.

EXPERIMENT -1
FAMILIARIZATION WITH EQUIPMENT

A. OBJECTIVE:
To familiar with the L J Technical systems DC Motor training system, PID controller
module and other test equipment to be used in the next three lab exercises.
'

B. BACKGROUND:

1. The MS15 DC Motor Control Module

The Physical and schematic layout diagram of the MS 15 DC Motor Control Module is
given in figure bellow. The module consists of a DC motor (and driving amplifier). A DC
tachometer (which is a DC motor being driven rather than driving). And a potentiometer,
which is used, for sensing output position. There is also an eddy current brake for varying
the motor's load. A Gray- coded disc is also included, and is used to provide a digital
indication of the motor's speed. There is provision for either analogue or digital (Pulse
width Modulated) inputs to drive the motor. We will use just analogue control in this
course.

2. The AS4 PID Control Module

This controller contains operational amplifies for error detection;

Feed back I/Pl

,____ Feed back IIP2

And control signal generation using proportional- Integral -Derivative (PID) control
actions. The controller can be used as P controller or PI or PI or PID controller by making
use of the On/Off switch as shown in Figure below.
 1-CQNDOLLQ

<Jo[>
~~~

~ '\l ~
on

P • CONJRQld,Q

<JDC>
~~~

'\l ~
15
ON
x
P. CQNIROLLJB

<JDC>
~~~

'\l ~
15
OFF

I
>
Command input connections.
1. Two primary feedback connections.
2. Error detector.
3. Error output connections.
4. Switchable low pass activities filter.
5. Input connection to PID elements.
6. Integral control element.
7. Proportional control element.
8. Derivative control element.
9. Control selection switches.
10. Summing junction for PID outputs.
11. Inner loop error detector.
12. Controller output connections.
13. Auxiliary signal inverter.
14. Auxiliary non-inverting amplifier.
15. Capacitor for high pass filter.
16. Powers supply connections.
'

Feed back input I/Pl & I/P2 of error detector will receive the output signals form the
tachometer and/ or potentiometer (as required), and act upon then to produce the control
signal which will be fed to the motor' s driving amplifier. A layout diagram is given in
next page.
3. Tbe ASJ Command Potentiometer
This unit is used to provide a manually generated input signal to either the DC Motor
or PID Control Module, as required depending on the testes being performed. In
general, this is used only for demonstration, because serious test signal must be
generated more precisely than can be done with this unit A layout diagram is
attached,

4. The Test Equipment

Test equipment is used for enabling the system to operate, for measuring various
parameters, and generating input signal and measuring the responses to these inputs.

4.111,e Power Supply (System Power 90)

All of the modules of the training system require power to operate. This power is
provided by the power supply.

4.2 17,e Function Generator (UNAOHM EM 139B)

The function generator is used to supply test signal (step, ramps, and sinusoids) to
the Training System. In fact The function generator supply Rectangular, Triangular
and sinusoidal signal of varying freq uency but a low frequency Rectangular signal
can be used as an step signal for a duration of half of its time period. Similarly the
low frequency triangular signal can be used as Ramp signal. These signal generally
replace the use of the command Potentiometer, although they might both the used
together under some circumstances.

4.3 The Storage Osd/loscope (XX)

Analysis of control systems requires the simultaneous display of both the input and
output signal of the component, subsystem or system which is under study. These
signal are often dynamic and need to be retained so that certain measurements can be
made from them Strip chart recorders, storage oscilloscopes or other kinds of data
acquisition system can be used, in this laboratory, we will use storage oscilloscopes .
4.4 The Multimder (UNAOIIM 1 211)
Steady- state voltages can be measured quickly and conveniently using multimetcrs.

C. ACTIVITES FOR TIIIS SESSION

1. TO ENSURE TIIAT CO:MMAND POTENTI01\1ETER IS SUPPLYING A

VARYING VOLTAGE.

PROCEDURE:
• Connect the power supply to the command potentiometer.
• Connect the multimeter in voltmeter mode to the output terminal of the command
potentiometer
• Vary the knob of conunand potentiometer manually in both clockwise and
anticlockwise direction.

OBSERVATION:
• Minimum Output Voltage From Command potentiometer =
• Maximum Output Voltage From Command potentiometer =
• Knob position for Zero output voltage =

DISCUSSION:
• Why potentiometer generates varying voltage w.r.t. knob position?

2. OPEN LOOP MODE FOR DC MOTOR

,

PROCEDURE:
• Connect the± 12 V, O V and 5 V to the DC motor module( Note TI1at this acts
only as VCC for TI1e module and not act as Input to the motor.
• Put the module in analogue mode.
 • Apply varying voltage from command potentiometer to motor drive input. (This
constitutes open-loop speed control).

• Disconnect the Command potentiometer from the system, and apply input from the
function generator instead. Try steps, ramps and sinusoids.
• Connect the two oscilloscope channels to the input signal (i e. that coming from
the function generator) and to the tachometer's output and observe the traces.

OBSERVATION:
• Maximum speed of motor (clockwise) =
Corresponding IIP -

• Maximum speed of motor (Anti clockwise)=

Corresponding IIP

DISCUSSION:

• \Vhy DC motor change its direction of rotation as the sign of IIP voltage to it gets
changed?

3. CLOSE LOOP MODE FOR DC MOTOR.

PROCEDURE:

• Connect the + 12 V, 0 V and 5 V to the DC motor module( Note That this acts
only as VCC for The module and not act as Input to the motor.
• Put the module in analogue mode.

• Apply varying voltage from command potentiometer to motor drive input. (This
constitutes open-loop speed control).
• Connect the tachometer's output signal to the "main feedback" terminal on the
PID Control Module
• Connect the error signal to the controller ,s input, and the controller's output to the
motor drive input.
• Switch Integral and Derivative actions to the "out" position, and proportional
actions "in". (It constitutes closed- loop proportional speed control).
OBSERVATION:

With Proportional controller knob position at 1:

• Maximum speed of motor (clockwise) =
Corresponding IIP -
• Maxirnwn speed of motor (Anti clockwise) =
Corresponding IIP
With Proportional controller knob position at 2:
• Maximum speed of motor (clockwise) =
Corresponding IIP -
• Maximum speed of motor (Anti clockwise)=
Corresponding I/P

DISCUSSION:
• Comments on the effect of feed back on output speed of De motor.
• Discuss the effect of proportional controller gain (at this instant assume it as same
as the knob position).

4. 1\1:EASURE THE GAIN OF THE PROPORTIONAL AMPLIFIER (VOLTS

PER VOL1).

PROCEDURE:

• Connect the+ 12 V, 0 V and 5 V to the PID control module( Note That this acts
only as VCC for The module and not act as Input to the motor.
• Apply 0 .. 5 volt from command potentiometer to input of PID controller.
• Switch Integral and Derivative actions to the "out" position, and proportional
actions "in". (It constitutes closed- loop proportional speed control).
• Vary the knob position of the P-controller from 1 to 12 and Note down the output.
 l

r
I
• Apply 1 volt from . . .
command potentiometer to mput of PID controller. And again
vary the knob position
· · of the P-controller from 1 to 12 and Note down the output.

OBSERVATION:

•
Witl1 1/P to Proportional controller 0. 5 V:
Knb-position 1 2 3 4 5 6 7 8 9 10 11 12
0/P voltage

• With I/P to Proportional controller 1 V:

Knb-position 1 2 3 4 5 6 7 8 9 10 11 12
OIP voltage

ANALYSIS AND DISCUSSION:

• Plot the gain as a function of the control knob's reading to verify that the knob's
reading is current
• The 0/P from controller does not increase after a certain value even if the knob
position or I/Pis varied their after, why so?

5. 1\1:EASUREMENT OF TIIE GEAR REDUCTION RATIO.

PROCEDURE:
• Manually rotate the Output shaft (Position shaft) by one rotation.

• Count the number of turns of the motor's sh.aft, which are required for one tum of
the output shaft.

OBSERVATION:
• Gear reduction ratio -
•

.,;,•. /... '

EXPERIMENT -2
P ARt\_l\1IE1'ER DE'l'ERMlNATION

J\. OBJEcm:E:

To learn to get the Gain and Transfer function of a control system component
experimentally.

B. BACKGROlT1\1D:

1. Potentiometer:
A potentiometer is a variable resistance whose value varies according to angular position
of the wiper contact. Slider contacts as in a rheostat are linear.

I
0

Fig. potentiometer

The variation of resistance is directly proportional to angular position. Also as the current
flow through the resistance is uniform, the voltage is propo11ional to resistance.

R Eo
---

8 . .
Eo= - Ein == gain x input
e,.
 '
'

'

So the shaft position is a11 indication of the output voltage and can be calibrated
accordingly. The input is 6c - radians or degrees and gain E/eT = volts/radian so that the
product output E0 is vo \ts.

2. Tachometer:
A tachometer is a miniature low voltage generator. The output voltage of a generator is
given by the equation

Es= K<p©
Where; K = Generator constant

co = Armature speed
The output voltage generated is less by the drop in armature.
VO = Es - Iara.
•
At No load, current from generator is zero ancl also In a tachometer, the flux is produced
by permanent magnets. So, the voltage output has a linear relationship with speed of
rotation.
Besides the tachometer is operated at the highest possible speed which gives a larger
output signal.
In servo systems the tachometer is used as a transducer for obtaining signals proportional
to speed. The T ransfer function or gain of the tachometer is defined as output voltage
divided by shaft speed in radians/sec.
v
KT=---
rad I sec

Eo = Ki:(.t)
Where; E0 = output voltage
KT= tachometer constant
co == angular speed in rad/sec.

i_o_(s_) ---+\ E0(S

\..__--a
Fig. Tachometer
 '

3. DC l\1otor:
Motor is au important transducer that converts electrical energy to mechanical energy,
that is, voltage is converted to rotary or linear motion by driving a helical gear. DC
motors find wide use in automatic control systems because they can be continuously and
accurately controlled over a wide range of speeds and loads.
The basic equation of tltc Torque of tue motor is given by T = K <\) I that is fu~ torque can
be controlled either by current I or by flux cp. Motors are classified basically by this
difference. Called Armature controlled motor or field controlled motor respectively. The
Block diagram of an armature controlled De servomotor is given below.

T s)

1 K 1 8(s)

·- Js2 +Ds

Fig. Block diagram of armature controlled De servomotor

From above block diagram, The voltage applied to the armature circuit is E(s), which is
opposed by the back emf Eb(s). The net voltage (E-Eb) acts on a linear circuit comprised
1
of resistance and inductance in series, having the transfer function . 111.e result
L0s+R0

is an armature current Ia (s). For the fixed field, the torque developed by the motor is

KTla(s) . This torque rotates the load at a speed ro(s) against the moment of inertia J &
viscous friction with coefficient D. The back emf signal Eb (s) is taken from the shaft
speed 8!. feedback negatively to the summing point. The speed e0(s) is obtained by

differentiating t11~ angle O(s). T11e overall Speed vs Armature voltage can be expressed

as:
B·(s) Kr
E(s) =(ls+ D )R.: + K7Kb)
A de motor has an armature resistance in the order of few ohms and inductance in the
order of mH respectively. T11e rotor inertia is order of few oz-in-sq. cm. And damping
coefficient in the order of oz-in /(rad/s). This results incompare the electrical and
mechanical time constants of motor. In other word electrical time constant (UR) may be
100 to 1000 times less than mechanical time constant (J/D).

The above facts indicates that La can be omitted from above derived transfer functions.
Resulting

e·(s) KT
E(s) = (Js + D )R0 + K7Kb)
And can be written as
B(s) _ Km
E(s) - (Tms + 1)
. KT
Where Km Motor gam constant = D
Ra elf

J
And Tm= Motor time constant = --
D eff
. R0D+KrKb
Deff = Effective viscous friction coefficient = R
a

C. ACTIVITIES FOR THIS SESSION

1. Measure The Gain Constant of The Output Potentiometer (Volts Per Radian)
PROCEDURE:
Connect the + 12 V, O V and 5 V to the DC motor module
•
• Connect the multimeter in voltmeter mode to the output terminal of the

potentiometer output of the module.

• Vary the knob of potentiometer .shaft (Out put shaft) manually and note down the

voltmeter reading.

OBSERVATION:
Ol'>:-en -:lion :-:o.
1 - 13
')

Sltaft })~)sit ion ( Jcg.)

1I4 5 6 7 8 9 10
'
I
11
0,1p ,·01t._1g~-<..\;)
I i
•
I •
I• IJ

• })lot output voltaae from p 1 f ~ s: . . • •

~ o en iometer as s1un position in radian; the gain is the
sl )p.: of the line.
•
The plot for output voltage from potentiometer as shaft position is straight line,
\\ 11>· so?

2. ''erification of digital readout for the motor's speed.

PROCEDL·l~:

• Connect the + 12 V, 0 ,- and 5 V to the DC motor module.

• Put the module in analogue mode.

o :\.pµly a constant voltage from command potentiometer to motor drive input. The
motor runs at a constant speed.

Observe the potentiomere-', 'output signal with U1e oscilloscope. (TI1c signal will
resemble saw tooth wave form)

OBSER\' ..'\TIOK:

o 1·in10 period of the saw tooth signal =

CAT_ClJl.n.\ TION & DISCUSSION:

o The measured Time period of the saw tooth signal represents time for one rotation
of the output shaft (potentiometer shaft). Calculate the speed in rpm,
o Knowing the gear ratio, deduce the Tacho 's speed.

o Compare the potentiometer shaft speed and Tachometer shaft speed with the
digital reading and comment.

3. Measure the gain constant of the taco generator (volts per radian per second).
 ;·
•
I
J
~
r

PROCEDURE:

• Connect the± 12 V, 0 V and 5 V to the DC motor module .

• Put the module in analogue mode .
• Apply U1e varying voltage from command potentiometer to motor drive input. The
motor tuns with variable speed.
0
Connect the multi meter across the tacho's output in voltmeter mode.
• Observe the tachometer shaft speed and corresponding output voltage from tacho-
meter ('I ou may use the digital readout with correction factor obtained above)
• Obtain measurements for speed up to maximum (Indicated by no further increase
in speed even when input voltage magnitude is increased) in both directions.
• Do not use the eddy-current brake, so that you cover the widest speed range
possible.

OBSERVATION:
Observation No. 1 2 3 4 5 6 7 8
.
Tacho's speed (rpm)
•

0/P voltage t V)

ANYL YSIS AND DISCUSSION:

• Plot output voltage from Tachometer vs its speed in rad/s; the gain is the slope of
the line.
• The plot for output voltage from Tachometer vs its speed is straight line, \'\'11y so?

4. Measure the steady-state gain of the motor (radians per second per volt)
PROCEDlJRE:
• Connect the + 12 V, 0 V and 5 V lo the DC motor module.
• Put the module in analogue mode.
• Apply the varying voltage from command potentiometer to motor drive input.
Apply the voltage directly to the "Vin terminal of the motor module with feedback
disconnected. TJ1e motor runs with variable speed.
I

• Connect the multi meter aero ss the output Of command potentiometer (input to the
motor) in voltmeter mode.
• Observe the motor shaft speed and corresponding input voltage to the motor (You
may use the digital readout with correction factor obtained above)
• Obtain measurements for speed up to maximum (Indicated by no further increase
in speed even when input voltage magnitude is increased) in both directions.
• Do not use the eddy-current brake, so that you cover the widest speed range
possible.

OBSERVATION:
Observation No. 1 2 3 4 5 6 7 8

motor's speed (rpm)

I
1/P VO ltage (V)

ANYL YSIS AND DISCUSSION:

• Plot output speed from motor in rad/s vs input to the motor in volt; the gain is the
slope of the line. Plot speed vs input voltage to establish the region of liner
operation.
• The plot for output speed from motor vs its input voltage is straight line in linear
zone, Why so?

5. Measure the motor's transfer function using step input. (The only parameters to
determine are the time constant and the steady - state gain).

PROCEDURE:
• Connect the+ 12 V, 0 V and 5 V to tlie DC motor module.
• Put the module in analogue mode.
• Use low- frequency square wave to provide the steps to motor drive input. Apply
the voltage directly to the "Vin terminal of the motor module with feedback
disconnected
 .P -- - --- ~---------'""'.-"----------------
. •1
.

r
• Use your knowledge of the input values that you used for measuring its steady-
state gain to establish the input amplitude that will ensure that you do not saturate
the motor (i. e that operation is in the linear range).
• Observe the input to command motor 1/P and output from Tacho generator
responses on the Oscilloscope.
• Do not use the eddy-current brake, so that you cover the widest speed range
possible.

OBSERVATION, ANYL YSIS & DISCUSSION:

• The Wave form as obtained from oscilloscope will be as shown below;

_,,,,,,--- Unit sten: e;(t) = u(t)

1 -----:~-------------------------·
.' . '
Step response: e0(t) = 1 - e'
63% of stead . ··· · --·············/·:::: . .• vi
state value .: !
~

'tm t

• Measure the time required to reach the 0/P 63% of steady state value. This will be
the time constant for the motor.
• In the motor Transfer function, , Tm is measured in this section and steady state
gain i.e. Km in previous activity. Hence obtain the overall Transfer function;
B(s) Km
E(s) = (T.,,,s+ 1).
• Repeat the test for different input voltage values, decreasing the size of the input
with each test. The results should agree for different input levels, so when you find
that results do not change when your input level changes, your results should be
acceptable.

1101010101,

_J
 '
..
' . ,,'If"_ ' ' .
.

EXl~J~RIMEN'"f-3
(~l,OSJ~ l"'O(JJ> CON1'RO.L, SYS'l'!CM:

A. OB.TEC'I'IVE:
To learn the effects of feed back on Gain and time constant for second order system
and to get the second order Transfer function of a control system component
· experimentally.

B. 13ACKGI~OUND:

1. Effect of Feed Back on Time Constant:

Let's consider the process as: E<s · K vo
- •

s+a
'

K
For the open loop case, the output will be: Y(s) = E(s)
s+a
K
The impulse response is: Y(s) = => y(t) = Ke-ct
s+a

K
For the closed loop case, the output will be: Y(s) = s+ a E(s)
K
= s+a+
K K E(s)
I+--
s+a
K
The impulse response is: Y(s) = K => y(t) = Ke-(a+K)t
s+a+

Open loop impulse response

Closed loop impulse response (K. is small)
Closed loop impulse response (K is large) •
·•.·.. '\.
'

· ·. - . . ;,;;;~==~=~----------
·....
-
··...... .
_
"- .........
.........
········ ················~
.......... .._...
........ ............
............ -------· -
t
Fig. Typical responsesforfirst order systems.
From the previous analysis we have seen that we can change system dynamics (that
means the response from a system) if we introduce feedback. In figure above, we can see
that the system becomes faster when feedback is implemented, For a control system, that
means the output will track or follow the reference faster. That is we can conclude that
feedback is good for control purpose. We can also see that the system becomes faster, if
the gain is high. The above system was a unity feedback system. If a P-controller was
used, we could increase the gain to increase the speed (and accuracy) of the system.
Increased accuracy means reduced steady state error,

2. Effect of Feed Back on Steady State Gain:

For the above Example applying the Final value Theorem, The steady state gain for unit
step input is;
For open loop:
rr
A
Y(s) =lims K E(s)
s....o s+ a a
For the closed loop case, the output will be:
K
8 K
Y ( s) =Iim s + a E(s)=litns K E(s) ---
s~O l+ K s~O s+ a+ K a+K
s+a

That is Gain has reduced. For large K, it's unity. What is the desired. Gain= 1 implies
a
steady state error= 0.

3. The time response of second order system:

The second order transfer function can be written as;
X(s) _ K a,~
F(s) - s2 + 2qw11 + s m;
Now suppose input for the system, F(s) is a step input;
{1)2
X(!>J=K "
' s(_} + ~{J),,S+ {J);)
=>

I
I
·1 .5 --·-•-- -------- JI
•I
_
-------
X(t)
1

•I I
0.5 ---------
•
• I
--.---------
• --,-----
I
I
-----
I
I

,..
15 20
Fig (a) O<s<I

2 ------ --------- .JI - - -

I

1.5 ------ ---, I

-------- -r • ,- --------
I

'
X(t)
1 - - - - - -----,- ------ --,---- ------ ----------

0.5 ----------~-- I
I
I
---- ---~--------- ~--------
I
I I
I I

QL--L-~~~~..1..-~_,..._~~-'-~~~~~-'-~~~~__.._..
0 5 10 15 20
Ti me ( second)

Fig (b) t;,= 0

4

3 - - - - - - - - - , --------r-- - - - - - - - ., -
I I I

2 I
....
I
I
---
I
X(t) I
~1 •I-
x.,., -
I
I
I
- -- - - - - --
I
I I
0 , I
. , ·- - - - - - - - - ..
I
- I
I I
I I
•I •
I
I

-1 - - - - - - - - - - - - - - - - - - _._ - - - - - - - - -
J
I
I

I
I
.J.I -

-2
0 5 ., 0 '1 5 20
Tirne (second)

Fig (c) s< 0

 •
1'11n,' l\'-'"l'< >n.,,· c?( .,·.', wdor .,:1•sfe111./iu· ,•,11;1•i11,f: ,ltllll/J/ll,1-f ratlo.

From ;tl'l'' ". l;it'-· a. b. ,~ "' it tn.,y be ,)b-:L'l,'t•d that as the value of s increases from 0, the
oscillation 8,fl~ pl\'f.t\':--~i\·"·ly 1'"'"h1'-'"' 1 or d.uupcd, The transient response of' second order
system is specified in '"'11\lS ot:

(2) rise time f1

{3) peak time t1,

l J) n1.1\:1n1un1 o, 'crshot i\tlp

. \ll these arc cxpluincd with respect to the Fig, drawn below.

--,-
•
I
I
I

·1 : i\1axhnun, ovcl'shoot
I/

·5 fl-:.:.:.:.:.:.:. ;Yf'- - - - - - - - - - t - - - Allowed % (2 to 5) ---

-(). f:l -- : : ::i; =- =- ~ : 1 :

1 ~ I~ - ·/
1 - ~ -
: : : :7: : ~ ~ = = = - = - = -*---1- - - -- ----- - - - -
- ~-- -t,- - - - - - - :- - - - ----- - -

r T. . . . ~ :
o . s I- - - - i - - ~ - ~ - - - - -~ - - - - - ~ - - - - - - - - - -1- - - - - - - - - - -
1-f I

;
I
t

:
I

:
I
J\'Unirnurn under~hoot
I
I

:
I I I
r-- /
QL--L..--.JL-.'.. I _ _.___.L I __ __. ..,_ ___i
I __,

o lrj lr ., 0 15 20
ns. 111e transient response characteristics

nx - 0 11,r - 0
I= ----
' (J.)d r.t>n Ji:r;'

11/C na
'",, J, ~-1 «,
 Hence;

To get the transfer function of second order system means to get Wu and ~ and from
above three expressions it is clear that knowing the value of any two of them it is possible
to determine Wn and ~·
C. PREPARATION FOR THE SESSION (Do this before entering in Lab)
• The block diagram for the close loop speed control system as per the DC motor

and PID controller module is

IIP P- Tacho- 0/P..

~I
.. Motor
..
-

Controller
-
• -
-

Generat

• As the gains (transfer function) of all the components of the above block diagram
has already been determined in Eperiment-2, determine the transfer function of the
closedloop speed control system using block diagram reduction technique. Predict the
step responses for different proportional gains (Knob settings of 2 and 9).

• The block diagram for the close loop position control system as per the DC motor
and PID controller module is

-
IIP • j
I' -....
\ . P- . Motor Gear . Potentio -
....-
r1

". -
. "'
•
con troll
• •
ratio
•
meter

• A~ the gains (transfer function) of all the components of the above block diagram
has also been already determined in Eperiment-Z, determine the transfer function of
the closed loop position control system using block diagram reduction technique.
Predict the step responses for different proportional gains (Knob settings of 2 and 9).
 D. ACTIVITlES F01{ THIS SESSIOl\J:

--- - - - - ·- - .. -. . -
1. Measure the closed-loop speed control system's step responses

PROCEDURE:
Connect the close loop speed control system as;

III' P- Tacho- 0/P•

•-
'
•
Motor
controller Generator
L

Connect the + 12 V, 0 V and 5 \1 to the DC motor module.

') Put the module in analogue mode.
e Use low- frequency square wave to provide the steps to command IIP of error
detector.
Use your knowledge of the input values that you used for measuring its steady-
state gain to establish 111e u11,11t ampli tude rhar ,vill ensure that you do not saturate
the motor (i, c rlrat operation is i11 the linear range).

e Observe the input to command I/P of error detector and output .fi:om Tacho
generator responses 011 the Oscilloscope.

(J Do not use the eddy-current brake, so t11at you cover the widest speed range
possible.
o Repeat the procedure for proportional gain 2 & J.5

OBSERV /;.'"fl()N, Ar-rrI;y"SIS & J)lS(:rJr;sioN:

" The ,,,«vc form as obtained from ~1~scil.!o~;cope will be as shown below;
J, ..,. ... •
f /.,. · tJli.1t sten: e;{t) = u{t)
l r·-----------_. . . --- - ----·-~-·==.:.---------- --·
J •• .,,,. •• ,..-" -

63~10 of stett<i}::. · · ···-· .-.<~<'_,.,-- -- Ste1) response: e0ft) = 1 .. e·

state value :
.
/
/,,..
! . tl'"'t' ' •

! /' .
!/
./
 I

I
/,
I

G Measure the time required to reach the 0/P 63% of steady state value. This will be
.. - -- . .. -- ·--- - -
__________ the time constant for the close loop system .: -- ---·- - .. --
.--
., Measure the steady- state gain
-- - - -- -- · · o· Compare the results corresponding to yourpredictions made earlier.

1. Measure the closed-loop position control system's step responses

o Connect the close loop position control system as;

Gear Potentio .
P- .. Motor ~ . ...
~ - ratio
,
meter
.. con troll

e Connect 111e -l: 12 V, 0 V and 5 V to the DC motor module.

o Put the module in analogue mode.

~ Use low- frequency square wave to provide the steps to command I/P of error

detector.
Remember that you are doing position control hence I/P should be as minimum to
just initiate the motor in motion but not rotate in high speed.
If) Observe the input to command IIP of error detector and output from potentiometer

responses on the Osci1losco1Jc .

.., Repeat the procedure for proportional gain 2 Sc 9.

OBSER"'\f ATION, ..4.NYJJYSIS & DISCUSSION:

e Measure the ~,~ overshoot and time to the first peak .
.;; Compare the results with your predictions made earlier.

;!t >;( :~ ?~ :'f.~"'

V, n p- p ;: 3 · 5s I V' " 8 ~rr·g·h.o0 /::::- St t ::;- -1· lg/. V z,

vb /v-p:: 5· -6 g.9 V m; (\ uV'CMfrs i,.}dt- .: ,1-/ , 2 f I ..- 3 · t.S-o

Cl l- : ; :/- (J tr\ ~
------------~~-- ------ -·· -·--··- .
...

Vj(\ r- P :· ? ·5 o g f'n1l1 ;(.._ ,

0
ve/Y·t ttt 4·0 i · z, · .F-/. ~ I '6 ':t- .-- ~ J . J 2.
J
..
Vof f ·- F = 1- . I ~ '71- . !YL, n - · v nd-vrs lvsr:t :- 1.
"I'~ 012.
• .._ zx_C) I k ~, es
/·?< ct le.. ·h·11-t z ; I o _ >n.~ ,
 ~----- ------ -

. '

~;XJ>J•:R I l.\1l~N'J'-4
~"'Rl~QllRNC.~\' RESPONSR l\,fl~ASURMEN'I'S

To get the frequency response (Bode magnitude and phase Plot) of· a control system
component experimentally.
• To get the Transfer function of a control system component using frequency
response.

B. BACKGROUt\TD:

Let's consider a R-L circuit as shown in Fig below' if an sinusoidal input E = E Sin rot
01

(Where co is angular frequency and t is time) is given to the system,

•
l
ruro. ) = ---
E
R + (j(f))L
...

The above relation justifies that Laplace transformation technique can be implemented to
frequency response analysis also, by simply replacing s by jro from the differential
equation.

The frequency domain specifications are study of variable parameters as a function of

frequency of the sinusoidal input signal. ,ve can study the system performance over a
range of frequencies and restrict the operation to the desired frequency range or
alternatively choose the best frequency range,
 •As s of time domain can be replaced by jro of frequency domain. So a system transfer

function G(s) can be written as Gtjco); in polar form, GL<f> where IGI is magnitude and <P

the phase angle. Graphical plots conveniently represent these characteristics. Out of the
various graphical techniques to represent the :frequency response one important technique
is Bode plots.
In The Bode plot, the magnitude of Gtjco) and phase angle are plotted as a function of
frequency o, but using the logaritlunic scales because it has advantage of;
~ Plotting over wider ranges than linear scales.
~ Logarithmic graphs in most of the cases tum out to be linear.
> Product terms are converted to sum terms.
The dB magnitude verses log ro plot is called Bode magnitude plot. It is also called
some time as log-modulus plot.
The phase angle verses log co is called Bode phase angle plot.
dB = 20 log1o(G)
G is expressed as a ratio of AIB. If A>B, the dB value is plus. If A< B the dB value is
.
mmus.
e.Q
....., . dB= 20 log(l/10) = 20 (log 1 - log 10) = -20
dB =20 log 2 = 6.

C. PREPARATION FOR THE SESSION (Do this before entering in Lab)

• On semilog graph paper draw the asymptotic Bode magnitude and phase diagram
for the frequency response of the closed- loop speed control system, for a
proportional gain setting of "9".

• On semilog graph paper draw the asymptotic Bode magnitude and phase diagram
for the frequency response of the closed- loop position control system, for a
proportional gain setting of "9".
 •
.
• •

D. AC'fI\1ITlliS 1:.01i 11-llS SESSil1N

1. Measure the frequency response of the closed- loop speed control system
PRl)Ct:DURE:
• Connect the close loop speed control system as;

I:I)
r, .
..
- ~
.
... 0/P .-
-.~-
~

P-contro Iler Motor Tacho-Generato ·

• Connect the + 12 V, 0 V and 5 V to the DC motor module.

o Put the module in analogue mode.
• Set proportional gain to 9.

• Use variable frequency sinusoidal wave as an input to command I/P of error

detector. Magnitude of the lip may be constant.
• Use The asymptotic Bode diagram from your previous report as a guide to the
frequency range you should use make measurements to as high a frequency range
JS possible).

• Observe the input lo command I/P of error detector and output from Tacho
generator responses on the Oscilloscope.
OBSEI<VA'fION:
Obs er TIP Magnitude(volt) Frequency OIP magnitude Phase difference
No. ~Via:' be constant) (must be variable) (volt) (sec)
1
I
---
2 I
-
3 ·rl - - ------ ---·· --
4
j-·- ------ .. ·-- -- - ·-------- .. --
- ·- ·t--- .

·-I
I
l
- I
---------- ---- -- - --·-·- - --- ·---- --- - - -
..... ....
,. .

'

r-5---·...----·-···--··---- --------·-
·-----
---
6 - -·- ---·---·--1
----·
......_
7
__ ..._ - - --------1

ANl'.1.. vs IS
• Make analysis as;
Obser --· ---·- - -- ---· --- . -- - -- -
Fr0qu~ncy(f) l~at io of O;P to IIP - -----
Phase difference ( deg)
No. I IIz Magnitude (Gain) (=3G0°x.t'i:phasc cliff in sec)

-
')
1
I-,- ·- - - --- -
3 -

4
-
)
I
I
6
I
7
I I

• On sernilog graph paper draw the Bode magnitude and phase diagram
• Obtain the transfer function :fi:0111 Bode plot drawn.
DISClTSSION:

• Corupare the results corresponding to yow· predictions made earlier.

2. Measure the freq uency response closed-loop position control system

PROCEDURE

• Connect the close loop position control system as;

IJP
.,-J
I
-
r •. . ....
.
.~ r

r-

P'controller Motor Gear ratio Pot\!ntiomcter

I

,.
 • •f

• Connect the + 12 V, 0 V and 5 V to the DC motor module .

.
I
• Put the module in analogue mode,
• Set proportional gain to 9.
• Use variable frequency sinusoidal wave as an input to command IIP of error
detector. Magnitude of the I/p may be constant.
• Use The asymptotic Bode diagram from your previous report as a guide to the
frequency range you should use make measurements to as high a frequency range
as possible).

• Observe the input to command IIP of error detector and output from potentiometer
responses on the Oscilloscope.
OBSERVATION:
Obs er IIP Magnitudervolt) Frequency O!P magnitude Phase difference
vation (11Ia)' be constant) (must be variable) (volt) (sec)
'
No.
1
2
3
4 '
-
'6 I
I

AN1'LYSIS
• Make analysis as;
Obser Frequencyif) Ratio of 0/P to IIP Phase difference ( deg)
vation I Hz Magnitude (Gain) (=360°xfxphase cliff in sec)
No.
1
Il
2
3
•
4
 r
. '
~

I
I
I

5
6

• On semilog graph paper draw the Bode magnitude and phase diagram
• Obtain the transfer function from Bode plot drawn.
DISCUSSION:
• Compare the results corresponding to your predictions made earlier.
 ..

EXJ>EJ~IIVIENT-5
l~ESI>ONSE MEASUREMENTS AND SIMULATION
A. OBJ ECTl\'E:
• To Familiarisation with MATLAB SIMULATION.

B. BACKGROUND:
SIMULINK is a tool for modeling, analyzing, and simulating an extraordinarily wide
variety of physical and mathematical systems, including those with nonlinear elements
and those, which make use of continuous and discrete time.

As an extension of MATLAB, SIMULINK adds many features specific to dynamic

systems while retaining all of MA TLAB's general-purpose functionality. Using
SIMULINK, we model a system graphically, side stepping much of the nuisance
associated with conventional programming.

Explorethe demos availablefromthe SI/JIIULINKscreen to see more.

C. HOW TO BUILD AND SIMULA TE USING MATLAB SIMULINK

Lets Take a11 general example to use Mat lab simulink;

• ACTION: Type simulink in MATLAB

EFFECT: rnain menu will appear as shown below;

SIMULINK Block Library (Version 1.3c) the SIMULINK

"File" pull-down menu.
EFFEC'f: /\ blank file will appear the name of this system is "Untitled".
 • 1\( C'l'ION: Click Oil the "Sources" library. (As shown above, 1/1i.\' is one ofsevera!

block libraries in the.> 111ai11 library th<1f O/J/Jl!<1r.,· 111/1e11 ll'e IJ'fJe '~\·i11111/i11k" al 1/1e
C<>11111u111,l 1n·o1111,1.)

EFF'ECT': :\ menu will appear as shown below

Signal Source Library

(9> [§ 011}
Clock Digital Clock Repeating
Se uence
~
ill Jill
Signal Constant
Generator Pulse
[]} Generator
'
Et Step Input
Sine Wave fntitled.mf ~

Chirp Signal
From File

~~
I [T,UJ~
Random Band-Limited From
I Number White Noise Workspace

• ACCTION: Click on the "Sources" library. (As shown above, this is one of several
block libraries i11 1/1e 111ail1 library that appears when 1ve type "simulink" al the
co111111and pro111JJI.)

EFFECT: A menu will appear as shown below

• Signal Sinks Library

Jol yout I
~
1-J To Workspace
Scope
f--A/ ; untitled.ma
To File
Graph

~ B
Auto-Scale Stop Simulation
Graph

XY Graph Hit Crossing

 • \\I~ can drag uny desired block from any of the above library e.g here we drag sine
wave block from Source Librury and u Scope Block from the "Sink" library. this
results:
• The model is nearly complete; it only remains to draw a line connecting the output
of the Sine Wave Generator to the input of the Scope block.

Untitled

ru~-~·B
Sine Wave Scope

• Now we're ready to run the simulation. Of course, we're not simulating much here,
just re-routing the output of a Sine Wave Generator, so we'll run it for only 40
seconds of simulated time .
•

1 - -------
I

--,-----
I
------- ------ - --L-- -----
•
I
I
•
I
I
I

----- - _,... _
0.5 -- _.,. -- I

J---- - -----
I
.,_•
I
I
I I
I
I
I
I

-, - - - -- - -
I

0 --- --- ---- --- --- --- I -i

I
-- -- -

-- -~----- ----- -~ ----- - ---

I

-0.5 ---- -- ---- -- -----

I

• I

-1 ----- ------J- I
------- ---J----1
------- . -------
10 20 30 40
0
-· , ••

For good measure, before we're done we can double the frequency of the Sine
•
Wave Generator in order to verify everything is working properly.

•
 • Double clicking on the Sine Wave Generator and replacing the number I with 2 in
the frequency text field normally does this work.

C. 1\Cl,lVl'lES OF rius SESSION

I. Simulate the step response of the closed-loop position control system

PROCEDURE:
• Build the close loop speed control system in a new file as shown in figure below
by dragging the block from linear library blocks;
1/P -
.
- .. Gain .
-
Transfer .. Gain 0/P.
-
. "' block Fn block
P-controller Motor Tacho-Generato •

• Connect the step wave block to the 1/P of the circuit dragging from source block.
• Connect the graph block to the output of the circuit dragging from sink block.
• Set the appropriate block parameters by double clicking on it.
• Set the simulation parameters,
• Start simulation.
DISCUSSION:

• Cornpare the results with the prediction made and with the measurement made in
previous report and comments ..

I. Measure the frequency response closed-loop position control system Connect the
close loop position control system as;
PROCEDURE:

• Build the close loop speed control system in a new file as shown in figure below
by dragging the block from linear library blocks;

1/P .r-
• .... Gain . Transfer
' . Block
... ..
• GB
..
• Gain .
function loc ..
Block
P-controller
Motor Gear ratio Potention1eter
 . I

I
"

• Connect the step wave block to the I/P of the circuit dragging from source block .
• Connect the graph block to the output of the circuit dragging from sink block .
• Set the appropriate block parameters by double clicking on it.
• Set the simulation parameters .
• Start simulation .
DISCUSSION:
• Compare the results with the prediction made and with the measurement made in
previous report and comments.

*****