EMC 322

AUTOMATIC CONTROL

Experiment 1
Open-Loop Control for Motor Speed

GROUP :

M16

MEMBERS :
MUHAMAD NURHAFIZ B. RAHIM
MUHAMAD SYAFIQ BIN HAMZAH
MUHAMMAD ATHIF BIN ZAINUDIN

111551
111552
115750

LECTURER : ASSC. PROF DR ZAHURIN SAMAD

DATE OF SUBMISSION : 18TH MAY 2016

SCHOOL OF MECHANICAL ENGINEERING

RESULTS
SENSORDATA GRAPH
1. OUTPUT

2. INPUT

MOTORDATAGRAPH
1. OUTPUT

2. INPUT

MOTORGAINDATA GRAPH
1. OUTPUT

2. INPUT

OPENLOOPDATA GRAPH
1. OUTPUT

2. INPUT

DISCUSSIONS
There are 8 graphs in total for the whole experiment. The first graph refers to the output of the
SensorData graph. As can be seen from the graph, it is a graph of step against time and it starts from
500 steps to 4500steps. The graph is fluctuated because of the rotation of the motor is not with
constant velocity. We reverse the rotation of the motor and thus the graph indicates a decrease in
steps as can be seen from the graph.
The next part refers to the MotorData and there are two graphs plotted where the input graph is a
graph of voltage against time and the output graph is a step against time graph. These two graphs
indicates that there is a correlation between the rotation of the motor as can be seen during the
experiment and the supplied voltage to the motor. One observation during the experiment is when
the motor rotates clockwise and anti-clockwise. This is due to the positive supplied voltage of 0.5V
input signal is fed constantly to the motor and this causes clockwise rotation and vice versa.
Meanwhile, the encoder position reading is increasing in steps with a constant slope as can be seen
from the graph. The gradient of the graph indicates the speed of the motor in steps/second.
The third part refers to the MotorGainData which is the same with the MotorData and the only
change being made to the system is the gain is to be varied. This is done to see the effect of varying
the gain to the speed of motor. From the graph, it can be determined that the gain has been increased
by 5 times by determining the maximum amplitude of the graph steps against time for gain 1 and
gain 5 and find the ratio. The ratio should be 5. From observation, the speed of the motor rotating
can be seen to have increased and based on calculations, the speed of the motor has increased by 5
times.
The forth part refers to openloopdata graph and there are two graphs plotted where the input graph
is a graph of voltage against time and the output graph is a step against time graph. These two
graphs indicates that there is a correlation between the rotation of the motor as can be seen during
the experiment and the supplied voltage to the motor.
QUESTIONS
a)

How many steps the encoder has rotated based on SensorData?

Based on SensorData graph, the rotation of encoder is 4000 units which is equivalent to
4000 steps per revolution.

b)

Why the graph plotted using SensorData is not linear?

As can be seen on the graph, the plotted graph is not linear. This is due to the steps taken by
the encoder in accordance to time. As human being, we do error. Thus, when rotating the
disk manually using hand during conducting experiment, so it is difficult to constant the
velocity of rotating. To get linear graph, the speed of rotating graph must be in constant
velocity.

c)

What happen to the graph plotted using SensorData if the rotation of the encoder is
reversed?
From graph, when the encoder is rotating in clockwise direction, the curve shows that data is
increasing with time. Meanwhile, when it is rotated in reversed, the graph will be inversed
as it measure steps of encoder.

d)

Why the pattern of input and output graphs plotted using MotorData are different?
The input graph of the MotorData refers to a graph of voltage against time while the output
graph is of step against time. For the input graph, the voltage supplied to the motor is +0.5V
and -0.5V. The shape of graph is observed to be in form of step input as it supplies constant
velocity. As the motor rotates, the steps increases linearly as can be observed affect from
step are dependent on the rotation of the motor. The encoder only measures the steps taken,
but not convert it to velocity, thus the line shown is according to input voltage. The
increment and decrement of the line shows the rotation of the motor to be in a clockwise and
anti-clockwise rotation.

e)

Calculate the rotation speed ( in degress/s) by finding the difference between the
maximum and minimum step from MotorData graphs. (the encoder has 2000 steps per
revolution)
1 revolution = 360 degrees
2000 steps = 1 revolution = 360 degrees
1 step = 360 / 4000 = 0.09 degree
From the MotorData graph, the difference between the maximum and minimum steps
= 4400 steps - 500 steps
= 3900 steps in one second
Thus;
The rotation speed =3900 x 0.09 = 352 degrees/second

f)

What is the difference between the MotorData graphs and MotorGainData graphs?
Based from the plotted graph, the pattern of the graphs almost the same. There is only small
different which is the gradient. This is due to the input gain is different between MotorData
and MotorGainData. The steeper gradient of MotorGainData shows that the speed of
rotation is higher than MotorData. These are the only difference between both graphs.

g)

Based on the rotational speeds calculated using MotorData graphs and MotorGainData
graphs, determine the conversion ratio of voltage to speed, assuming the motor voltage is
proportional to the speed.
For MotorGainData graph with gain 5,
gradient = 6180049000
587586
= 16000step/s
Since 2000step=360degrees, thus, m=2880degree/s.

Since it is assumed that voltage is proportional to speed,

S p e e d V ol t a g e
S p e e d =kGV o l t a g e

For Gain,G of 1,

450=k15
k =90
k 100

For Gain,G of 5,

2880=k55
k =38.4
k 40

Thus, the conversion ratio is approximately 40.

h)

What is the difference between derivative output graph and filter output graph from
OpenLoopData?
The difference between derivative output graph and filter output graph are the variables of
axis. For filter output graph, the axis is step against time, whereas the derivative output
graph is a graph of motor speed against time. For filter output graph, the step output
increases, and decreases almost linearly. For the derivative output graph shows the motor
speed shows approximate constant speed at minimum and maximum motor speeds.

i)

What is the shape pattern of graph that you expect in plotting OpenLoopData after
taking derivative of motor angle?
The values of the derivative output graph is constant since the gradient of the filter
output graph is constant. So, the expected shape pattern is a square waveform graph,
which is similar to the input graph of MotorData and MotorGainData. However, the
motor vibrates all the time due to its imbalance mass of the rotor. So, it is impossible to
obtain exactly like that graph. The pattern of actual graph will nearly follow the square
wareform graph.

j)

Looking at the graph plotted using OpenLoopData after filtering, the pattern shows that
the speed response is overdamped or underdamped?
After filtering, the pattern shows that the speed response is underdamped. Based on the
graph, the speed increases rapidly at the initial to the targeted speed. After overshoot occurs,
it cause fluctuation happen at a targeted speed before it settling down.