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Report:
Speed/Position Control
of a DC Motor
Name:
Matric No.:
Lab Group:
Date:
DOLCE GUSTO
A0123456V
1
31st Sep 2014
Objectives
Results: Tables
Table 1: Brake Setting = 0 (With Feedback) Gain = 0.1
Motor Characteristics SPEED VS INPUT
Speed (rpm)
400
800
1200
1600
2000
V0 (mV)
39
82
123
168
212
*Speed range is 400rpm to 2000rpm in increments of approximately 400rpm.
Measure V0 with a multi-meter. V0 is the voltage output from the operational
amplifier (OU150A in the figure).
*Note
Gain = 0.03, Set the variable potentiometer to 3 in Attenuator Unit (AU 150B)
Gain = 0.06, Set at 6 in Attenuator Unit (AU 150B)
Gain = 0.1, Set at 10 in Attenuator Unit (AU 150B)
Table 5:
Closed-Loop Speed Control Transient Response (With Speed Feedback)
Brake 5
Brake 10
Remarks
Time Constant time
Time Constant time
(ms)
(ms)
Gain = 0.03
36
24
Gain = 0.06
28
20
Gain = 0.1
28
24
* Time constant: Time to reach 63.2% of the steady state value from the start
of the input step.
Brake Setting
Table 6:
Closed-Loop Position Control System (With Position Feedback)
With Speed Feedback
No Speed Feedback
Remarks
Overshoot
Rise Time
Overshoot
Rise Time
%
(ms)
%
(ms)
Gain = 0.03
0
636
0
432
Gain = 0.06
0
528
0
252
Gain = 0.1
0
460
7.4
188
* Rise Time: Time to first reach 90% of the steady-state value from the start of
the input step.
Brake
Setting = 5
Results: Graphs
Graph 1: Motor Speed vs Input Voltage
2400
2000
1600
1200
Brake Setting = 0
800
Brake Setting = 4
400
0
0
50
100
150
200
250
300
Speed (rpm)
1000
Gain = 0.03
Gain = 0.06
800
Gain = 0.1
600
400
200
0
0
Brake Setting
10
12
1200
Speed (rpm)
1000
Gain = 0.06
800
Gain = 0.1
600
400
200
0
0
10
12
Brake Setting
Sample Calculation
Table 5
Gain = 0.06, Brake setting 10, with speed feedback
Identify Steady State Voltage Vss from Dual trace oscilloscope,
Vss = 1.141mV
63.2% of Vss
= 0.632 X 1.141
= 0.721mV
Move the voltage cursor V2 to 0.721mV, move time cursor t2 to
intersect with V2, we can get the Time Constant value:
Time Constant = t2 t1 = 144 124 = 20ms
Table 6:
Brake setting = 5, with position feedback, no speed feedback, gain = 0.1
Identify Steady State Voltage Vss from Dual trace oscilloscope,
Vss = 3.812mV
90% of Vss
= 0.9 X 3.812
= 3.431mV
Move the voltage cursor V2 to 3.431mV, move time cursor t2 to
intersect with V2, we can get the Rise Time value:
Rise Time = t2 t1 = -248 (-436) = 188ms
And, continue to identify the Overshoot Percentage:
Vss = 3.812mV
Vovershoot = 4.094mV
4.094 3.812
% =
100% =
= . %
3.812
Discussion
1. Discuss the differences in open-loop and closed loop control in
achieving a speed control system and the effects of loop gain and
load on the output speed.
Observation and analysis for the Graph 2 (plotted results from table 3,
open-loop speed control system):
The motor speed output drops significantly if there is a
disturbance, which is the magnetic brake in this experiment. The
reduction of the motor speed is linearly proportional to the
magnitude of disturbance, which in this experiment, when we
adjust the magnetic brake to increase the disturbance, the motor
speed reduced significantly.
We recorded three gain values: 0.03, 0.06 and 0.1. From the
graph, we can see there is no much difference in between them,
which the different gain setting of Op. Amp. has no effect
against disturbance.
A characteristic of the open-loop control is that it does not use
feedback to determine if its output has achieved the desired goal of the
input. This means that the system does not observe the output of the
processes that it is controlling.
From the block diagram, the error does not feedback to the controller,
no matter how we adjust Kt, it has no effect on the output. Kt has no
effect on the open-loop control. On the other hand, the brake has effect
on the output speed, so the more the load caused by the brake is, the
slower the output is.
=
() + 1
The coefficient of s is time constant :
=
1 +
The smaller the time constant is, the faster the systems can
response. If we increase the gain, the value of will be decreased.
As for disturbance TL, the transfer function between it and is:
()
=
() + 1
When KL is a constant, if we increase the brake, add in more load TL,
will also decrease, system will response faster.
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