Faculty: Subject

FAKULTI KEJURUTERAAN ELEKTRIK : MAKMAL Review KEJURUTERAAN Release Date ELEKTRIK Last Amendment Subject Code : SEE 3732 Procedure Number

:1 : 2003 : 2003 : PK-UTM-FKE-(0)-10

FAKULTI KEJURUTERAAN ELEKTRIK UNIVERSITI TEKNOLOGI MALAYSIA KAMPUS SKUDAI JOHOR

SEE 3732

CONTROL 1 LABORATORY

ANGULAR POSITION CONTROL

Experiment 2: Angular Position Control Equipment Required CE110 Servo Trainer CE120 Controller Oscilloscope Objective: Investigate the angular position control performance and response of the Servo trainer under proportional control. Investigate the effect of the motor amplifier dead-zone on the accuracy of the position control system Investigate the angular position control performance and response of the Servo Trainer under proportional control. Investigate the position controller step response for various levels of proportional gain Investigate the use of velocity feedback as a means of improving the transient response of an angular position control system.

Part 1: Angular Position Transducer Calibration Procedure: 1. Connect the equipment as shown in Figure 1

Figure 1

2. Initial Control Settings: CE110, Clutch engaged and reference position dial set to zero. 3. Slowly turn the reference potentiometer until the motor output shaft gives the specified angles. 4. Choose 5 positive and 5 negative angles for the motor output shaft, and record the corresponding position sensor output in Table 1. Indicated Angle of Motor O/P Shaft ( 0 ) Decreasing negative angle value 0 Increasing positive angle value Position Sensor Output(V)

Table 1: Output Shaft Angular Position Sensor Calibration Discussion/Conclusion Draw and label the block diagram corresponding to figure 1 Plot the graph using the data from table 1 Calculate the angle sensor constant K = V Describe the relationship between indicated angle and position sensor output voltage

Part 2: Basic Tests and Dead-Zone Procedure: 1. Connect the equipment as shown in Figure 2 this corresponds to the block diagram shown in Figure 3. 2. Initial Control System; CE110, Clutch engaged and reference position dial set to zero, CE120, Proportional gain kp=l or multiplier set to X1 (fully anticlockwise). 3. Slowly turn the reference position dial clockwise until the output shaft just begins to move. Read the angle (1) on the reference position dial. 4. Turn the reference position dial anti-clockwise, and note the angle (2) at which the output dial begins to move. 5. The difference between (1-2) between these two angles is the effective dead- zone width of the controller. 6. Note the difference in Table 2. 7. Repeat above procedure for kp=2,4,6,8,10.

Figure 2

Figure 3

Proportional Gain kp 1 2 4 6 8 10

Width Of Output Angle Dead-Zone ( 0 )

Table 2: Effective Dead-Zone In Output Angle for Proportional Controller

Part 3: Servo Trainer position control: Step Response Procedure: 1. Connect the equipment as shown in Figure 3

Figure 3

2. Set the initial control setting CE110 : Engaged clutch CE120 : Controller - Set the multiplier to X1 (fully anti-clockwise) to give kp=1 Function Generator- Let the LEVEL at zero position. - Read the voltage reading using voltmeter -Adjust the OFFSET until voltage reading is 0V. (Dont change the OFFSET position for the rest of the experiment) Potentiometer - Set the reference potentiometer o/p 2.5V 3. Set the function generator to a square wave with a frequency of 0.05 Hz (frequency setting Hz 0.01 and X5) and the LEVEL at 2.5V. Using an oscilloscope, observed the square wave signal changes from -2.5V to 2.5V. 4. The summation of signal from function generator and potentiometer output therefore is a series of step responses changes from 0 to 5V. 5. Sketch the angular position output signal from oscilloscope. 6. Measure the maximum overshoot (Mp), peak time (Tp) and settling time (Ts) from the output responses. 7. Repeat for kp=2, 4, 8 and 10 8. Note the Mp, Tp, and Ts over a difference kp in table 3. Proportional Gain kp 1 2 4 8 10 Mp Tp Ts

Table 3: Step response over various gain kp Discussion/Conclusions: Discuss the relative performance of the controller with various gains kp

Part 4: Angular Position Control: Velocity Feedback Procedure: 1. Connect the equipment as shown in Figure 4 this corresponds to the block diagram shown in Figure 5.

Figure 4

Figure 5

2. Initial Control Settings: CE110, Clutch engaged. CE120, Proportional gain kp=l or multiplier set to X1 (fully anticlockwise), velocity feedback gain kv= 4 or set the multiplier X4. Set the function generator LEVEL at zero position, read the voltage reading using voltmeter, and adjust the OFFSET until the voltage reading is 0V. Don't change the OFFSET position for the rest of experiment. Set the potentiometer output at 2.5V. 3. Set the function generator to a square wave with a frequency of 0.05 Hz (frequency setting Hz 0.01 and X5) and the LEVEL at 2.5V. Using an oscilloscope, observed the square wave signal changes from -2.5V to 2.5V. 4. The summation of signal from function generator and potentiometer output therefore is a series of step responses changes from 0 to 5V. 5. Sketch the angular position output signal read from oscilloscope. 6. Measure Mp, Tp, and Ts, from the output response. 7. Repeat for kp=2,4, 8 and 10 8. Note the Mp, Tp, and Ts over a difference kp in table 5 Proportional gain kp 1 2 4 8 10 Mp Tp Ts

Table 4: Step response (using velocity feedback) over various gain kp Discussion/Conclusions: Explain why velocity feedback has a beneficial effect on the system transient response.