Proportional Speed Control

Sharifah Salihah bt Wan Mahdi, EA09025, E01B

Abstract This laboratory is done to investigate the

relationship between steady-state error with constant reference signal and between steady-state error with proportional controller gain. We use a set of equipment of Servo Trainer and Servo Controller. The outcomes are used to verify the relationships and are tabulated clearly. I. INTRODUCTION Theory of operation: In this laboratory, we used Servo Trainer and Servo Controller. Therefore, first of all, we connect the both of the equipments as in Figure 1.

because we just want to investigate the relationship of steadystate error with proportional gain. For Part 1, we set the proportional gain, kp equal to 10 and gain, G1 equal to 1. Then, we increased the reference speed from 2V to 10V in steps of 1V. We take the reading of steadystate error on the digital voltmeter and record it as in TABLE 1. For Part 2, we set the reference speed, yr equal to 5V and the gain, G1 is 1. We vary the controller gain, kp from 1 to 10 in steps of 1. We record the error signal readings that are taken from voltmeter reading in TABLE 2. We use the same equation as below for both Part 1 and Part 2 to calculate the theoretical steady-state error signal.

.Equation 1.

II. METHODOLOGY Design procedure: We used Servo Trainer and Servo Controller to investigate the performance of the system upon the servo-system speed control loop. We also use table tools to tabulated the results that we get.

III. RESULT
TABLE 1

Figure 1: Connection Between Servo Trainer and Servo Controller

Make sure in the initial condition, the clutch disengaged. This to ensure no excessive wear of gearbox if the trainer is run at high speed. Besides, a large inertial load (3 loads) is installed and ensures the selected load is firmly secured by the knurled nut provided. Rear Access door must also firmly closed. After that, we turned the potentiometer fully anticlockwise (set 0V output). At the PID Controller, the Proportional block (P) is switched in (set to 1), and Derivative (D) and Integral (I) blocks are switched off (set to 0). This is

Potentiometer Setting (Reference Speed, yr) (V) 2 3 4 5 6 7 8 9 10

Measured Steady-State Error Signal (V) 0.20 0.29 0.39 0.48 0.57 0.66 0.76 0.85 0.94

Theoretical Steady-State Error Signal (V) 0.1818 0.2727 0.3636 0.4545 0.5454 0.6363 0.7272 0.8181 0.9091

TABLE 2
Potentiometer Controller Gain 1 2 3 4 5 6 7 8 9 10 Measured SteadyState Error Signal (V) 2.52 1.66 1.26 1.00 0.86 0.74 0.65 0.57 0.51 0.47 Theoretical SteadyState Error Signal (V) 2.50 1.67 1.25 1.00 0.83 0.71 0.63 0.56 0.50 0.45

The slightly difference of the readings is may be due to the equipment error itself. To reduce this weakness, we should calibrate the equipment accordingly. But, this result is still can be accepted because the difference is just in average of 0.02V and it is can verify the theory of control system.

V. CONCLUSIONS As a conclusion, we had achieved our objectives of investigating the relationship between steady-state error and constant reference signal and also steady-state error and proportional controller gain. . REFERENCES
[1] S. M. Metev and V. P. Veiko, Laser Assisted Microtechnology, 2nd ed., R. M. Osgood, Jr., Ed. Berlin, Germany: Springer-Verlag, 1998. J. Breckling, Ed., The Analysis of Directional Time Series: Applications to Wind Speed and Direction, ser. Lecture Notes in Statistics. Berlin, Germany: Springer, 1989, vol. 61. http://www.tecquipment.com/Datasheets/ce120_0409.pdf http://www.fke.utm.my/lab/basiccontrol/resource/CE120%20Controlle r.pdf http://notes.ump.edu.my/fkee/yasmin/BEE3313_Principle%20of %20Control%20System_sem%201112I/Laboratories/

IV. DISCUSSION As shown in TABLE 1, the theoretical value of steady-state error is less than the measured reading that is taken from the digital voltmeter. Based on the result, we can see that the greater the value of reference signal, the greater the value of steady-state error. Definitely, we can say that the steady-state error is directly proportional to the constant reference signal. But, for the Part 2, the value of steady-state error is become less as the value of potentiometer controller gain is increase. So, based on the result in TABLE 2, we can simply say the steady-state error is inversely proportional to the potentiometer controller gain. We also can clearly see this relationship based on the Equation 1.

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