Experiment 6

DC Modular Servo Motor

Submitted By:-
Ashwin Tunga
Devesh Joshi
Siddhant Jindal
Udit Raj Singh

AIM-
1)Studying the operating characteristics of Pre Amplifier
2) Constructing and operating a simple speed control system
3) Observing the response of a position control system to a step input
4) Investigate the effect of gain on deadband and step response
5) Observe the effect of added inertia on step response
6) Observe overshooting and how to observe how it can be
reduced by using brakes
7) Recognize the term ‘velocity feedback’ and see how it affects the
performance of a position control system

Theory -

1) Closed Loop Position Control Systems

A) Pre Amplifier
Here we looked at a Pre Amplifier PA150C which has two input and two
outputs. If there is a positive voltage on one of the inputs then one of its
output become positive. whilst if one of the output become negative other
will become positive.

B) Simple Motor driven Closed loop position control system

Here we utilize the the error signal output of opAmp to drive

output potentiometer via preamplifier and motor
2) Simple Speed Control System
Open Loop Systems give reasonable speed control without or with
fixed Load but system is highly unsuitable with varying load.
Here we deploy a closed loop system where we compare actual speed
to the required speed. This produces an error signal to actuate the
servo amplifier output so that the motor drives at a more constant speed

3) Dead Band and Step Response

Dead band is the minimum input required to get a response, knowing
the error factor we can relate the signal input to the degree of
misalignment that occur before there is a corrective response by the
system. Increasing gain will reduce the input needed to get an output
effect and hence also deadband
4) Velocity Feedback
In a position speed control system while increased gain decreases
deadband but it increases overshoot leading to instability.
The problem of overshoot arises due to motor’s speed carrying it past
the point of alignment , higher the gain higher will be the motor response
so that above a certain gain system never align. As a first step to reduce
overshoot we use magnetic brakes, brakes have the effect if applying
loading proportional to the speed.

Observations -

Input Signal Vo(3) (V) Vo(4) (V) Vo(4-3) (V)

0.879 10.68 0.943 9.74

0.771 9.57 0.942 8.62

0.678 8.62 0.941 7.60

0.591 7.82 0.941 6.88

 0.500 6.8 0.942 5.92

0.378 5.55 0.941 4.62

0.256 4.28 0.941 3.406

0.156 3.32 0.941 2.385

0.568 2.251 0.941 1.309

A simple Motor Driven Closed-loop Position Control System

Required (deg) Actual (deg) Misalignment (deg)

230 200 30
290 220 70
170 135 35
90 50 40
120 75 45
200 205 -5

Simple Closed-loop Speed Control System

Reference (V) Tachogenerator (V) Error (V) Speed (rpm)

0.3 mV 0.31 0.063 0

1.179 0.59 0.411 210

2.688 1.78 0.567 650

4.15 2.85 0.792 1060

5.59 3.77 0.956 1440

 6.94 5.10 1.312 1840

7.45 5.43 1.561 1460

Effect of Load on Speed

Brake Position Ref Voltage (V) Error (V) Tachogenerato Speed (rpm)
(deg) r (V)

0 3.99 0.818 2.77 1000

1 3.98 0.827 2.75 990

2 3.98 0.937 2.66 950

3 3.98 0.993 2.53 930

5 3.98 1.102 2.51 900

7 3.98 1.044 2.48 890

9 3.98 1.143 2.45 880

10 3.98 1.193 2.35 870

Simple Reversible Speed Control System

Minimum signal needed for motor response

Forward (mV) Reverse (mV)

120 54.4

Forward

Brake Position Tachogenerato Reference (V) Error (V) Speed (rpm)

r (V)

0 2.74 2.806 0.943 1000

3 2.79 2.797 0.943 980

5 2.70 2.794 0.943 980

7 2.69 2.788 0.943 970

 9 2.68 2.79 0.943 970

Reverse

Brake Position Tachogenerato Reference (V) Error (V) Speed (rpm)

r (V)

9 2.8 2.896 2.096 1000

7 2.81 2.846 2.009 1000

5 2.70 2.887 1.862 1020

3 2.83 2.893 1.730 1020

0 2.83 2.893 1.716 1020

Effects of Magnetic Brake on Overshoot

No.of Overshoots

Brake Position
Gain
0 2 5 10

1 5 4 2 1

2 - 19 5 3

3 - - 7 4

5 - - 12 4
“-” Represents the case when the oscillations were taking too long to die down

Effects of Velocity Feedback on a Position Control System

No.of Overshoots

Gain Brake Position

 0 2 5 10

1 5 4 2 1

2 - 13 4 2

3 - 24 6 3

5 - - 10 3
“-” Represents the case when the oscillations were taking too long to die down

Conclusion
First we looked at a Pre Amplifier PA150C which had two input and two
outputs. If there is a positive voltage on one of the inputs then one of its
output become positive. whilst if one of the output become negative other
will become positive. Then we utilized the the error signal output of opAmp
to drive output potentiometer via preamplifier and motor. Next we deploy a
closed loop system where we compare actual speed to the required speed.
This produces an error signal to actuate the servo amplifier output so that
the motor drives at a more constant speed. Next we developed relationship
between the signal input and the degree of misalignment that occured
before there was a corrective response by the system. Increasing gain will
reduce the input needed to get an output effect and hence also deadband.
Finally we reduced overshoot using magnetic brakes which had the effect
if applying loading proportional to the speed.