Table 1: TACHO-GENERATOR CHARACTERISTICS, with speed feedback, Gain = 0.

1
Speed (rpm)
400
800
1200
1600
2000
Tacho Output (volts)
1.10
2.18
3.25
4.32
5.42
Table 2a: Brake Setting = 0 (No feedback), Gain = 0.1
MOTOR CHARACTERISTICS - SPEED vs INPUT
Speed (rpm)
400
800
1200
Volts (mV)
53.94
92.55
132.67

1600
172.73

2000
213.17

Table 2b: Brake Setting = 2 (No feedback), Gain = 0.1

MOTOR CHARACTERISTICS - SPEED vs INPUT
Speed (rpm)
400
800
1200
Volts (mV)
57.41
101.04
145.50

1600
189.25

2000
245.43

Table 2c: Brake Setting = 4 (No feedback), Gain = 0.1

MOTOR CHARACTERISTICS - SPEED vs INPUT
Speed (rpm)
400
800
1200
Volts (mV)
63.25
115.15
166.63

1600
225.41

2000
N/A

Table 3: OPEN-LOOP LOAD-SPEED CHARACTERISTICS (No feedback)

Brake Setting
0
2
4
6
Speed (Gain = 0.02)
1000
910
780
700
Speed (Gain = 0.05)
1000
920
780
700
Speed (Gain = 0.1)
1000
920
780
700

8
570
570
570

10
500
500
500

Table 4: CLOSED-LOOP LOAD-SPEED CHARACTERISTICS (With Speed feedback)

Brake Setting
0
2
4
6
8
Speed (Gain = 0.02)
1000
940
830
760
650
Speed (Gain = 0.05)
1000
960
890
840
750
Speed (Gain = 0.1)
1000
970
920
890
820

10
580
690
770

Ta

Graph 1: Tacho Output vs Motor Speed

5

Motor Speed (rpm)

Tacho Output (Volts)

4
3

2
1
0
0

500

1000

1500

2000

2500

Motor Speed (rpm)

Graph 2:
Motor Speed vs Input Voltage for Brake = 0,2,4
250

200
150

Brake = 0

100

Brake = 2

50

Brake = 4

Motor Speed (rpm)

Input Voltage (mV)

300

500

1000

1500

2000

2500

Motor Speed (rpm)

Table 5: CLOSED-LOOP SPEED CONTROL TRANSIENT RESPONSE (With Speed feedback)

Brake = 5
Brake = 10
Brake Setting
Overshoot
Settling
Rise
Overshoot
%
Time, ms
Time, ms
%
Speed (Gain = 0.02)
0
180
120
0
Speed (Gain = 0.05)
0
110
80
0
Speed (Gain = 0.1)
0
130
110
0
Table 6: CLOSED-LOOP POSITION CONTROL RESPONSE (With position feedback)
With Speed Feedback
Without Speed Feedback
Brake Setting = 2
Overshoot
Settling
Rise
Overshoot
%
Time, ms
Time, ms
%
Speed (Gain = 0.02)
0
580
490
0
Speed (Gain = 0.05)
0
630
490
0
Speed (Gain = 0.1)
0
730
490
24.6

Graph 3a:
Motor Speed vs Brake Setting (No feedback)
Motor Speed (rpm)

1200

1000
800
600

Gain = 0.02

400

Gain = 0.05

200

Gain = 0.1

0
0

10

12

Brake Setting

Graph 3b: Motor Speed vs Brake Setting

(With speed feedback)
Motor Speed (rpm)

1200
1000

800
600

Gain = 0.02

400

Gain = 0.05

200

Gain = 0.1

ONSE (With Speed feedback)

Brake = 10
Settling
Time, ms
110
90
120

Brake Setting

Rise
Time, ms
70
60
90

ith position feedback)

Without Speed Feedback
Settling
Rise
Time, ms
Time, ms
390
350
250
220
330
130

10

12