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(1)
Vt , the output voltage of the tachometer reflects motor angular velocity, Vin is the input voltage to
the motor (through the power amp, which you will set to have a gain of 1), and K, T are system
parameters. Signals w and n reflect the possibility of a disturbance on the motor, and measurement
noise associated with the tachometer, respectively. The block diagram describing the open loop
system is shown in Figure 2. It lumps the gains associated with the motor, power amp and
tachometer into K, assumes a system time constant T, and neglects measurement noise.
n
Vt
Vin
power amp
DC motor
Tachometer
(volts)
(volts)
Vin
(volts)
Vt
Ts + 1
(volts)
Construct and test the summing junction on your protoboard. Make sure the power supply and
power amp are off while you are constructing the circuit, and disconnect the output of the
power amp from the input to the motor. Supply +15 V and ground to your op amp from the
+15 V power supply. Avoid longs lengths of wire, alligator clips and other poor wiring techniques
by supplying +15 V to your board through the banana connectors. Refer to attachments for
pinouts of the operational amplifier and for resistor color codes. Consult your lab instructor if you
need assistance in constructing the circuit or if you have never used a protoboard.
Once your circuit is working and your gain is set, close the loop as follows. WITH THE POWER
AMP and +15 V SUPPLY OFF, connect the output of the circuit to the input of the power amp,
and connect the tachometer to the summing junction. Connect the output of the power amp to the
motor. Also, connect the output of the tachometer to AD channel 0, and connect the reference input
to AD channel 1. Record the closed-loop response as follows. First, turn on the signal generator,
power amplifier and 15 V power supply. Then, start the DTVEE program, choosing a total sample
that captures at least one full cycle of the closed-loop response. Record the tach response and
reference input, and save the data to disk. Also, you may want to monitor the input to the power
amplifier and the tach response to check for saturation. (The ideal experiment would record all
three signals at once, but DT-VEE may not allow this.) Next, run the closed-loop speed control
system again, and put your finger on the shaft to generate a disturbance while the closed-loop
system is in operation. Record the response using DT-VEE. What happens?
Repeat the input and disturbance responses for each of the three proportional control gains. Check
to make sure your results qualitatively match theory before disassembling your circuit. If you do
not complete this portion of the lab, keep the circuit intact.
In your report, show the closed-loop system block diagram, show your analysis, describe your
circuit, and answer the following questions. What is the steady-state error to 5V input? What
happens to the transient response and steady-state error as K p increases? Simulate the closed-loop
response to a 5V input in MATLAB for the motor parameters found experimentally and values of
K p used in the lab. How do experimental responses compare to simulated responses? How does
the experimental system respond to a disturbance? Compare experimental results with your analysis
in problem 5, problem set 3.
4. Proportional-integral Speed Control of the DC Motor (week 2)
Prelab analysis: In problem 5, HW3, you should have discovered that PI control,
Kp
s +1
K p s + Ki
Ki
Gc ( s) =
= Ki
provides benefits in reducing steady-state error to a step input and
s
s
reducing the disturbance response. Fix the value of K p to avoid saturation, and choose a value for
Ki such that the transient and error response is satisfactory. For example, you should have
found that the closed-loop system with a PI control law is now a second-order system. With K p
fixed to avoid saturation, choose Ki to provide an adequate transient response and to reduce steadystate error quickly. Also, consider rejection of a constant disturbance as a specification. Use the
program generated Problem Set 3 to determine an appropriate control gain Ki. You will define and
explain your transient and steady-state performance criteria in your report.
Lab procedure: Implement a PI control law using one of the two PI op amp circuits discussed in
class. One of these circuits is provided in Figure 5. Refer to attachments to determine resistor and
capacitor values available in your analog control kit. Connect the output of the summing junction to
the input of the PI circuit. (Remember to set the resistances in your summing junction to be equal
for this part, since the overall gain will affect K p !) Connect the output of the PI circuit to the input
of the power amp. Operate the closed-loop system and record the tachometer voltage and reference
input as in the previous experiment. NOTE THAT IT IS EXTREMELY IMPORTANT THAT
NO SIGNAL EXIST ON THE INPUT TO THE INTEGRATOR CIRCUIT PRIOR TO
CLOSED-LOOP OPERATION. If a signal exists on the integrator circuit, it will integrate, and
there will be a large signal on the motor at time zero, due to the integrated signal. Therefore, the
order of operation is important. If you start your DT-VEE program first, then turn on the power
amp and +15V supply, no signal will exist on the integrator circuit prior to data collection.
Next, operate the closed-loop system again and record the response to a finger-on-shaft
disturbance. Answer the following questions in your report.
State your control system design specifications, and discuss how you arrived at these specs.
Describe your PI control circuit, including component values chosen to implement the control law.
Discuss experimental results. For example, what is the steady-state error for a 5V input? How
does the experimental response for PI control compare to that simulated in MATLAB? How does
the system respond to a disturbance? Did the experimental system meet specifications? If not, why
not? What is the effect of saturation?
ENGS 26: Part List for Analog Controller Kit (may differ slightly from actual kit)
Approx.
Quantity
Part
6-8
2-4
741 Op amp
747 Quad op amps
5
10
10
10
6
6
6
1 Mohm resistor
100 kohm resistor
10 kohm resistor
1 kohm resistor
100 kohm trim pots
10 kohm trim pots
1 kohm trim pots
3
3
3
3
3
3
10 f capacitor
1 f capacitor
0.1 f capacitor
4.7 f capacitor
0.47 f capacitor
0.047 f capacitor
protoboard wire (red, black, various
colors)
Screwdriver for adjusting trim pots
wire cutters/strippers
Protoboard w/ velcro
1
1
1
PLEASE TURN OFF INSTRUMENTS AND MAKE SURE ALL CONNECTORS ARE
RETURNED TO YOUR STATION BEFORE LEAVING THE LAB.
REMEMBER TO TAKE YOUR KIT WITH YOU.
YOUR FELLOW STUDENTS AND LAB INSTRUCTOR WILL THANK YOU!
10K