Exp No.3: Open Loop Speed Control Systemfkee.uthm.edu.my/images/docs/labsheet/2/BEE20901/BEE...Kuliah (Lecture): 0 Tutorial : 0 Amali (Practical): 2 Edisi (Edition): 1 Tarikh Keluaran

C

Name Matric no. Section:

1.

Instructors’ name:

2.

3.

Title Time/ Date

Experiment 3

1. Open Loop Speed Control System

2. Closed Loop Speed 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 3 – Part 1

Open Loop Speed Control System

Table of Content

Experiment 3 – Part 1 ii

Table of Content ii

Instruction 1

1.0 Title – Experiment 3 – Part 1 2

2.0 Outcomes 2

3.0 Overview 2

4.0 List of Equipment 4

5.0 Experiment Procedures 4

6.0 Results and Analysis 6

7.0 Questions 8

8.0 Conclusions 9

APPENDIX 1 10

APPENDIX 2 11

APPENDIX 3 12

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):

0

Kuliah

(Lecture):

0

Tutorial :

0

Amali

(Practical):

2

Edisi (Edition) : 1 Tarikh Keluaran (Published date) : Januari 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 3 – Part 1

Open Loop Speed Control System

2.0 Outcomes

After completing this laboratory, student should be able to:

2.1 Analyze the characteristic of an open loop servo motor speed 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)

3.0 Overview

In the steady-state it is possible to represent the speed control system by the simple block

diagram given in Figure 1. The motor produces an output angular velocity, ωo given by:

ωo = KaKsKLVi − KLTL (1)

where Ka is the Operational Amplifier gain, Ks is the servo amplifier gain, Km and KL are the

motor constant, Vi is the input voltage and TL is the load torque. This equation can be represented

by a family of straight line graph for various values of Vi as shown in Figure 2. It can now be

observed that for a given setting of Vi which represents a command signal, the system will

possess a certain no-load output angular velocity which decreases significantly when the load is

increased. The drop in speed is called the droop and ideal speed control system will possess zero

droop. The regulation is defined as percentage droop at a given load torque TL related to the no

load speed.

i.e. percentage regulation =ωo(NL)−ω0

ωo(NL)× 100% (2)



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Figure 1: Block diagram of the speed control system

Figure 2: Various value of Vi

From equation (1), if TL is very small than it can be concluded that the output angular

velocity, o is proportional to the input Voltage, Vi.

The armature current of the dc motor is directly proportional to the torque produced by the

motor and provides an indication of the total load torques including all the frictional torques

and any additional torque which is applied manually such as by applying the magnetic brake.

It should be understood of course that in practical situations the load torque may be produced

by for example wind-gusts in tracking radar or cutting forces in a machine tool control

system.

Op

Amp,

Ka

Servo

Amp,

Ka

Km

Tachometer,

Kg

KL

Vi

Motor TL

ωo

Vg

+ + -

ωo

ωoNL

TL1

TL

Vi3

Vi2

Vi1

Vi increasing

ωd



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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

5.0 Experiment Procedures

5.1 Experiment 3 – Part 1 (a): To determine Tachometer constant

5.1.1 Connect the circuit as shown in Figure 3.

5.1.2 Set the scale on the Attenuator Unit to zero.

5.1.3 Set the switch on the Operational Amplifier Unit to the 100k Ω resistor.

5.1.4 Set the switch on the Tachometer Unit to rpm.

5.1.5 Switch “ON” the Power Supply. If the motor rotates continuously, vary the “zero set” on

the Operational Amplifier Unit until the motor stops

5.1.6 Vary the scale on the Attenuator in steps so that the motor speed will vary from zero to its

maximum value (2000 rpm).

5.1.7 Record the motor speed, the Tachometer voltage and the input voltage at each step in

Table 1.

5.1.8 Switch “OFF” the Power Supply.

5.1.9 Plot graphs

i. Motor speed against input voltage.

ii. Tachometer voltage against motor speed.

5.2 Experiment 3 – Part 1 (b): To determine the speed-torque characteristics for an open

loop speed control system

5.2.1 Repeat procedure 5.1.1 to 5.1.5 above.

5.2.2 Vary the scale on the Attenuator so that the motor speed is at 1000 rpm.

5.2.3 Apply the magnetic brake in steps from minimum to the maximum values and record the

motor speed at each step. Tabulate your result as shown in Table 2.

5.2.4 Switch “OFF” the Power Supply.

5.2.5 Plot graphs Motor speed against brake scale.



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Figure 3: Circuit for the open loop speed control system



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6.0 Results and Analysis

6.1 Results for Experiment 3 – Part 1 (a)

Table 1: Input voltage, Motor speed and Tachometer voltage

Input voltage Motor speed Tachometer voltage

.

6.2 Plot graphs

i. Motor speed against input voltage.

Draw in Appendix 1

ii. Tachometer voltage against motor speed.

Draw in Appendix 2

6.3 Result analysis for Experiment 3 – Part 1 (a)

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________



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6.3 Results for Experiment 3 – Part 1 (b)

Table 2: Magnetic Brake Scale and Motor speed.

Magnetic Brake Scale Motor speed

6.4 Plot graphs

Motor speed against brake scale.

Draw in Appendix 2

6.5 Result analysis for Experiment 3 – Part 1 (a)

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________



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7.0 Questions

Experiment 3 – Part 1 (a)

7.1 What can you deduce from the graphs?

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

7.2 Calculate the tachometer constant in volt/1000rpm.

_____________________________________________________________________________________________

_____________________________________________________________________________________________

_____________________________________________________________________________________________

_____________________________________________________________________________________________

_____________________________________________________________________________________________

Experiment 3 – Part 2 (b)

Calculate the percentage regulation for a particular value of brake scale. (student should select a

particular value and maintain for the rest of the experiment)

_____________________________________________________________________________________

_____________________________________________________________________________________

_____________________________________________________________________________________

_____________________________________________________________________________________

_____________________________________________________________________________________

_____________________________________________________________________________________

_____________________________________________________________________________________



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8.0 Conclusions

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

_____________________________________________________________________________



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APPENDIX 1



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APPENDIX 2



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APPENDIX 3

Experiment 3 – Part 2

Closed Loop Speed Control System

Table of Content

Experiment 3 – Part 2 i

Table of Content i

Instruction 1

1.0 Title – Experiment 3 – Part 2 2

2.0 Outcomes 2

3.0 Overview 2

4.0 List of Equipment 4

5.0 Experiment Procedures 4

6.0 Results and Analysis 6

7.0 Questions 7

8.0 Conclusions 8

9.0 Related course(s) 8

10.0 References 8

APPENDIX 1 9



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Instruction

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

7. 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.

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

completed within the given times.

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

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

COMPLETION of lab session.



Mukasurat (Page):

2


BEE 20901




None

Kredit

(Credit):

2

Kuliah

(Lecture):

0

Tutorial :

0

Amali

(Practical):

2



1.0 Title – Experiment 3 – Part 2

Closed Loop Speed Control System

2.0 Outcomes

After completing this laboratory, student should be able to:

2.1 Analyze the characteristic of a closed loop servo motor speed 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)

3.0 Overview

In the steady-state it is possible to represent the speed control system by the simple block

diagram given in Figure 1. The motor produces an output angular velocity, ωo given by:

ωo = KaKsKLVi − KLTL

where Ka is the Operational Amplifier gain, Ks is the servo amplifier gain, Km and KL are the

motor constant, Vi is the input voltage and TL is the load torque. This equation can be represented

by a family of straight line graph for various values of Vi as shown in Figure 2. It can now be

observed that for a given setting of Vi which represents a command signal, the system will

possess a certain no-load output angular velocity which decreases significantly when the load is

increased. The drop in speed is called the droop and ideal speed control system will possess zero

droop. The regulation is defined as percentage droop at a given load torque TL related to the no

load speed.

i.e. percentage regulation =ωo(NL)−ω0

ωo(NL)× 100%



Mukasurat (Page):

3


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None

Kredit

(Credit):

2

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(Lecture):

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Tutorial :

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(Practical):

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Figure 1: Block diagram of the speed control system

Vi Op

Amp,

Ka

Servo

Amp,

Ka

Km

Tachometer,

Kg

KL

ωo

Vg

+ + -

Motor TL

Ve

-



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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

5.0 Experiment Procedures

5.1 TO DETERMINE THE SPEED-TORQUE CHARACTERISTICS OF A CLOSED

LOOP SPEED CONTROL SYSTEM

5.1.1 Connect the circuit as shown in Figure 2.

5.1.2 Set the scale on the Attenuator Unit to zero.

5.1.3 Set the switch on the Operational Amplifier Unit to the 100k Ω resistor.

5.1.4 Set the switch on the Tachometer Unit to rpm.

5.1.5 Switch “ON” the Power Supply. If the motor rotates continuously, vary the “zero set” on

the Operational Amplifier Unit until the motor stops.

5.1.6 Vary the scale on the Attenuator so that the motor speed is at 1000 rpm.

5.1.7 Apply the magnetic brake in steps from minimum to the maximum values and record the

motor speed at each step. Tabulate your result as shown in Table 1.

5.1.8 Reverse the connections on terminal 1 and terminal 2 on the tachometer. Increase the

Attenuator Unit scale to 0.5 and immediately reduce it to zero. Observe and note down

the motor behaviour.

5.1.9 Switch OFF the Power Supply



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Figure 2: Circuit for the closed loop speed control system



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6.0 Results and Analysis

6.1 Results for Experiment 3 – Part 2

Table 1: Magnetic brake scale and Motor speed

Magnetic Brake scale Motor speed

6.2 Plot graphs

Motor speed against brake scale.

Draw in Appendix 1

6.3 Result analysis for Experiment 3 – Part 2

______________________________________________________________________________

______________________________________________________________________________

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______________________________________________________________________________

______________________________________________________________________________

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7.0 Questions

7.1 Calculate the percentage regulation for the same brake scale set for the open loop speed

control system.

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

7.2 Compare this percentage regulation with the open loop regulation.

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

7.3 Explain your observation for the procedure 5.1.7.

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________

________________________________________________________________________



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8.0 Conclusions

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

______________________________________________________________________________

_____________________________________________________________________________

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 Binti Wan

Zakaria

Jawatan (Post): Head of Department

Tarikh (Date): September 2017



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APPENDIX 1


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.3: Open Loop Speed Control Systemfkee.uthm.edu.my/images/docs/labsheet/2/BEE20901/BEE...Kuliah (Lecture): 0 Tutorial : 0 Amali (Practical): 2 Edisi (Edition): 1 Tarikh Keluaran