Introduction to Laboratory

Trainer Hardware
System Capabilities
• We will be using DC Motor Control Trainer (DCMCT)
System Capabilities
• We will be using DC Motor Control Trainer (DCMCT)
• It is used to teach and demonstrate the fundamentals of motor servo
control.
System Capabilities
• We will be using DC Motor Control Trainer (DCMCT)
• It is used to teach and demonstrate the fundamentals of motor servo
control.
• It can be used to control motor’s position and speed.
System Capabilities
• We will be using DC Motor Control Trainer (DCMCT)
• It is used to teach and demonstrate the fundamentals of motor servo
control.
• It can be used to control motor’s position and speed.

• Quanser QIC Processor Core and QIC interactive interface are used to
implement different control techniques.
DC Motor Control Trainer is shown below
System Schematics
Component Description
• Maxon DC Motor:
• The DC motor is a high quality 18-Watt motor of Maxon brand. This is a
graphite brush DC motor with a low inertia rotor. It has zero cogging and very
low unloaded running friction.
Component Description
• Maxon DC Motor:
• The DC motor is a high quality 18-Watt motor of Maxon brand. This is a
graphite brush DC motor with a low inertia rotor. It has zero cogging and very
low unloaded running friction.
• Linear Power Amplifier:
• A linear 15-V 1.5-A power amplifier is used to drive the motor. The input to
the amplifier can be configured to be either the voltage input at the RCA jack
labelled COMMAND or the output of the built-in Digital-To-Analog converter
(i.e. D/A). The built-in D/A can only be used if a QIC board is connected to the
system and the appropriate jumper (i.e. J6) properly configured.
Component Description
• QIC Compatible Socket
• The Quanser QIC processor core board can be plugged into the QIC
compatible socket, which is depicted in Figure A.3. This is designed to enable
one to perform closed-loop control using the QIC microcontroller.
Component Description
• QIC Processor Core Board
• The QIC processor core board is the Quanser board that contains Microchip's
PIC 18F4550 microcontroller. For embedded microcontroller control
applications, this QIC board needs to be installed in the corresponding QIC
compatible socket on the DCMCT. The QIC can process the signals that are
derived from the DCMCT sensors, command the power amplifier, drive two
LED’s, and read the state of the User Switch. The User Switch and two LED's
are useful when performing certain types of experiments supplied with the
QICii software.
Component Description
• Analog Current Measurement: Current Sense Resistor
• A series load resistor of 0.1 ohm is connected to the output of the linear
amplifier. The signal is amplified internally to result in a sensitivity of 1.8 V/A.
The obtained current measurement signal is available at the RCA jack labelled
CURRENT. Such a current measurement can be used to either monitor the
current or in a feedback loop to control the current in the motor. Current
control is an effective way of eliminating the effects of back- EMF as well as a
means of achieving force and torque control. This signal is level-shifted and
scaled, and then also made available at one of the QIC analog inputs (i.e.
A/D's) so that it can be used by a QIC-based controller.
Component Description
• Digital Position Measurement: Optical Encoder
• Digital position measurement is obtained by using a high resolution
quadrature optical encoder. This optical encoder is directly mounted to the
rear of the motor. The encoder signals are available at the 5-pin DIN plug,
named ENCODER, and can be used by a DAQ board. These encoder signals are
also fed to an encoder counter integrated circuit that interfaces with the QIC
in order to perform encoder feedback control using the QIC.
• Analog Speed Measurement: Tachometer
• An analog signal proportional to motor speed is available at the RCA jack
labelled TACH. It is digitally derived from the encoder signal. It has the range
of ―5 V. Once scaled and level-shifted to the range of 0-5 Volts, the
tachometer signal is also made available to one of the QIC A/D's so that it can
be used by a QIC-based controller.
Component Description
• Analog Position Measurement: Potentiometer
• The ball bearing servo potentiometer can be coupled via a toothed belt to the
motor shaft in order to implement analog position feedback control. The
potentiometer signal is available at the RCA jack labeled POT and can be used
by an analog computer or a DAQ board on a PC. This analog signal is in the
range of ―5 V. Once level-shifted and scaled to 0-5 V, the potentiometer
signal is also made available to one of the QIC analog inputs so that it can be
used by a QIC-based controller.
• CAUTION: The potentiometer belt should be removed in order to
eliminate the effects of extra friction when running speed control and
encoder position feedback experiments as well as to extend the life of
the potentiometer.
Component Description
• A wall transformer
• The DCMCT system is provided with a wall transformer as a AC power supply.
This is to deliver the required AC voltage to the DCMCT board. It connects to
the 6-mm jack labeled POWER.
• Caution: Please make sure you use the right type of transformer or you will
damage the system. 12-15 vAC and atleast 2A.
Component Description
• A wall transformer
• The DCMCT system is provided with a wall transformer as a AC power supply.
This is to deliver the required AC voltage to the DCMCT board. It connects to
the 6-mm jack labeled POWER.
• Caution: Please make sure you use the right type of transformer or you will
damage the system. 12-15 vAC and atleast 2A.
• Built in Power Supply J4
• A built-in power supply converts the 15 VAC available at the POWER 6-mm
jack to ±20 VDC. The ±20 VDC is regulated as well to supply ±5 VDC and ±12
VDC. These power supplies are available on the J4 header, whose location on
the main board is shown in Figure A.1 by component #16. The power supply
header J4 can be used for external circuitry.
Component Description
• A 12-Bit Digital to Analog Converter
• One 12-bit Digital-To-Analog converter (D/A) is available and can be used only
if the QIC board is installed. This will allow feedback controllers implemented
on the QIC to drive the D/A to control the power amplifier instead of the
external COMMAND input. The jumper J6 must be set to use the D/A output
to drive the amplifier. This is illustrated in Figure A.6. The output of the D/A is
also made available at the RCA jack labeled D/A.
Component Description
• 24-Bit Encoder Counter
• One 24-bit encoder counter is connected to the encoder such that if a QIC
board is installed, the encoder measurements can be read by the QIC.
Component Description
• 24-Bit Encoder Counter
• One 24-bit encoder counter is connected to the encoder such that if a QIC
board is installed, the encoder measurements can be read by the QIC.
• Secondary Encoder Input to QIC
• An additional external encoder can be attached to the system such that it can
be read by the QIC. This may be used for the development of other
experiments by the user.
Component Description
• 24-Bit Encoder Counter
• One 24-bit encoder counter is connected to the encoder such that if a QIC
board is installed, the encoder measurements can be read by the QIC.
• Secondary Encoder Input to QIC
• An additional external encoder can be attached to the system such that it can
be read by the QIC. This may be used for the development of other
experiments by the user.
• External Analog Input to QIC
• The analog input applied to the RCA jack labeled COMMAND is level-shifted
and scaled such that a signal in the range of ―5 V applied to it is made
available as a signal in the range of 0-5 V at a QIC analog input. This is useful if
you want to apply external command signals to a QIC-based controller.
Component Description
• Analoq Signals Header: J11
• The analog signals available at the RCA jacks, as previously discussed in this
Section, are also accessible on the DCMCT J11 header, whose location on the
main board is shown in Figure A.1 by component #17. The analog signals
header J11 can be used for external circuitry. Its schematic is illustrated in
Figure A.7.
System Parameters
DCMCT System Sensors