is a separate excited dc motor, more precisely using permanent
magnets to generate magnetic field. There are shafts that coupled with
tachogenerator.Consists of the speed reduction gear and the tachogenerator. Input voltage :
DC 12V, 4.5W Max, tacho Output : about 3Vp-p(at 4000RPM), RPM : 5000 Max, gear Ratio
: 60:1 Down Speed.

Figure 3. DC Servo Motor U161

Tacho Amp Unit U155


With the induced voltage generated by a dc motor, used as a dc motor rotation speed reader.
The magnitude of the voltage generated is proportional to the reading of the motor rotation.

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Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember

Figure 4. Tacho Amp Unit U155

Motor Driver Amplifier U154


Consists of two transistors that form long-tailed pair connection, to drive the motor in two
different directions. If the voltage difference between terminals one and two are zero, then the
motor will stop. When the terminal one is greater than the terminal two, then the motor will
rotate at the speed depends on the magnitude of the voltage difference between terminals one
and two. In contrast, when the terminal two is greater than the terminal one, the motor will
rotate in the opposite direction.

Figure 5. Motor Driver Amplifier U154

Summing Amplifier U152


In the op amp circuit, there is summing amplifier circuit. The output is the sum of the input
signal and multiplied with the gains. In U152 device there are three setting options for
feedback resistance, thus the amount of amplifier can be arranged.

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Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember

Figure 6. Summing Amplifier U152

Dual Attenuator U151


In dual attenuator is implemented a voltage divider using potentiometer to produce a new
value of voltage which is less than input voltage.

Figure 7. Dual Attenuator U151

EXPERIMENT 1: Closed Loop Position Control System


The difference between set point and feedback generate error value. Generated value than
became input to the controller which will give correction value to the actuator.

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.

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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.

Figure 8. Configuration for Position Control using DC Servo Motor

B.Experimental Data
The value that get from step number four from operational procedure of Closed Loop
Position Control System, write in Table 2.

Tabel 2. Experiment Table Closed Loop Position Control


Gain Reference Angle Vref (V) Output Angel Vout Offset Error Angle Error (V)
0o
60o
9
120o
150o
0o
60o
7
120o
150o
0o
60o
5
120o
150o
0o
60o
3
120o
150o

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Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember

C. Analysis and Experiment Task


1. Draw DC motor position control system block diagram and explain each component
according to DC servo trainer modules ED440B!
2. Explain mechanism of summing amplifier that can produce error voltage of DC motor
speed control system!
3. Make a graph that showing the relationships between brake scale and error voltage, motor
current, motor speed for ATT-1 Position at 10! What is your conclusions?
4. Make a graph that showing the relationships between brake scale and error voltage, motor
current, motor speed for ATT-1 Position at 1! What is your conclusions?
5. How does attenuator can effect the system, explain with block diagram!

EXPERIMENT 2: Position Control with Speed Feedback


Using speed to influence control action of position control using DC servo motor.

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.

Figure 9. Wiring Diagram of Experiment 2

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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.

Tabel 3. Experimental Data Position Control with Speed Feedback


Appropriate Gain for ATT-1 Gain for ATT-2 Observation

10

6
........................
4

Appropriate Gain for ATT-1 Gain for ATT-2 Observation

10

6
........................
(Gain value is halffrom initiall
gain ATT-1)
4

C. Analysis and Experiment Task


1. How does ATT-1 and ATT-2 can effect the system, explain !
2. Why it should add speed feedback in this system ? explain and make the example !

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Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember

EXPERIMENT 3: Position Control Using PI Controler


Such a signal may be derived from a tachogenerator, or by differentiating the position
feedback signal. In this experiment some of the advantages and disadvantages of the two
methods will be explored. The use of integration to reduce following errors will also be
examined.

(Proportional Controler of position)


A. Operational Procedure
1. Attach ED-4400B Servo Trainer Units listed to the base plate by means of the magnetic
fixing and connect the units as in figure 10. The connection mark + - and should
be connected to the +15V, 0V, and -15V respectively.
2. Using multi way plugs, connect the motor and tachogenerator feedback fully counter-
clockwise.
3. On the PID module U-165B, switch the integral and derivative terms out and set gain to
0.1. Initially set the output signal generator into zero.
4. Switch on the power supply. Rotate the input potentiometer count-clockwise until motor
moves. Rotate it slowy note the position. Record gain(0.1) and the dead band, example
the separation beetwen two position of the input potentiometer.
5. Repeat this gain for 0.5 and 1. For this gain the system will become unstable, which may
be corrected by rotating the attenuator control to introduce some tachogenerator
feedback.
6. It should be evident that the dead band is reduced by incressing the proportional gain,
and that a large proportional gain requires form of stabilising modification(In this case
the tacho generator feedback)
7. Tha stability of the servo may conveniently be examined by injecting a aqare wave
position demand.
(Proportional Plus Integral Controler)
8. Restore standard tacho feedback setting and switch in integral term on the PID unit, and
set integral action approach 0.1 s.
B.Experimental Data
The value that get from step number four from operational procedure of Position Control
Using PI Controler, write in Table 5.

Tabel 4. Experiment Data of Position Control using PI Controller

Proportional Gain Integral Time Eror ( Ess) Observation


0.1
0.5
1
0.1
0.5 0.1 s
1

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Automation and Computer System Laboratory
Department of Automation Electronics
Faculty of Vocational
Institut Teknologi Sepuluh Nopember

Figure 10. Wiring Diagram Experiment 4

C. Analysis and Experiment Task


1. Where does the best values of Proportional Gain Controler and Integral Time
Controler in order to make desired respon
2. What is the function of Integral Time Controler, explain it !
3. Why is integral time controller work inversely proportional with the system eror ?
explain with equation !

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