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Integral Control
24-451 Feedback Controls
Fall 2000
Introduction
In this lab, you will use a lead compensator to improve on the performance of the motor speed controllers used in Labs 2 and 3. An integrator
in the controller will be used to remove steady-state error and reject disturbances, and the lead compensator will be used to improve settling
time. A block diagram showing the closed-loop system is shown below.
The controller in this diagram consists of three parts: an integrator/summer , a lead compensator, and a variable gain. This will require the
use of three op amps rather than the two used in the last lab. The lead compensator pole (p) and zero (z), and the variable controller gain (Kc)
will be designed to meet settling time and percent overshoot requirements. You will perform this design with the aid of Matlab. The closed
loop step, ramp, and frequency responses will be examined, as well as properties of the controller.
Plant Identification
The motor, amplifier, and tach together represent the plant in this lab. The open loop TF is of the same form as that in Labs 1,2 and 3, i.e.
You can compute the plant's gain and time constant from the open-loop step response, just as was done in the previous labs. Or you can
simply use the motor that you used in the previous lab. Since you should now be familiar with the identification procedure used in the previous
labs, the details of the procedure are not included here. For more details, bring one of the previous lab handouts. However, a brief outline of
the procedure is included below.
Connect Power Supply to Amplifier
Connect Motor and Tach to Amplifier, Oscilloscope and Function Generator
Set the function generator and oscilloscope.
Set function generator to a square wave with amplitude 100mV (This is really 200mVP-P) and frequency 1Hz.
Set the function generator offset to 100mV. (This is really a 200mV offset).
Measure Step Response, Obtain K and
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The left op-amp in the circuit is an inverting summer/integrator. The input/output relationship for this portion of the circuit is:
The center op-amp is the lead compensator. It's transfer function is:
Given the capacitor value(s) the pole is determined by R3 (a potentiometer used as a variable resistor between 0 and 100K Ohms) and the
zero is determined by R2, another potentiometer. You will compute the values of R2 and R3 to give the desired response based on the root
locus.
The right op-amp is an adjustable inverting gain. R5 is a potentiometer which is adjustable between 0 and 100K Ohms. The input/output
relationship for this portion of the circuit is:
These three circuits together provide the inverting adjustable integral controller and lead compensator represented by the dotted box in the
block diagram. It's transfer function (ignoring the extra negative sign) is:
So the asymptote will be shifted by (b-a)/2. Therefore, if you place the compensator pole further to the left than the zero (but both further to the
left than the motor pole) you can ``bend'' the root locus to the left as shown below.
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3. Build Summer/Integrator
Connect a
capacitor between the output and negative input pins of the first op-amp (pins 14 and 13). The capacitor will be
labeled either with .1M or with 104 (meaning
).
Attach two 560K resistors (green-blue-yellow) between the negative input of the first op-amp (pin 13) and two different free rows
of the breadboard. These free resistor ends will be referred to as the controller inputs.
4. Build Lead Compensator
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Connect a
capacitor between two free rows of the breadboard (it shouldn't be connected to the rest of the circuit yet.)
Set 100K potentiometer to the value for R2. Connect it between these same two free rows (in parallel with the capacitor.)
Connect one end of these two components to the output of the first op-amp (pin 14) with a jumper.
Connect the other end of these two components to the negative input of the second op-amp (pin 2).
Connect another
capacitor between the output of the second op-amp (pin 1) and the negative input of the same op-amp
(pin 2).
Set the resistance of a potentiometer to the value you computed for R3. Connect it between the same output and negative input
pins you just connected the capacitor between.
5. Build Gain Circuit
Set the resistance of a second potentiometer to the value you computed for R5. Connect it between the output of the third op-amp
(pin 7) and the corresponding negative input (pin 6).
Connect a 1.5K resistor between the negative input of the third op-amp (pin 6) and the output of the second op-amp (pin 1).
6. Connect Controller to System
Detach the red clip from the IN terminal of the amplifier (this should be the signal from the function generator) and attach it to the
free end of one of the controller input resistors in the op-amp circuit. This is r, the reference input.
Detach the red clip from the tachometer signal wire. Attach both the clip and the wire to the free end of the other controller input
resistor. This is the feedback signal, -y.
Connect a wire between the output pin of the third op-amp (pin 7) and the IN terminal of the amplifier. This is the control signal, u.
Obtain Response
1. Step Response
Check your connections. It is particularly important that the power be applied to the op-amp in the right direction, and that none of
the pins on the chip are shorted to each other. Be careful that none of the resistor or capacitor leads touch each other.
Set the function generator to a square input of amplitude 1V, offset 1V, and frequency 1Hz. This will be a square wave alternating
between 1V and 3V.
Set the trigger to source 1 at a level of 2V with upward slope.
Set both voltage scales on the oscilloscope to 1V/div.
Set the time scale to 10ms/div, and the horizontal delay to 40ms.
Adjust the vertical position of traces 1 and 2 so that the origin of each is exactly at the center of the screen.
Set trace 2 to invert mode. This will get rid of the negative sign when viewing the signal.
Turn on the power. If the voltage levels on the power supply do not go up to 20V, then turn it off immediately since something is
most likely shorted. If this is the case check your connections.
If the motor spins uncontrollably, you are in positive feedback. If this is the case, interchange the two leads from the tachometer.
Measure the error by using the math function on the oscilloscope. To do this, press the +/- button, turn the math function on, select
menu, and choose the ``-'' function. Set units/div=1V and offset=3V using the knob normally used for cursors.
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Step Response
Ramp Response
Writeup
The writeup due date will be announced in class. Only one writeup is required per group. A formal format is not required, but be sure to
address the following issues. Include all your work in the writeup and justify all your answers. Tabulate results wherever appropriate.
1. Plant Identification
1. Given your open loop step response, calculate the gain and time constant (K and ).
2. Write the open loop transfer function of the amp-motor-tach system with the numerical values you obtained (watch units!).
2. Controller Design
1. Draw the region of the complex plane in which closed-loop poles will satisfy the design criteria. Circle the minimally
acceptable pole locations and verify that these agree with the desired closed-loop poles used in lab.
2. Use the sketching rules to draw a root locus of the compensated system. Be sure to calculate asymptotes and break-out
point. (show your work for this)
3. Controller Circuit
1. Derive the transfer function of the controller circuit. Show that it cvorresponds to equation (5).
2. Show your calculations for funding the resistor values used in lab.
4. Closed-Loop Response
1. Find the closed-loop transfer function. What are the poles and zeros? Verify that the poles lie in the proper locations. Do you
expect the desired poles to be dominant?
2. Compare your measured SS error, Tp, Ts, and %OV to the desired response parameters.
3. The response was probably not as expected. What caused this?
4. Simulate the closed-loop system's step response using the step command in Matlab. Compare SS error, Tp, Ts, and %OV
to that obtained in lab.
5. Calculate the expected SS ramp error. Compare this to what you observed.
6. How well did the control system reject disturbances? What gives it this ability?
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