ESA 251 CONTROL SYSTEM THEORY

SEMESTER II 2014

PROJECT LAB
OPEN LOOP CONTROL FOR MOTOR SPEED

GROUP MEMBER :
a. MOHD NAZREEN BIN ABAS 115902
b. MUHAMMAD NIZAM BIN ABU BAKAR 117931
c. MUHAMMAD AIZAT BIN MOHD AKHIR 117924
d. SHARMENDRAN A/L KUMARASAMY 115911
PENSYARAH : DR ELMI ABU BAKAR




RESULT AND DISCUSSION
Graph tabulation
Sensor data
Output Graph - Graph of step against time


Motor Data
Input graph - Graph of voltage against time

Output Graph - Graph of step against time (Gain=1)


Motor Gain data

Input graph - Graph of voltage against time




Output Graph - Graph of step against time (Gain=5)


Open Loop Data
Output Graph - Graph of step against time



Output Graph - Graph of motor speed against time



Eight different graph are plotted from SensorData, MotorData, MotorGainData and
OpenLoopData. Fundamentally, the result can be correspond or obtained by the graphs plotted as
shown above, which are SensorData, MotorData, MotorGainData and OpenLoopData graphs
respectively.
SensorData graph is a graph of step against time (Graph 1). The step that is mention in
this part refers to the angular displacement of the shaft because the encoder is used to convert the
angular displacement to become a code. In this experiment, we were given 60 second to save the
data. However, there is a delay of time in turning the motor that can be seen in the graph that
indicates no rotations. Based on the graph that the motor remain static from 407 to 412 second.
After this short period. The graph starts to increase gradually from 412 to 430 seconds. The
graph took 1900 steps raised. This indicated the motor turns for a duration of 18 seconds in one
revolution with 1900 steps. After 1900 steps, the graph show a constant line that lasted for 36
second. The graph is shows a constant line because there is no change in the step which show no
motion.

The next graph is based on MotorData with the gain value is set to 1. Two graph is
plotted from this data. The first graph is voltage against time which is the input graph (Graph 2)
and the second is step against time which is the output graph (Graph 3). For our first graph the
scale is too big. The input graph shows that the voltage is first stepped up from -0.5V to 0.5V
and then stepped down from 0.5V to -0.5V after 1 second. This process was repeated for every 1
second interval exactly as shown in the graph. However, for the output graph, there is an increase
of step from -5412.5 to -3625 for 1 second and then decrease to -6120 after another second. After
that, the graph have an increase in step from -6120 to -3625 for a second. The graph repeat this
pattern for 2 second and at the last 0.5 second, the graph have a decrease of step from -3625 to -
4250. Although, the shape for the both of the graph are different, but the pattern are similar. The
pattern is there is an increase in step and then a decrease in the step. In conclusion, the step up of
the voltage will result in the increase of the step which cause the motor to rotate in clockwise
direction. Similarly, when the voltage is step down, the step will decrease and the motor will
rotate counter clockwise.

Similar to MotorData, MotorGainData also have 2 graph plotted with gain value 5, which
are the graph of voltage against time (Graph 4) and the graph of step against time (Graph 5).
Graph voltage against time is the input graph while graph step against time is the output graph.
The pattern of the graphs for the MotorGainData file are exactly the same as the MotorData file.
For the input graph, the time interval for each step up and step down of the voltage is 1 second.
The scale for the input graph is also too big. For the output graph, there is a slight different in the
shape of the graph but the pattern is the same. The graph step down from -5700 to -12700 for 0.5
second and then step up to 1000 for 1 second. This pattern is repeated until the sixth second.
Form 6th - 6.5th second, the graph step up from -12700 to -7000. Since the gain of the motor is
5, therefore the output graph of the MotorGainData is actually the amplification of the step value
of the output graph of the MotorData. Besides that, the change of step in this file is 5 times larger
compare to the step of the MotorData. As a result, the angular displacement of the motor is 5
times larger as compared to the previous data. Since the angular displacement is directly
proportional to angular velocity, so the angular velocity of motor is also 5 times larger.

For the last two graphs, they were plotted based on the OpenLoopData file which are the
filtered output graph of step against time (Graph 6) and also the derivative output graph of motor
speed against time (Graph 7). From the filtered output graphs, we know that the motor is rotating
in both direction which are clockwise and counter clockwise. Besides that, from the filtered
output graph of step against time, the step increase from -6.5 to -6.0 and then decrease to -9.0
this pattern continues until the last 0.5 seconds. At the last 0.5
th
second, there is a step down from
-6.0 to -8.5. Furthermore, the angular displacement for both clockwise and counter clockwise
rotation are the same. The value of derivative output graph is expected to be constant since the
gradient of the filtered output graph is constant. Yet, this estimated situation does not happen as
the motor speed increase fast to the targeted speed which is almost a straight vertical line as
show in the graph. If the motor rotates in another direction, the motor speed will change its
direction.


Question answer
a. How many steps the encoder has rotated baesd on SensorData
Based on the graph obtained in the project, we knew that the value have been
increased from 100 to 2000 when the motor undergo 1 complete turn. As the result, we
can conclude that it take 1900 steps for the encoder to rotate one complete turn.
b. Why the graph plotted using SensorData is not linear?
This might be because we turn the motor by just using our bare hand. Thus, this might
cause fluctuation in angular velocity of the motor that cause the graph to be not linear.
c. What happen to the graph plotted using SensorData if the rotation of the encoder is
reversed?

If the rotation of the encoder is reversed, the graph plotted will be inverted. Then, the
step value will start to decrease.






d. Why the pattern of input and output graphs plotted using MotorData are different?

The pattern of the input graph is square waveform while for the output data is
sinusoidal waveform. A negative gradient result is shown once the negative input
voltage is applied. In this case, the gradient of the graph refers to the speed of the
motor. Since the step is dependent on the rotation of the motor, thus the step increases
linearly when the motor rotates as shown in the graph. The encoder can only measure
the steps taken and cannot convert it into velocity automatically. Therefore, the output
graph shows linear increment and decrement according to the input voltage which then
resulting in different graph pattern.

e. Calculate the rotation speed (in degree/s) by finding the difference between the
maximum and minimum step from MotorData graphs (the encoder has 2000 steps in
one revolution).

Based on the graph, the gradient, m = 2350 step/s
Since 2000 steps = 360 degrees ; 1 steps = 0.18 degree
Therefore,
m = 2350 x 0.18 = 423 degree/s
rotation speed =

= 7.38 rad/ s




f. What is the difference between MotorData graphs and MotorGainData graphs?

One of the different between this two graphs is the gain of MotorData file is 1 while the
gain of MotorGainData file is 5. Besides that, there is another difference which is
obvious. It is the gradient of the graph. The gradient of the MotorGainData is steeper
than the graph of the MotorData graph, which means, the MotorGainData motor is
faster.









g. Based on the rotational speed calculated using MotorData graphs and MotorGainData
graphs, determine the conversion ratio of the voltage to speed assuming the motor
voltage is proportional to the speed.

Based on the MotorGainData graph, we can conclude that that the
Gradient, m = 14 000 step/s ; 1 step = 0.18 degree
Therefore, m = 2520 degree/s
Asume that the voltage is proportional to speed,
Speed = k X G X Voltage
For Gain, G= 1
468 = k X 1 X 5
k = 93.6
k 100

For Gain, G = 5
2520=k X 5 X 5
k = 100.8
k 100

h. What is the difference between derivative output graph and filter output graph from
OpenLoopData?

For the filtered output graph, the line (step output) increases and decrease linearly and
uniformly. However, for the derivative output graph, the motor speed shows
approximate constant speed at both minimum and maximum motor speeds.

i. What is the shape pattern of the graph that you expected in plotting OpenLoopData
after taking derivative of motor angle?

Based on our knowledge, we expected that the shape of our OpenLoopData graph have
sinusoidal pattern which is not is the result of it. The graph shows square waveform
pattern. Since the gradient of the output graph is constant, the derivative output graph
should also be constant, but such a result cannot be acquired due to some limitations.
j. Looking at the graph plotted using OpenLoopData after filtering, the pattern shows
that the speed response is overdamped or underdamped?

From the graph, we can conclude that the speed response is consider as underdamped.
The underdamped behavior can be observed or noticed from occur of overshoot and
fluctuation of the line.