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



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



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.



Figure 2

Figure 3



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



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



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



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.

Angular Position Control2

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