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EXPERIMENT : 13
NO

TITLE : TO STUDY THE CHARACTERISTICS

OF A TORSIONAL SYSTEM UNDER
DIFFERENT CONTROL MODES

DATE OF : ______________
EXPERIMENT

GROUP NO : ______________
BATCH : _______________

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GROUP
: _______________________
MEMBERS
_______________________
_______________________
_______________________

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Experiment # 13 CONTROL SYSTEMS Page 1 of 10
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CONTENTS

1. PURPOSE ................................................................................................................................. 3
2. THEORY .................................................................................................................................. 3
3. REQUIRED EQUIPMENT ...................................................................................................... 4
4. EXPERIMENT PROCEDURE ................................................................................................ 6
5. OBSERVATIONS AND READINGS ................................................................................... 10
6. CONCLUSIONS AND RESULTS......................................................................................... 10

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1. PURPOSE
The purpose of this experiment is to study the open loop dynamical behavior of a torsional
system and to observe the effect of closed loop control on its dynamics.

2. THEORY

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3. REQUIRED EQUIPMENT

ECP HARDWARE & SOFTWARE

The experimental system is comprised of the three subsystems shown in Figure 1.1-1. The first
of these is the electromechanical plant which consists of the torsion mechanism, its actuator and
sensors. The design features a brushless DC servo motor, high resolution encoders, adjustable
inertias, and reconfigurable plant type.
The next subsystem is the real-time controller unit which contains the digital signal processor
(DSP) based real-time controller, servo/actuator interfaces, servo amplifiers, and auxiliary power
supplies. The DSP is capable of executing control laws at high sampling rates allowing the
implementation to be modeled as continuous or discrete time. The controller also interprets
trajectory commands and supports such functions as data acquisition, trajectory generation, and
system health and safety checks. A logic gate array performs motor commutation and encoder
pulse decoding. Two optional auxiliary digital-to-analog converters (DAC's) provide for real-
time analog signal measurement. This controller is representative of modern industrial control
implementation.
The third subsystem is the executive program which runs on a PC under the DOS or Windows™
operating system. This menu-driven program is the user's interface to the system and supports
controller specification, trajectory definition, data acquisition, plotting, system execution
commands, and more. Controllers may assume a broad range of selectable block diagram
topologies and dynamic order. The interface supports an assortment of features which provide a
friendly yet powerful experimental environment.

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User/System Typical Mechanism

Interface Program Encoder #3
(Feedback Sensor)

"Executive", Drive Electronics

(Also referred to as "Control Box")
C Language
Shielded
Ca ble
(Fig's 2.1-1 Serv o
Through 2.1-12) Amplifier
Commutation
Sensor • Current Control
Feedback • Commutation
Outputs to Controller Control (Fig's 4.3-2, -3)
Encoder Brushless Effort
#2 Servo (c urrent)
Control algorithm parameters Motor Power
Execution commands Control Supply
Trajectory definition Ef fort Shielded
(t orque) Ca ble Aux. DAC
Safety shutdown commands
Readouts

Inputs From Controller Encoder

Pulses
Real-time data display Encoder Ribbon
#1 Cable
Upload acquired data
Upload system status (Fig. 4.5-1)

Off-line Functions
Plotting, file management, data
import/export, unit conversions, etc.

PC bus or
RS-232 Interface DSP (M56001) Based Controller / Data
Acquisition Board

Control Firmw are Encoder

Pulse
Numeric Decoders
Disk
Multi-task Routines Positions (Fig. 4.5-2)
Real-time Control Algorithm
(Assembly language)
• Trajectory Generation
• Data Collection & Storage • Up to 48 terms
• 48 bit multiplication, 96 bit addition
• Audit safety limits
• Up to 1.1 kHz servo closure rates Digital-to-
• Aux DAC updates
• Parameters downloaded Analog
• Watchdog timer support from Executive Conv erters

K0K
+ 1z+ +K7z
-7
Control Control
1+Lz+
1
+Lz -7
7

Effort Effort
NodeA NodeB
NodeD

DAC
(a number) (a voltage)
1 7 1 -1 1 1 1
T+T
1z + +T
7z 1-1 7-7 Ho+H
1z 1- 1 Eo+E
1z
1+Rz + + R 1+J z 1+ Gz

Program Flow - - -
NodeC
o 1-1 7-7 -1 -1
Ancilliary I/O
Clock driven interrupt to
S +
S + +S I 1z
o+ o+F1z
F

syncronously service
• Enco
der #1
• Enco
der #2
• Enco
der #3
• Enco
der #1
• Enco
der #2
• Enco
der #3
• Enco
der #1
• Enco
der #2
• Enco
der #3
•OptoIsolation
real-time control routine •LimitSwitchI/O
(Fig. 4.1-1) (ifused)

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4. EXPERIMENT PROCEDURE
1. Turn on the Hardware
Turn on the ECP (model 205 or 210) control box by pushing the BLACK ON button. Make
sure the mechanical system (weights/springs) is located in the correct position before you start
your experiments. The ECP control box also has a RED OFF button. Use the RED OFF
button to turn of the hardware in case of emergency.

2. Turn on the computer and open the ECP software

As the program starts, the following window appears.

3. Go to the ‘Setup’ menu and select ‘User Units’

Select the units with which you want to perform the experiment. Select ‘Degrees’.

4. Go to the ‘Command’ menu and select ‘Trajectory’.

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This opens the following dialogue:

Select ‘Step’ and click ‘Setup’. This would open a new dialogue:

Use the following specifications for the step trajectory:

1. Step Size (degrees): 22.500 degrees
2. Dwell Time (msec): 1450 msec
3. Number of reps: 1

5. Go to the ‘Setup’ menu and select ‘Control Algorithm’

This opens the following dialogue

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In the ‘Type’ tab, select ‘Continuous Time’ and in the ‘Control Algorithm’ window
select ‘PID’. Now click the ‘Setup Algorithm’ button. This would open a new
dialogue showing the control structure i.e. PID in the current case. For the first time,
do not change the gains. You must also select the desired feedback channel by
choosing the correct encoder(s) used for your particular control design. For the
current case select encoder 1 only. Upon clicking ‘Ok’ this dialogue would close.
Now click the ‘Implement Algorithm’ button. This would implement the selected
controller so that the system can now be operated under control. Upon clicking ‘Ok’
this dialogue would close.

6. Go the ‘Command’ menu and select ‘Execute’. This would open the following
dialogue:

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Click ‘Run’. This would start the system. Wait until the samples are uploaded.

7. Go the ‘Plotting’ menu, add ‘Commanded Position’ and ‘Encoder 1 Position’ to Left
axis, and ‘Encoder 2 Position’ to Right axis. Press the ‘Plot Data’ button.

8. Observe the plots and identify what control actions need to be taken in order to
improve the response. Based on these considerations, change the controller
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parameters in the ‘Setup Algorithm’ dialogue inside the ‘Control Algorithm’ dialogue
till you get a more improved response with accurate tracking and good transient
behavior. Also prioritize the overshoot characteristics while tweaking the gains.
Obtain a plot showing the ‘Commanded Position’ and ‘Encoder 1 Position’ on the left
axis and ‘Encoder 2 position’ on the right axis. Attach this plot in the observations
section of this manual.

9. Note: For systems stability,

Do not exceed the following limits of gains





5. OBSERVATIONS AND READINGS

6. CONCLUSIONS AND RESULTS

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