Lab Ac Exp 1 Group m16

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EMC 322 AUTOMA T IC CONTROL Experiment 1 Open-Loop Control for Motor Speed GROUP : M16 MEMBERS : MUHAMAD NURHAFIZ B. RAHIM 111551 MUHAMAD SY A FIQ BIN HAMZAH 111552 MUHAMMAD ATHIF BIN ZAINUDIN 115750 LECTURER : ASSC. PROF DR ZAHURIN SAMAD DATE OF SUBMISSION : 18TH MAY 2016 SCHOOL OF MECHA!CAL EG!EER!G

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EMC 322

AUTOMATIC CONTROL

Experiment 1

Open-Loop Control for Motor Speed

GROUP : M16

MEMBERS :

MUHAMAD NURHAFIZ B. RAHIM 111551MUHAMAD SYAFIQ BIN HAMZAH 111552

MUHAMMAD ATHIF BIN ZAINUDIN 115750

LECTURER : ASSC. PROF DR ZAHURIN SAMAD

DATE OF SUBMISSION : 18TH MAY 2016

SCHOOL OF MECHA!CAL EG!EER!G

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RESUL"S

SENSORDATA RAPH

1. OUTPUT

2. INPUT

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MOTORDATARAPH

1. OUTPUT

2. INPUT

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MOTORAINDATA RAPH

1. OUTPUT

2. INPUT

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OPENLOOPDATA RAPH

1. OUTPUT

2. INPUT

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#!SCUSS!OS

T!"#" $#" 8 %#$&!' () *+*$, -+# *!" !+," "/&"#(")*. T!" -(#'* %#$&! #"-"#' *+ *!" +*&* +- *!"

S")'+#D$*$ %#$&!. A' $) " '"") -#+ *!" %#$&!4 (* (' $ %#$&! +- '*"& $%$()'* *(" $) (* '*$#*' -#+

500 '*"&' *+ 500'*"&'. T!" %#$&! (' -,*$*" "$'" +- *!" #+*$*(+) +- *!" +*+# (' )+* (*!

+)'*$)* ",+(*. 9" #""#'" *!" #+*$*(+) +- *!" +*+# $) *!' *!" %#$&! ()($*"' $ "#"$'" ()'*"&' $' $) " '"") -#+ *!" %#$&!.

T!" )"/* &$#* #"-"#' *+ *!" M+*+#D$*$ $) *!"#" $#" *+ %#$&!' &,+**" !"#" *!" ()&* %#$&! (' $

%#$&! +- +,*$%" $%$()'* *(" $) *!" +*&* %#$&! (' $ '*"& $%$()'* *(" %#$&!. T!"'" *+ %#$&!'

()($*"' *!$* *!"#" (' $ +##",$*(+) "*"") *!" #+*$*(+) +- *!" +*+# $' $) " '"") #()% *!"

"/&"#(")* $) *!" '&&,(" +,*$%" *+ *!" +*+#. O)" +'"#$*(+) #()% *!" "/&"#(")* (' !")

*!" +*+# #+*$*"' ,+('" $) $)*(;,+('". T!(' (' " *+ *!" &+'(*(" '&&,(" +,*$%" +- 0.5<

()&* '(%)$, (' -" +)'*$)*, *+ *!" +*+# $) *!(' $'"' ,+('" #+*$*(+) $) (" "#'$.

M"$)!(,"4 *!" ")+"# &+'(*(+) #"$()% (' ()#"$'()% () '*"&' (*! $ +)'*$)* ',+&" $' $) " '"")

-#+ *!" %#$&!. T!" %#$(")* +- *!" %#$&! ()($*"' *!" '&"" +- *!" +*+# () '*"&'='"+).

T!" *!(# &$#* #"-"#' *+ *!" M+*+#$()D$*$ !(! (' *!" '$" (*! *!" M+*+#D$*$ $) *!" +),

!$)%" "()% $" *+ *!" ''*" (' *!" %$() (' *+ " $#(". T!(' (' +)" *+ '"" *!" "--"* +- $#()%

*!" %$() *+ *!" '&"" +- +*+#. F#+ *!" %#$&!4 (* $) " "*"#()" *!$* *!" %$() !$' "") ()#"$'"

  5 *("' "*"#()()% *!" $/( $&,(*" +- *!" %#$&! '*"&' $%$()'* *(" -+# %$() 1 $)

%$() 5 $) -() *!" #$*(+. T!" #$*(+ '!+, " 5. F#+ +'"#$*(+)4 *!" '&"" +- *!" +*+# #+*$*()%

$) " '"") *+ !$" ()#"$'" $) $'" +) $,,$*(+)'4 *!" '&"" +- *!" +*+# !$' ()#"$'" 5

*("'.

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(' $ %#$&! +- +,*$%" $%$()'* *(" $) *!" +*&* %#$&! (' $ '*"& $%$()'* *(" %#$&!. T!"'" *+

%#$&!' ()($*"' *!$* *!"#" (' $ +##",$*(+) "*"") *!" #+*$*(+) +- *!" +*+# $' $) " '"") #()%

*!" "/&"#(")* $) *!" '&&,(" +,*$%" *+ *!" +*+#.

$UES"!OS

a) How many steps the encoder has rotated based on SensorData?

B$'" +) S")'+#D$*$ %#$&!4 *!" #+*$*(+) +- ")+"# (' 000 )(*' !(! (' ">($,")* *+

000 '*"&' &"# #"+,*(+).

b) Why the graph plotted using SensorData is not linear?

A' $) " '"") +) *!" %#$&!4 *!" &,+**" %#$&! (' )+* ,()"$#. T!(' (' " *+ *!" '*"&' *$")

*!" ")+"# () $+#$)" *+ *(". A' !$) "()%4 " + "##+#. T!'4 !") #+*$*()% *!"

(' $)$,, '()% !$) #()% +)*()% "/&"#(")*4 '+ (* (' (--(,* *+ +)'*$)* *!"

",+(* +- #+*$*()%. T+ %"* ,()"$# %#$&!4 *!" '&"" +- #+*$*()% %#$&! '* " () +)'*$)*

",+(*.

c) What happen to the graph plotted using SensorData if the rotation of the encoder is

reversed?

F#+ %#$&!4 !") *!" ")+"# (' #+*$*()% () ,+('" (#"*(+)4 *!" #" '!+' *!$* $*$ ('

()#"$'()% (*! *(". M"$)!(,"4 !") (* (' #+*$*" () #""#'"4 *!" %#$&! (,, " ()"#'"

$' (* "$'#" '*"&' +- ")+"#.

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d% &'( t'e p)ttern of inp*t )nd o*tp*t +r)p', plotted *,in+ Motor#)t) )re different

T!" ()&* %#$&! +- *!" M+*+#D$*$ #"-"#' *+ $ %#$&! +- +,*$%" $%$()'* *(" !(," *!" +*&*

%#$&! (' +- '*"& $%$()'* *(". F+# *!" ()&* %#$&!4 *!" +,*$%" '&&,(" *+ *!" +*+# (' ?0.5<

$) ;0.5<. T!" '!$&" +- %#$&! (' +'"#" *+ " () -+# +- '*"& ()&* $' (* '&&,("' +)'*$)*

",+(*. A' *!" +*+# #+*$*"'4 *!" '*"&' ()#"$'"' ,()"$#, $' $) " +'"#" $--"* -#+'*"& $#" "&")")* +) *!" #+*$*(+) +- *!" +*+#. T!" ")+"# +), "$'#"' *!" '*"&' *$")4

 * )+* +)"#* (* *+ ",+(*4 *!' *!" ,()" '!+) (' $+#()% *+ ()&* +,*$%". T!"

()#"")* $) "#"")* +- *!" ,()" '!+' *!" #+*$*(+) +- *!" +*+# *+ " () $ ,+('" $)

$)*(;,+('" #+*$*(+).

e) Calculate the rotation speed ( in degress/s) by finding the difference between the

maimum and minimum step from !otorData graphs" (the encoder has #$$$ steps per

revolution)

1 #"+,*(+) @ 360 "%#""'

2000 '*"&' @ 1 #"+,*(+) @ 360 "%#""'

1 '*"& @ 360 = 000 @ 0.0 "%#""

F#+ *!" M+*+#D$*$ %#$&!4 *!" (--"#")" "*"") *!" $/( $) ()( '*"&'

@ 00 '*"&' ; 500 '*"&'

@ 300 '*"&' () +)" '"+)

T!'

T!" #+*$*(+) '&"" @300 / 0.0 @ 352 "%#""'='"+)

 f) What is the difference between the !otorData graphs and !otor%ainData graphs?

B$'" -#+ *!" &,+**" %#$&!4 *!" &$**"#) +- *!" %#$&!' $,+'* *!" '$". T!"#" (' +), '$,,

(--"#")* !(! (' *!" %#$(")*. T!(' (' " *+ *!" ()&* %$() (' (--"#")* "*"") M+*+#D$*$

$) M+*+#$()D$*$. T!" '*""&"# %#$(")* +- M+*+#$()D$*$ '!+' *!$* *!" '&"" +-

#+*$*(+) (' !(%!"# *!$) M+*+#D$*$. T!"'" $#" *!" +), (--"#")" "*"") +*! %#$&!'.

+%  &ased on the rotational speeds calculated using !otorData graphs and !otor%ainData

 graphs' determine the conversion ratio of voltage to speed' assuming the motor voltage is

 proportional to the speed"

F+# M+*+#$()D$*$ %#$&! (*! %$() 54

%#$(")* @ 61800−000

587−586

  @ 16000'*"&='

S()" 2000'*"&@360"%#""'4 *!'4 @2880"%#""='.

S()" (* (' $''" *!$* +,*$%" (' &#+&+#*(+)$, *+ '&""4

S pe e d  ∝

V ol t a g eS pe e d  =k ⋅G⋅V o l t a g e

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F+# $()4 +- 14

650=k ⋅1⋅5

k =A0

k ≈100

F+# $()4 +- 54

2880=k ⋅5⋅5k =38.6

k ≈60

T!'4 *!" +)"#'(+) #$*(+ (' $&&#+/($*", 0.

h) What is the difference between derivative output graph and filter output graph from

penoopData?

T!" (--"#")" "*"") "#($*(" +*&* %#$&! $) -(,*"# +*&* %#$&! $#" *!" $#($,"' +-

$/('. F+# -(,*"# +*&* %#$&!4 *!" $/(' (' '*"& $%$()'* *("4 !"#"$' *!" "#($*(" +*&*%#$&! (' $ %#$&! +- +*+# '&"" $%$()'* *(". F+# -(,*"# +*&* %#$&!4 *!" '*"& +*&*

()#"$'"'4 $) "#"$'"' $,+'* ,()"$#,. F+# *!" "#($*(" +*&* %#$&! '!+' *!" +*+#

'&"" '!+' $&&#+/($*" +)'*$)* '&"" $* ()( $) $/( +*+# '&""'.

( What is the shape pattern of graph that you epect in plotting penoopData after

ta*ing derivative of motor angle?

T!" $,"' +- *!" "#($*(" +*&* %#$&! (' +)'*$)* '()" *!" %#$(")* +- *!" -(,*"#+*&* %#$&! (' +)'*$)*. S+4 *!" "/&"*" '!$&" &$**"#) (' $ '>$#" $"-+# %#$&!4

!(! (' '((,$# *+ *!" ()&* %#$&! +- M+*+#D$*$ $) M+*+#$()D$*$. H+""#4 *!"

+*+# (#$*"' $,, *!" *(" " *+ (*' ($,$)" $'' +- *!" #+*+#. S+4 (* (' (&+''(," *+

+*$() "/$*, ,(" *!$* %#$&!. T!" &$**"#) +- $*$, %#$&! (,, )"$#, -+,,+ *!" '>$#"

$#"-+# %#$&!.

 +) oo*ing at the graph plotted using penoopData after filtering' the pattern shows that

the speed response is overdamped or underdamped?

A-*"# -(,*"#()%4 *!" &$**"#) '!+' *!$* *!" '&"" #"'&+)'" (' )"#$&". B$'" +) *!"

%#$&!4 *!" '&"" ()#"$'"' #$&(, $* *!" ()(*($, *+ *!" *$#%"*" '&"". A-*"# +"#'!++* +#'4(* $'" -,*$*(+) !$&&") $* $ *$#%"*" '&"" "-+#" (* '"**,()% +).