Angular Position Control2
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Transcript of Angular Position Control2
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Faculty: FAKULTI KEJURUTERAAN ELEKTRIKSubject : MAKMAL
KEJURUTERAANELEKTRIK
Subject Code : SEE 3732
ReviewRelease Date
Last Amendment
Procedure Number
: 1
: 2003
: 2003
: PK-UTM-FKE-(0)-10
SEE 3732
FAKULTI KEJURUTERAAN ELEKTRIK UNIVERSITI TEKNOLOGI MALAYSIA
KAMPUS SKUDAI
JOHOR
CONTROL 1 LABORATORY
ANGULAR POSITION CONTROL
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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
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2. Initial Control Settings: CE110, Clutch engaged and reference position dial set tozero.
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.
Decreasingnegative angle
value
Increasing positive angle
Indicated Angle of Motor
O/P Shaft (
0)
Position Sensor
Output(V)
0
value
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 constantV K ∆
∆=
θ
θ
• 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 k p=l or multiplier set to X1 (fully anticlockwise).
3. Slowly turn the reference position dial clockwise until the output shaft just begins tomove. Read the angle (θ
1) on the reference position dial.
4. Turn the reference position dial anti-clockwise, and note the angle (θ2) at which the
output dial begins to move.5. The difference between (θ
1-θ
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 k p=2,4,6,8,10.
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Figure 2
Figure 3
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Proportional Gain
kp
Width Of Output Angle
Dead-Zone (0
)
1
2
4
68
10
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
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2. Set the initial control settingCE110 : Engaged clutch
CE120 : Controller - Set the multiplier to X1 (fully anti-clockwise) to give k p=1
Function Generator- Let the LEVEL at zero position.- Read the voltage reading using voltmeter
-Adjust the OFFSET until voltage reading is 0V.(Don’t 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 (M p), peak time (T p) and settling time (Ts)
from the output responses.
7. Repeat for k p=2, 4, 8 and 108. Note the M p, T p, and Ts over a difference k p
in table 3.
Proportional Gain
kp
Mp Tp Ts
1
2
4
8
10
Table 3: Step response over various gain kp
Discussion/Conclusions:
• Discuss the relative performance of the controller with various gains k p
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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
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2. Initial Control Settings: CE110, Clutch engaged. CE120, Proportional gain
k p=l or multiplier set to X1 (fully anticlockwise), velocity feedback gain kv= 4or 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 M p, T p, and Ts, from the output response.
7. Repeat for k p=2,4, 8 and 10
8. Note the M p, T p, and Ts over a difference k p
in table 5
Proportional gainkpMp Tp Ts
1
2
4
8
10
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.