Exp No.1: Introduction to Open Loop and Closed Loop ...fkee.uthm.edu.my › images › docs › labsheet › 2 › BEE20901 › ... · FKEE, SEM2 Session 2017/18 Title –Experiment

C

Name Matric no. Section:

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Instructors’ name:

2.

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Title Time/ Date

Experiment 2

1. Performance of Closed Loop Position Control System

FOR INSTRUCTORS USE ONLY

Domain Item Subtotal Total

C Question /20 /20

P Lab activities /30

/60 Results and analysis /25

Conclusion /05

A Demonstration (understanding) /10

/20 Ethics /10

TOTAL MARKS /100

BEE20901 - Electronic Engineering Laboratory II

Instruction Sheet

Control Laboratory

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FKEE, SEM2 Session 2017/18

Experiment 2

Performance of Closed Loop Position Control System

Table of Content

Table of Content ii

Instruction 1

1.0 Title –Experiment 2 2

2.0 Outcomes 2

3.0 Overview 3

4.0 List of Equipment 6

5.0 Experiment Procedures 7

6.0 Results and Analysis 11

7.0 Questions 14

8.0 Conclusions 15

9.0 Related course(s) 16

10.0 References 16

Fakulti/Pusat Pengajian (Faculty/Centre) :

Faculty of Electrical and Electronic Engineering

Mukasurat (Page):

1

Kod Kursus (Course Code):

BEE 20901

Nama Kursus (Name of Course) :

Electronic Engineering Laboratory II

Kursus Pra Syarat (Prerequisite Courses) :

None

Kredit

(Credit):

2

Kuliah

(Lecture):

0

Tutorial :

0

Amali

(Practical):

2

Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018


Instruction

1. Grouping: Lab group is not predetermined and consists of 3 members (maximum).

2. Pre-Lab Assignment (if any): Must be submitted to the instructor at the beginning of lab

sessions. Verified by the instructor and returned to the students at the end of lab session. The

verified pre-lab must be attached with the final report for submission.

3. Lab Activities: All laboratory activities must be carried out in this laboratory and to be

completed within the given times.

4. Demonstration: Student must demonstrate the experiment to the respective instructor.

5. Report Submission: Report must be submitted to the respective instructor upon

COMPLETION of lab session.



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1.0 Title –Experiment 2

Performance of Closed Loop Position Control System

2.0 Outcomes

After completing this laboratory, student should be able to:

2.1 Analyze the characteristic of an open-loop and closed loop servo motor position control

system.( PLO2-PS-C4)

2.2 Organize time management in group effectively according task given. (PLO5-TS-P5)

2.3 Demonstrate good leadership skill during laboratory experiment. (PLO9-LS-A3)



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3.0 Overview

EXPERIMENT 2 (a):

In specifying the transient response characteristic of a control system to a unit step input, it is

common to specify the following:

i. Delay time, td

ii. Rise time, tr

iii. Peak time, tp

iv. Maximum overshoot, Mp

v. Settling time, ts

These specifications are defined in what follows and are shown graphically in Figure 1.

i. Delay time, td

The time required for the response to reach half of the final value the very first time.

ii. Rise time, tr

The time required for the response to rise from 10% to 90%, 5% to 95% or 0% to

100%.

iii. Peak time, tp

The time required for the response to reach the first peak of the overshoot.

iv. Maximum overshoot, Mp

The maximum overshoot is the maximum peak value of the response curve measured

from unity. If the final steady state value of the response differs from unity, then it is

common use the maximum percent overshoot. It is defined by:

𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑝𝑒𝑟𝑐𝑒𝑛𝑡 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 =𝑐(𝑡𝑝)−𝑐(∞)

𝑐(∞)× 100%

The amount of the maximum (percent) overshoot directly indicates the relative

stability of the system.



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Figure 1: Transient response characteristic of a control system to a unit step input

EXPERIMENT 2 (b) & (c)

In the EXPERIMENT 2 (a), when the gain is large the response contains overshoot and sometimes

the response is always oscillatory. In certain applications, this type of response is no acceptable.

Method of reducing overshoot

i. Loading the motor.

This can be achieved by applying a magnetic brake to the motor output shaft. This brake

consists of an eddy current disc rotating between the poles of a magnet, for any position

of which the induced eddy current will produce an opposing torque proportional to the

speed. The brake therefore has the effect of applying proportional to the speed.

ii. Velocity feedback.

By using feedback from the Tachometer as shown in Figure 2 where the signal from

the Tachometer is proportional to the motor speed. The tachometer measures the output

shaft speed which may be greater when the system is approaching the point of

alignment. If this signal has a negative polarity when added to the error signal, the

output of the operational amplifier will be zero and reversed before alignment and this

will reduce overshoot. However, if too much velocity is applied, the response becomes

very slow.



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Figure 2: Block diagram of the closed loop position control system

Output

shaft, θo

Input

shaft, θi + + Amplifier Motor Load

Input

potentiometer - -

Output

potentiometer

Amplifier



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4.0 List of Equipment

4.1 Power Supply Power Supply Module PS150E

4.2 Servo Amplifier Module SA150D

4.3 Direct Current Motor Module DCM150F

4.4 Attenuator Unit Module AU150B

4.5 Output Potentiometer Module IP150K

4.6 Tacho Unit Module GT150X

4.7 Input Potentiometer Module IP150H



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5.0 Experiment Procedures

5.1 EXPERIMENT 2 (a): POSITION FEEDBACK ONLY

5.1.1 Connect the circuit as shown in Figure 3.

5.1.2 Remove the link between the Input Potentiometer and the Operational Amplifier Unit.

5.1.3 By using a Signal Generator, apply 5 V/0.1 Hz square wave to terminal 1 of the Operational

Amplifier Unit.

5.1.4 Switch “ON” the Power Supply.

5.1.5 Set the scale on the attenuator unit in steps from minimum to the maximum values.

5.1.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp)

maximum overshoot (Mp), delay time (td) and setting time (ts). If the value set on the

Attenuator Unit in section 5.1.3 produce underdamped response. Tabulate your result as

shown in Table 1.

5.1.7 Switch “OFF” the Power Supply.

5.2 EXPERIMENT 2 (b): REDUCING THE OVERSHOOT BY LOADING THE

MOTOR

5.2.1 Connect the circuit as in Experiment 2 (a).


Amplifier Unit.


5.2.4 Set the scale on the Attenuator Unit to 10

5.2.5 Apply the magnetic brake in steps from minimum to the maximum values.

5.2.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp) maximum

overshoot (Mp), delay time (td) and setting time (ts). If the value set on the Magnetic Brake

in Section 5.2.5 produce underdamped response. Tabulate your result as shown in Table 2.




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5.3 EXPERIMENT 2 (c): REDUCING THE OVERSHOOT BY USING VELOCITY

FEEDBACK

5.3.1 Make up additional connections as shown in Figure 4 to the circuit in Experiment 2 (a).


Amplifier Unit.

5.3.3 Set the position feedback scale on the Attenuator to 10.


5.3.5 Set the scale on the velocity feedback unit in steps from minimum to the maximum values.

5.3.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp) maximum

overshoot (Mp), delay time (td) and setting time (ts). If the value set on the Velocity feedback

unit in section 5.3.5 produce underdamped response. Tabulate your results as shown in

Table 3.




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Figure 3: Circuit for the closed loop position control system



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Figure 4: Additional connection



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6.0 Results and Analysis

6.1 Results for Experiment 2 (a)

Attenuator Scale

Delay time (td)

Rise time (tr)

Peak time (tp)

Maximum overshoot (Mp)

Setting time (ts)

6.2 Result analysis for Experiment 2 (a)

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6.3 Result for Experiment 2 (b)

Magnetic Brake Scale

Delay time (td)

Rise time (tr)

Peak time (tp)


Setting time (ts)

6.4 Result analysis for Experiment 2 (b)

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6.5 Results for Experiment 2 (c)

Velocity feedback unit scale

Delay time (td)

Rise time (tr)

Peak time (tp)


Setting time (ts)

6.6 Result analysis for Experiment 2 (c)

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7.0 Questions

Explain from practical point of view, why the response for maximum value on the Attenuator

Unit is always oscillatory.

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8.0 Conclusions

Experiment 2 (a)

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Experiment 2 (b)

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Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Sept 2017


9.0 Related course(s)

BEH22003 - Instrumentation and Control

10.0 References

1. C. A. Smith, and A. B. Corripio. Principles and Practice of Automatic Process Control, 3rd Ed.

John Wiley, 2006. Call Number: TP155.75 .S58 2006.

2. K. Ogata. Modern Control Engineering, 5th Ed.; Prentice Hall, 2010. Call Number: TJ213 .O32

2010.

Disediakan oleh (Prepared by):

Tandatangan (Signature):

Nama (Name): Dr Hisyam Bin Abdul Rahman

Jawatan (Post): Pensyarah

Tarikh (Date): Januari 2018

Disemak oleh (Checked by) :

Tandatangan (Signature):

Nama (Name): Dr. Wan Nurshazwani Wan Zakaria

Jawatan (Post): Head of Department

Tarikh (Date): Januari 2018


Grading Rubric for Written Report

Criteria Scale

5 4 3 2 1

Lab activities Varies, depending on activity assigned

Conclusion Accurate statement of

the results of lab

indicates whether

results support

hypothesis. Possible

sources of error and

what was learned from

the lab is discussed.

Accurate statement of

the results of the lab

indicates whether

results support the

hypothesis. Possible

sources of error

identified.

A statement of the

results of the lab

indicates whether

results support the

hypothesis

A statement of the

results in incomplete

with little reflection

on the lab

No conclusion was

included or shows

little effort and

reflection on the lab

Demonstration Demonstration with

clear understanding of

principle or concept

involved; accurately

relates concept to

demonstration

Exhibits limited

understanding or

principle

demonstrated; minor

inaccuracies in

relating

demonstration.

Demonstration

without understanding

the principle; cannot

relate concept to

demonstration

Ethics - Self generated

solution ideas.

- Student dress

properly according

to laboratory

regulations.

- Solution ideas are

adopted from

others.

- Student dress

properly according

to laboratory

regulations.

- Copied ideas

solution from others.

- Student do not dress

properly according

to laboratory

regulations

Documents

Exp No.1: Introduction to Open Loop and Closed Loop ...fkee.uthm.edu.my › images › docs › labsheet › 2 › BEE20901 › ... · FKEE, SEM2 Session 2017/18 Title –Experiment