Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR

SUBMISSION OF LAB REPORT

NAME STUDENT ID DATE

: : :

LEE MEN KENG A0066028H 2 April 2012

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Objectives The objective of the experiment is to: a) b) c) Become familiar with the operation of an armature-controlled DC motor Study the transient and steady state response of a closed-loop speed control system; Study the transient response of a closed-loop position control system

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Results Table 1: TACHO-GENERATOR CHARACTERISTICS Speed (rpm) Tacho Output (volts) 400 1.16 800 2.33 1200 3.49 1600 4.66 2000 5.82

Do with speed feedback (to make speed easily controlled) Speed range is 400rpm to 2000rpm in increments of approximately 400 rpm. Gain = 0.1 Table 2A: Brake Setting=0 (No feedback) Gain=0.1 MOTOR CHARACTERISTICS-SPEED VS INPUT Speed (rpm) Volts (mV) 400 152.5 800 194.7 1200 235.89 1600 273.67 2000 313.4

Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm Table 2B: Brake Setting=2 (No feedback) Gain=0.1 MOTOR CHARACTERISTICS-SPEED VS INPUT Speed (rpm) Volts (mV) 400 156.52 800 202.18 1200 248.78 1600 296.68 1850 355.68

Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm Table 2C: Brake Setting=4 (No feedback) Gain=0.1 MOTOR CHARACTERISTICS-SPEED VS INPUT Speed (rpm) Volts (mV) 400 163.35 800 222.42 1200 278.52 1400 319.43

Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Results Table 3: OPEN-LOOP LOAD-SPEED CHARACTERISTICS (NO FEEDBACK) Brake Setting 0 2 4 6 8 Speed (Gain = 0.02) 1000 840 700 610 430 Speed (Gain = 0.05) 1000 830 700 610 490 Speed (Gain = 0.1) 1000 850 700 610 490 For each gain setting, start with speed of about 1000rpm at zero brake scale reading Note Gain = 0.02, Set 2 in Attenuator Unit (AU150B) Gain = 0.05, Set 5 in Attenuator Unit (AU150B) Gain = 0.1, Set 10 in Attenuator Unit (AU150B) Table 4: CLOSED-LOOP LOAD-SPEED CHARACTERISTICS (WITH SPEED FEEDBACK) Brake Setting 0 2 4 6 8 Speed (Gain = 0.02) 1000 900 730 690 580 Speed (Gain = 0.05) 1000 930 840 780 690 Speed (Gain = 0.1) 1000 960 900 860 780 For each gain setting, start with speed of about 1000rpm at zero brake scale reading 10 550 660 760 10 400 450 450

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Results Table 5: CLOSED-LOOP SPEED CONTROL TRANSIENT RESPONSE (WITH SPEED FEEDBACK) Brake Setting Brake = 5
Overshoot % Settling Time, ms Rise Time, ms

Brake = 10
Overshoot % Settling Time, ms Rise Time, ms

Remarks

Speed (Gain = 0.02) 0 84 68 0 Speed (Gain = 0.05) 0 136 120 0 Speed (Gain = 0.1) 0 200 152 0 Settling Time, within 5% of steady state value Rise Time, Time to reach steady state value at the first instance

52 124 124

44 92 100

Table 6: CLOSED-LOOP SPEED CONTROL TRANSIENT RESPONSE (WITH SPEED FEEDBACK) Brake Setting = 5 With Speed Feedback
Overshoot % Settling Time, ms Rise Time, ms

No Speed Feedback
Overshoot % Settling Time, ms Rise Time, ms

Remarks

Speed (Gain = 0.02) 0 560 510 0 Speed (Gain = 0.05) 0 670 570 0 Speed (Gain = 0.1) 0 510 470 6.15 Settling Time, within 5% of steady state value Rise Time, Time to reach steady state value at the first instance

550 330 190

500 280 170

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Charts

Chart 1 - Speed vs Volts

2500

2000

Speed , rpm

1500

1000

500

0 0.00 1.00 2.00 3.00 Volts 4.00 5.00 6.00 7.00

Chart 2- Speed vs Input

2500 2000 Speed, rpm 1500 Brake Setting = 0 1000 500 0 0 100 200 mVolts 300 400 Brake Setting = 2 Brake Setting = 4

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Charts

Chart 3 - Brake Setting vs Speed

12

10

8 Brake Setting

0 0 200 400 600 rpm Open Loop [Gain = 0.02] Closed Loop [Gain = 0.02] Open Loop [Gain = 0.05] Closed Loop [Gain = 0.05] Open Loop [Gain = 0.1] Closed Loop [Gain = 0.1] 800 1000 1200

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 4 Closed Loop Speed Control Transient Response for Gain=0.10 and Brake=5

Chart 5 Closed Loop Speed Control Transient Response for Gain=0.05 and Brake=5

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 6 Closed Loop Speed Control Transient Response for Gain=0.02 and Brake=5

Chart Chart 7 Closed Loop Speed Control Transient Response for Gain=0.02 and Brake=10

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 8 Closed Loop Speed Control Transient Response for Gain=0.05 and Brake=10

Chart 9 Closed Loop Speed Control Transient Response for Gain=0.10 and Brake=10

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 10 Closed Loop Position Control System (with Speed Feedback) for Gain=0.10 and Brake=5

Chart 11 Closed Loop Position Control System (with Speed Feedback) for Gain=0.05 and Brake=5

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 12 Closed Loop Position Control System (with Speed Feedback) for Gain=0.02 and Brake=5

Chart 13 Closed Loop Position Control System (without Speed Feedback) for Gain=0.02 and Brake=5

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Chart 14 Closed Loop Position Control System (without Speed Feedback) for Gain=0.05 and Brake=5

Chart 15 Closed Loop Position Control System (without Speed Feedback) for Gain=0.10 and Brake=5

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Student ID: A0066028H Name: Lee Men Keng Course: Bachelor of Technology (Mechanical & Manufacturing Engineering)

M2142E FEEDBACK CONTROL SYSTEMS SPEED / POSITION CONTROL OF A DC MOTOR Discussion Differences in open-loop and closed loop control With the results obtained from Table 3 OPEN-LOOP LOAD-SPEED CHARACTERISTICS (NO FEEDBACK) there are very little to no changes to the speed when the gain changes. Whereas for Table 4: CLOSED-LOOP LOAD-SPEED CHARACTERISTICS (WITH SPEED FEEDBACK), we observed that the closed loop control introduce more changes and variation in their response to different gain variants. Closed loop system will provide better accuracy as compared to open loop systems, and also less sensitive to disturbances, as it react to transient response and error. Effect of loop gain and brake scale settings Apparently, the difference between rise time and settling time is getting wider when increasing the brake settings for the lower and higher gains, except gain at 0.05 when it seems the time response is constant with both brake settings. Hence, to ensure constant time response, there is an optimum gain. Effect of loop gain and velocity feedback There is an overshoot of 6.15% at gain 0.1 with no feedback. Therefore we can see that the damping effect of the closed loop system help to prevent overshoot.

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