ME2142E Lab Report

Speed Position Control of a DC Motor

by

LIN SHAODUN A0066078X

Lab Group 6B
Date 18th Feb 2011
 TABLE OF CONTENTS

EXPERIMENTAL DATA – TABLE 1, 2, 3, 4, 5, 6 2

GRAPH – 1 T ACHO O UTPUT VS . M OTOR S PEED 4

GRAPH – 2 M OTOR S PEED VS . I NPUT V OLTAGE FOR B RAKE 0, 2, 4 4

GRAPH – 3A S PEED VS . BRAKE (3 GAINS , O PEN -L OOP ) 5

GRAPH – 4B S PEED VS . BRAKE (3 GAINS , C LOSED -L OOP ) 5

DISCUSSION 6

APPENDIX – OSCIALLOSCOPE WAVEFORMS 9

1
 EXPERIMENTAL DATA

Table 1: T ACHO - GENERATOR C HARACTERISTICS

Speed (rpm) 400 800 1200 1600 2000

Tacho Output (volts ) 1.19 2.30 3.50 4.66 5.87

 Do with speed feedback. (To make speed easily controlled)

 Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm. Gain =0.1

Table 2a: Brake Setting = 0 (No feedback) Gain=0.1

MOTOR CHARACTERISTICS – SPEED vs. INPUT
Speed (rpm) 400 800 1200 1600 2000
Volt (mV) 31.43 70.03 109.92 149.54 190.42

 Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm.

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

MOTOR CHARACTERISTICS – SPEED vs. INPUT
Speed (rpm) 400 800 1200 1600 2000
Volt (mV) 32.89 72.68 114.63 155.68 196.67

 Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm.

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

MOTOR CHARACTERISTICS – SPEED vs. INPUT
Speed (rpm) 400 800 1200 1600 2000
Volt (mV) 42.07 93.27 145.34 201.04 228.75

 Speed range is 400 rpm to 2000 rpm in increments of approximately 400 rpm.

Table 3: O PEN - LOOP LOAD - SPEED CHARACTERISTICS (No Feedback)

Brake Setting 0 2 4 6 8 10
Speed (Gain=0.02) 1000 950 780 660 560 480
Speed (Gain=0.05) 1000 970 780 680 550 500
Speed (Gain=0.10) 1000 960 770 660 550 490

 For each gain setting, start with speed of about 1000 rpm at zero brake scale setting.

2
 Table 4: C LOSED - LOOP LOAD - SPEED CHARACTERISTICS (With Speed Feedback)

Brake Setting 0 2 4 6 8 10
Speed (Gain=0.02) 1000 980 860 760 680 610
Speed (Gain=0.05) 1000 980 900 830 760 700
Speed (Gain=0.10) 1000 980 930 880 840 790

 For each gain setting, start with speed of about 1000 rpm at zero brake scale setting.

Table 5: C LOSED - LOOP LOAD - SPEED T RANSIENT R ESPONSE (With Speed Feedback)

Brake=5 Brake=10
Brake
Settling Rise Time, Settling Rise Time,
Setting Overshoot % Overshoot %
Time, mS mS Time, mS mS
Gain=0.02 0 112 92 0 88 68
Gain=0.05 0 76 68 0 64 52
Gain=0.10 0 68 60 0 56 48

 Settling Time: within 5% of steady state value.

 Rise Time: Time to reach steady state value at the first instance.

Table 6: C LOSED - LOOP LOAD - SPEED T RANSIENT R ESPONSE (With Position Feedback)

Brake With Speed Feedback Without Speed Feedback

Settling Rise Time, Settling Rise Time,
Setting Overshoot % Overshoot %
Time, mS mS Time, mS mS
Gain=0.02 0 770 650 0 520 450
Gain=0.05 0 540 480 0 250 230
Gain=0.10 0 510 440 11.6% 150 140

 Settling Time: within 5% of steady state value.

 Rise Time: Time to reach steady state value at the first instance.

3
 GRAPH - 1 TACHO OUTPUT VS. MOTOR SPEED

Tacho Output (Volts)

6.0 Tacho Output vs. Motor Speed

5.0
Tacho Output

4.0

y = 0.0029x - 0.0120
3.0
R² = 0.9998

2.0

Motor Speed (rpm)

1.0
400 800 1,200 1,600 2,000

GRAPH - 2 MOTOR SPEED VS. INPUT VOLTAGE FOR BRAKE 0, 2, 4

250 Motor Speed vs. Input Voltage for Brake 0, 2, 4

Brake Setting = 0
200
Brake Setting = 2
Input Voltatge (mV )

Brake Setting = 4
150

100

50

Motor Speed (rpm)

0
400 800 1,200 1,600 2,000

 Note: when Brake Setting = 4, highest motor speed only can achieve 1670 rpm.

4
 GRAPH – 3A SPEED VS. BRAKE (3 G AINS, OPEN-LOOP)

1200 Speed vs. BRAKE (3 gains, Open-Loop)

Gain=0.02

1000 Gain=0.05
Gain=0.1
Speed (rpm)

800

600

Brake Settings
400
0 2 4 6 8 10

GRAPH – 3B SPEED VS. BRAKE (3 G AINS, CLOSED-LOOP)

1200 Speed vs. BRAKE (3 gains, Closed-Loop)

Gain=0.02
Gain=0.05
1000 Gain=0.1
Speed (rpm)

800

600

Brake Settings
400
0 2 4 6 8 10

5
 DISCUSSION

1. Discuss the differences in open-loop and closed loop control in achieving a speed
control system and the effects of the loop gain and load on the output speed.
Graph 3a is the result from open-loop speed control system, it shows:
1) The desired motor speed output is solely controlled by potentiometer input.
2) The desired motor speed can be achieved if there is not load or disturbance, but
the speed output will drop significantly if there is a disturbance (in this case,
the magnetic brake), and the amount of speed reduction is proportional to the
magnitude of disturbance (Magnetic brake angle).
3) Different Gain setting of Op. Amp is totally ineffective against disturbance.
The characteristic of open-loop controller is that it does not use feedback to determine
if its output has achieved the desired goal of the input. This means that the system
does not observe the output of the processes that it is controlling; hence an open-loop
system cannot compensate any disturbances.
Brake
-
E +
Op.Amp Servo Amp Motor Tachometer

From above block diagram of open-loop control system we can see that the loop gain
has not effect to the Op. Amp as the speed feedback from Tachometer is physically
disconnected, hence the system will not compensate any disturbance.
Graph 3b is the result from closed-loop speed control system, it shows:
1) The motor speed output is still proportional to disturbance, but amount of
speed drop is not so severe compare with open-loop system.
2) Difference Gain setting of Op. Amp affects the final speed output, higher the
gain setting, lesser the system is affected by disturbance.
In a closed-loop control system, a sensor monitors the system output (the motor speed)
and feeds the data to a controller which adjusts the controller as necessary to maintain
the desired system output. Brake
-
+ +
E Op.Amp Servo Amp Motor Tachometer
-

Gain

From above block diagram of closed–loop control system, it shows higher loop gain
helps system endure higher disturbance. During the experiment, if it is possible to
increase the loop gain, let say to 0.8, the motor output will be maintained at 1000 rpm
even at maximum magnetic brake angle setting.

6
 2. Discuss the effect of loop gain and brake scale settings on the transient response of
the closed-loop speed control system.

When plot the loop gain vs. transient response, the graph looks like this:

120 Gain vs. Transient Respond

Brake=5, Settling Time
100 Brake=5, Rise Time
Transient Respone (mS)

Brake=10, Settling Time

Brake=10, Rise Time
80

60

Gain Settings
40
0.02 0.04 0.06 0.08 0.10

From above graph we can observe the following facts:

1) Higher disturbance results in lower settling and rise time.

2) Higher loop gain setting also helps to reduce settling and rise time.

All these can be explained by the block diagram and the transfer function of the
closed-loop speed control system model.
Brake TL
- Ω TL Ω
E + +
Kp
-
Kd
The speed feedback control system is a first order system which transfer function is:
( )
( )
Smaller the time constant τ, faster the system will response. As we know:

Obviously this equation indicates Kd  → τ , hence increase Kd will reduce system

response time.
As for disturbance TL , the transfer function between output Ω is:
( )
( )
Which means when KL is constant, increase TL also causes τ reduce, hence system will
response faster.

7
 Alternately, when the disturbance TL is higher, the error feedbacks to Op.Amp will be
higher, which results in higher output to compensate the error and bring system back
to original state, hence the response time will be shorter.

3. Discuss the effect of loop gain and velocity feedback on the transient response of the
closed-loop speed control system.

When plot the loop gain vs. transient response, the graph looks like this:

800 Gain vs. Transient Respond

With Speed and Position Feedback , settling time
700 With Speed and Position Feedback , Rise time
Without Speed and Position Feedback ,Settling time
Transient Respone (mS)

600 Without Speed and Position Feedback , Rise time

500

400

300

200
Gain Settings
100
0.02 0.04 0.06 0.08 0.10

Result from Table 6 shows:

1) With speed and position feedback, the Settling and Rise time of control system
is longer than those without speed feedback, and the difference is even more
obvious at higher loop gain setting.
2) When without speed feedback, control system could overshoot at higher loop
gain setting. ( Please refer to Appendix, page 11)
The transfer function of speed and position feedback control system is:

( )
√ √
( )

From above equation, if without speed feedback, the system nature frequency will the
higher, and the damping ratio will be smaller, hence faster settling time is observed.
With higher loop gain setting, same phenomena will be observed.

8
 APPENDIX - OSCIALLOSCOPE WAVEFO RMS

Brake 5 Gain 0.02 with Speed feedback Brake 5 Gain 0.05 with Speed feedback

Brake 5 Gain 0.1 with Speed feedback

Brake 10 Gain 0.02 with Speed feedback Brake 10 Gain 0.05 with Speed feedback

9
 Brake 10 Gain 0.1 with Speed feedback

Brake 5 Gain 0.02 with Brake 5 Gain 0.05 with

Position/Speed feedback Position/Speed feedback

Brake 5 Gain 0.1 with

Position/Speed feedback

10
 Brake 5 Gain 0.02 with Position Brake 5 Gain 0.05 with Position
feedback, without speed feedback feedback, without speed feedback

Brake 5 Gain 0.1 with Position

feedback, without speed feedback

11