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UEEA3423 Control Systems

Experiment 1

Closed Loop Position Controller
&
Transient Response of Position
Controller


Name: Karthik Suriandran
Course: Mechatronic Engineering
Student ID: 1100324
Date of Experiment: 1/07/2014
Lecturer: Dr Chew Kuew Wai

Title: Closed Loop Position Controller & Transient Response of Position Controller.

Objective:
To investigate the changes in system response and offset error when the system gain
varies.
Implement position control using simple proportional controllers and to study the
transient response of a position controller.

Abstract:
This experiment is done to study the system response when the system gain is increased and
decreased. In the first part, a closed loop position controller system is constructed. In theory,
when the system gain in reduced, the deadband and the offset error increase whereas when
the system gain is increased, the offset error is reduces and the system response will increase.
As for the second part of the experiment, transient response of a position controller is studied.
When the system gain is reduced, the rise time will be longer which makes the system
response to be slow and vice versa. When the gain is too high, there will be an overshoot in
the system response. When the load to a motor is an inertia type, the transient response slows
down.

Introduction:
A closed loop position controller is type of control system that automatically changes the
output based on the difference between the feedback signal and the input signal. In the first
part of the experiment, the positional information from an output potentiometer which is
mechanically coupled to a motor is fed back to a control amplifier. Later, the reference
position input from the input potentiometer is combined with the feedback signal at the input
of the amplifier which drives the motor in proportion to the difference between two signals.
The simplified system diagram of the closed loop system used in the experiment is shown in
Figure 1 below.

The A1 is an error signal generator, A2 is an error signal amplifier and A3 is driver for the
motor M. As the Pi is turned away from Po, the difference between two voltages is the error
signal which appears at A1. The error signal is further amplified through A2 and A3 and this
Figure 1
drives the motor in the direction to reduce the error voltage between Pi and Po.When Pi is
turned clockwise, Po follows in same direction and continues until the output A1 = 0.

Second part of the experiment is to study the transient response of a position controller. When
a step input is fed into the position controller, the loop takes time to react to the applied input.
Oscillation also can occur at the output during the transient time depending on the system
parameters. The delay is caused by the inertia of the moving parts. When the inertia
increases, the delay increases. The transient response can be observed through the
oscilloscope when the square wave input is applied as the diagram shown below in Figure 2.


Equipment:
DC Servo Trainer ED 4400B



Figure 2

Procedure:
Part A: Closed Loop Position Controller

1. The modules are arranged and connected as shown in Figure 3 above which includes
coupling of U-158 to U-161.
2. U-152 is set to a and U-151 to 10.U-156 is turned on and U-157 is set to 180
degrees.
3. U-153 is adjusted so that the U-154 output is zero. U-153 is remained untouched after
the setting.
4. Now, U-151 is set to 9.U-157 was turned clockwise or counter-clockwise within +-
20 degrees from the original 180 degrees so that the U-158 follows the movement. It
is seen that U-158 lag U-157. The wires of U-161 motor are switched if U-158 leads
U-157.
5. U-157 is turned clockwise from 0 degrees by incrementing every 10 degrees until it
reaches 150 degrees. The angle of U-158 is measured at each position of U-157.
Measurements of U-157 are repeated by turning counter-clockwise. The offset error
angle between U-157 and U-158 at each position are calculated.
6. System gain is increased by setting U-151 to 7, 5, 3, and 1 and the previous step 5 are
repeated to take the measurements of offset error angle.
7. Results of Steps 5 and 6 are plotted.



Figure 3
Part B: Transient Response of a Position Controller


1. The modules are set as shown in Figure 4 above with an oscilloscope.
2. U-151 was set 10 and U-152 was set to a. The power of U-156 is turned on.
3. U-153 output was adjusted to be zero.
4. The frequency of U-162 was set to 0.2 Hz. Oscilloscope is adjusted and observed.
5. U-151 was set to 8 and U-158 is observed turning left and right. Oscilloscope is
observed and noted.
6. Now, U-151 is set to 6, 4, 2, and 0 in sequence and each impact on the trace at each
time is monitored.
7. U-152 is switched to b and step 6 is repeated. Resultant response is sketched.
Post Problems:

1. Block Diagram






2. Simplified Block Diagram:
Figure 4
K1
K2

G

INPUT, U(S) OUTPUT, Y(S)




3. Transfer Function:
T(s) = U(S)/ Y(S) = K1K2G + 1


Results:
Part A:
Table 1: Offset error angle when the system gain is 1
Input Angle
U-157
/ ()
U-158
(after clockwise
rotation) / ()
Offset Error
Angle
/ ()
U-158
(after counter clockwise
rotation) / ()
Offset Error
Angle
/( )
10 5 -5 9 -1
20 16 -4 19 -1
30 26 -4 30 0
40 37 -3 40 0
50 47 -3 50 0
60 57 -3 60 0
70 68 -2 70 0
80 78 -2 80 0
90 88 -2 90 0
100 98 -2 100 0
110 108 -2 110 0
120 118 -2 120 0
130 128 -2 130 0
140 138 -2 140 0
150 148 -2 150 0


Table 2: Offset error angle when the system gain is 3
Input Angle
U-157
/ ( )
U-158
(after clockwise
rotation) / ( )
Offset Error
Angle
/ ( )
U-158
(after counter
clockwise rotation) /
()
Offset Error
Angle
/( )
10 6 -4 9 -1
20 15 -5 19 -1
30 25 -5 29 -1
40 35 -5 40 0
50 45 -5 49 -1
60 55 -5 60 0
70 65 -5 69 0
K1K2G + 1
INPUT, U(S) OUTPUT, Y(S)
80 75 -5 80 0
90 86 -4 90 0
100 95 -5 100 0
110 105 -5 110 0
120 115 -5 120 0
130 126 -4 130 0
140 135 -5 140 0
150 146 -4 150 0


Table 3: Offset error angle when the system gain is 5
Input Angle
U-157
/ ( )
U-158
(after clockwise
rotation) / ( )
Offset Error
Angle
/ ( )
U-158
(after counter clockwise
rotation) / ()
Offset Error
Angle
/( )
10 5 -1 10 0
20 15 -5 17 -3
30 23 -7 28 -2
40 34 -6 38 -2
50 45 -5 48 -2
60 55 -5 58 -2
70 63 -7 68 -2
80 75 -5 79 -1
90 84 -6 88 -2
100 95 -5 99 -1
110 105 -5 109 -1
120 115 -5 119 -1
130 125 -5 129 -1
140 135 -5 138 -2
150 145 -5 149 -1


Table 4: Offset error angle when the system gain is 7
Input Angle
U-157
/ ( )
U-158
(after clockwise
rotation) / ( )
Offset Error
Angle
/ ( )
U-158
(after counter clockwise
rotation) / ()
Offset Error
Angle
/( )
10 11 1 15 5
20 11 -9 16 -4
30 23 -7 25 -5
40 32 -8 35 -5
50 43 -7 46 -4
60 53 -7 56 -4
70 63 -7 68 -2
80 73 -7 75 -5
90 83 -7 86 -4
100 93 -7 96 -4
110 104 -6 107 -3
120 114 -6 116 -4
130 124 -6 127 -3
140 134 -6 137 -3
150 144 -6 147 -3


Table 5: Offset error angle when the system gain is 9
Input Angle
U-157
/ ( )
U-158
(after clockwise
rotation) / ( )
Offset Error
Angle
/ ( )
U-158
(after counter clockwise
rotation) / ()
Offset Error
Angle
/( )
10 16 6 21 11
20 16 -4 21 1
30 17 -13 23 -7
40 29 -11 30 -10
50 38 -12 43 -7
60 49 -11 50 -10
70 56 -14 62 -8
80 69 -11 70 -10
90 78 -12 82 -8
100 89 -11 94 -6
110 99 -11 101 -9
120 108 -12 113 -7
130 120 -10 120 -10
140 128 -12 133 -7
150 140 -10 141 -9

Part B:
1. U-152 was set to a. U-151 was varied from 8, 6, 4, 2, and 0 and the oscilloscope
results are as follows:

U-151 = 8





U-151 = 6
U-151 = 4









U-151 = 2
U-151 = 0


2. U-152 was set to b. U-151 was varied from 6, 4, 2, and 0 and the oscilloscope
results are as follows:






U-151 = 6
U-151 = 4








U-151 = 2
U-151 = 0


3. A flywheel is attached to the high speed shaft of the servo motor. U-152 is set to a.
U-151 was varied from 6, 4, 2, and 0 and the oscilloscope results are as follows:






U-151 = 6
U-151 = 4








U-151 = 2
U-151 = 0


Discussion:
Conclusion:
References:

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