Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
1. Introduction ............................................................................................................................. 3
Main Components ............................................................................................................... 3
Objectives ........................................................................................................................... 3
2. System Identification ............................................................................................................... 4
Servo Motor Description..................................................................................................... 4
Open Loop Block Diagram ................................................................................................. 4
Mathematical Modeling of DC Motor ................................................................................ 4
Plots of Physical System by Varying Step Input ................................................................ 5
Model Derived .................................................................................................................... 7
3. LabView and MccDAQ (USB 1208-FS) Interfacing .............................................................. 9
MccDAQ (USB 1208-FS)................................................................................................... 9
Labview: ........................................................................................................................... 10
Steps for Interfacing MccDAQ with Labview: ................................................................. 10
Sending and Receiving through DAQ .............................................................................. 11
4. Design by Emulation ............................................................................................................. 12
Transformation Techniques .............................................................................................. 12
Design Procedure: ............................................................................................................. 12
Simulation Results: ........................................................................................................... 14
LabView Block Diagram .................................................................................................. 14
Implementation Results: ................................................................................................... 15
5. Direct Design Control ............................................................................................................ 16
Introduction ....................................................................................................................... 16
Indirect Design Method .................................................................................................... 16
Direct Design Method ....................................................................................................... 16
Direct Digital Controller Design via the Root-Locus Method.......................................... 16
Design Procedure .............................................................................................................. 17
Simulation Results ............................................................................................................ 20
LabView Block Diagram .................................................................................................. 21
Real-time Implementation ................................................................................................ 21
6. Deadbeat Control ................................................................................................................... 22
Ensuring Physical Realizability ........................................................................................ 22
1
Ensuring Stability.............................................................................................................. 22
Limitations of Method ...................................................................................................... 23
Simulation Block .............................................................................................................. 25
Simulation Result .............................................................................................................. 25
LabView ............................................................................................................................ 26
Real-time Interfacing and Results ..................................................................................... 26
7. Conclusion ............................................................................................................................. 27
Comparison ....................................................................................................................... 27
2
1.Introduction
The Modular Servo System is designed to study the theory and implementation of automatic
control systems. It has been designed for practicing the theory of open and closed-loop, speed and
positional control systems using modular units, both mechanical and electronic, that can be
configured to practice the various methods of control techniques.
Main Components
i. DC Motor (Plant)
ii. Tacho-Generator (Speed Sensor)
iii. Potentiometer (Position Sensor)
iv. Motor drive
v. Gain Blocks
vi. Power Supply
Objectives
i. System Identification
ii. LabView and DAQ interfacing
iii. Design and Implementation of Digital Controllers
a. Controller Design by Emulation
b. Direct Design Control
c. Advance Control Design Technique e.g. Deadbeat Control
3
2.System Identification
Servo Motor Description
Electric motors can be classified by their functions as servomotors, gear motors, and so forth, and
by their electrical configurations as DC (direct current) and AC (alternating current motors.
Servomotor is a motor used for position or speed control in closed loop control systems. The
requirement from a servomotor is to turnover a wide range of speeds and also to perform position
and speed. Some properties of DC servo motors are the same, like inertia, physical structure, shaft
characteristics, their electrical and physical constants are variable.
Open Loop Block Diagram
Coupled DC Motor and Tacho-Generator represent the plant in the servo system. We are to model
this plant for position and speed controller design.
Transfer function of speed over applied voltage for armature controlled DC motor is given by
Assuming the inductance of motor in physical systems is negligible, we can approximate second
order system by first order system as follows:
4
() /( + )
= = =
() ( + ) + + ( + )
( + ) + 1
By comparing above transfer function by standard first order function given by
G(s) = +1
Where steady state gain = K = /( + )
time constant = = (+ )
Figure 2
5
Plot 2: Steady state value = K = 1.1 Time constant= = 1.5 sec
Figure 3
Figure 4
6
Plot 4: Steady state value = K = 2 Time constant= = 1.5 sec
Figure 5
Plot 5: Steady state value = K = 2.5 Time constant= = 1.5 sec
Figure 6
Model Derived
It is observed from the above responses that the time constant for the system is 1.5 sec whereas
amplitude varies with amplitude of the step input applied as shown in the table 1. Hence we can
write transfer function as:
()
G(s) = () = 1.5+1
7
Serial Plot Steady state value K Volts 0.63*K Time constant (sec)
# (Volts)
1 Plot 1 0.5 0.315 1.5
2 Plot 2 1.1 .693 1.5
3 Plot 3 1.4 .882 1.5
4 Plot 4 2.0 1.67 1.5
5 Plot 5 2.5 1.59 1.5
Table 1
8
3. LabView and MccDAQ (USB 1208-FS)
Interfacing
Along with other pins, MccDAQ has 8 analog input channels, 2 analog output channels and 16
digital I/O connections. Input voltage on analog input channel ranges from -10 volts to +10 volts
for single ended mode of input and ranges from -20 volts to +20 volts for differential ended mode.
The output ranges for 2 analog output channels are 0 to 4.096 volts. Above its maximum limit,
DAQ goes into saturation and then it must be restarted to release its state from saturation to normal
mode. This device supports sampling rate of 50K samples / sec for all the input analog channels.
The pin configuration of USB 1208-FS along with description is given in the following figure.
9
Labview:
Labview (Laboratory Virtual Instrument Engineering Workbench) is a system-design platform and
development environment for a visual programming language from National Instruments. It
supports real time data acquisition from sensors via data acquisition cards and also provides control
signals (data writing) to real plants via same DAQ cards. Labview can be considered as one of the
best platform to implement digital controllers in an easy and sophisticated way.
Labview has two main panels, front panel and block diagram window. It includes library for
different applications and devices.
Steps for Interfacing MccDAQ with Labview:
First install Labview software.
Then install mccdaq (200 MB) driver software to enable communication between DAQ card
and labview.
After installation of mccdaq, universal libraries of DAQ card appear in labview.
Then in folder C, go to program files and then to Measurement Computing and launch
InstaCal application. This would install and calibrate the channels of DAQ installed with
PC. InstaCal is the way of communicating DAQ with PC.
After initializing DAQ from InstaCal, open Labview and access DAQ through ULx libraries
10
Sending and Receiving through DAQ
. To control speed of Dc Motor, we need to receive analog data from speed sensor of Dc motor,
process it through digital controller implemented in Labview and then sending commands back to
drive circuit of Dc servomotor. The DC servosystem used in our project is MS 150D. The analog
speed data from tacho output is fed to pin 1 (Analog Input Channel 0) of DAQ and the ground of
tacho is applied to pin 3 (Analog ground) of DAQ card. By processing the sampled speed signal,
the control signal is applied to Dc motor through pin 13 (Analog Output Channel 0). The whole
system is thus implemented in closed loop configuration with the reference signal being applied
within labview. By subtracting the incoming analog speed data from reference signal, error signal
is generated which serves as an input to digital controller. This error signal is passed through digital
controller implemented in labview and then output of digital controller is generated which is
referred to as control signal for the plant.
The following Labview program shows the analog signal being read from analog input channel 0
and displayed on graphical indicator window
The next block diagram depicts the writing portion in which we simply write analog value
(between 0 and 4.) from Knob to output pin 13.
11
4. Design by Emulation
Indirect method of designing digital controller is also called design by emulation. Using these
techniques, a discrete-time controller Gc(z) is determined indirectly as follows. Initially, the
continuous-time controller Gc(s) is designed in the s-domain, using well-known classical
techniques (e.g. root-locus, Bode, Nyquist). Then, based on the continuous-time controller Gc(s) ,
the discrete-time controller Gc(z) may be calculated using one of the discretization techniques are
presented below.
Transformation Techniques
a. Forward Rule
1
s=
Computationally complex
May give an unstable digital controller of stable continuous controller.
b. Backward Rule
1
s=
Computationally complex
Frequency distortion
c. Bilinear Rule
2 1
s=
+1
We use here bilinear transformation because
Gives stable digital controller of continuous controller.
Frequency distortion is comparatively less than backward.
Design Procedure:
0.26
() =
1.35 + 1
Step response to Gp(S) is shown below,
12
As our transfer-function do not have any integrator therefore our output do not track input
faithfully. In order to track input faithfully we need to add and integrator in the system.
Our desired compensator is
( + )
() =
Desired poles: = 2 sec = 10%
4.66(+1.765)
() = ------------------------ (A)
After simplifying
(.+.) ()
() = .: () =
() ()
13
So our corresponding difference equation is
U[k] = U [k-1]+1.018*e[k]-0.9825*e[k-1]
. ( + )( + . )
() () =
( . )( )
Simulation Results:
14
Implementation Results:
15
5. Direct Design Control
Introduction
The classical discrete-time controller design methods are distinguished into indirect
and direct techniques.
Indirect Design Method
Using these techniques, a discrete-time controller Gc(z) is
determined indirectly as follows. Initially, the continuous-time controller Gc(s) is designed in the
s-domain, using well-known classical techniques (e.g. root-locus, Bode, Nyquist). Then based on
the continuous-time controller Gc(s), the discrete-time controller Gc(z) may be calculated using
one of the discretization techniques presented previous section. This design technique is also called
Design by Emulation technique.
G ( z)
H ( z) = (1)
1 +G ( z ) F ( z)
1 + G ( z ) F ( z) = 0 (2)
16
Figure 4.1. Continuous-time closed-loop system
Design Procedure
Our open loop plant transfer function
0.25
Gp(s) =
1 .35s+1
Discrete time plant transfer function preceding Zero Order Hold is given by,
Here T=0.02 s;
Gp(z) = 0.0037 (4)
z-0.98531
Desire closed loop poles at,
z = 0.97 j0.0256;
17
Root locus for uncompensated system (4) is,
18
Figure 4.5. Root Locus of Compensated System
Root Locus of compensated system clearly shows that it passes through the desire closed loop
poles.
19
Simulation Results
Figure 4.7. (i) Upper curve shows response for compensated system
(ii) Lower curve shows response for uncompensated system
20
LabView Block Diagram
Real-time Implementation
On applying step input to compensated system we get following step response.
21
6. Deadbeat Control
If the response of closed-loop control system to a step input exhibits the minimum possible
settling time, no steady state error, and no ripples b/w sampling instants, then this type of
response is called Dead Beat Response. Dead beat control method is an analytical method for
the design of controller. The dead-beat control consists of finding what input signal must be
applied to a system in order to bring the output to the steady state in the smallest number of
time instants. Main advantages of the dead beat are as follows:
F(z)
() =
G(z)[1F(z)]
Ensuring Stability
All unstable poles of G[z] must be included in 1-F[z] as zeros.
Zeros of G[z] that lie inside the unit circle may be cancelled with poles of GD[z]. However,
zeros of G[z] that lie on or outside the unit circle must not be cancelled with poles of GD[z].
Hence, all zeros of G[z] that lie on or outside the unit circle must be included in F[z] as
zeros.
22
Limitations of Method
1. Multiple Closed-loop poles at origin is very sensitive to system parameter variations.
2. Designed system will exhibit minimum settling time with zero steady-state error just for
the input for which it is designed but not for other inputs.
3. An increase in sampling period changes the system the system dynamics and may lead to
system instability
Design Procedure
First step for dead beat design is the selection of closed loop transfer function.
C(z) ()()
= ()() = ()
R(z) 1+
Since it is required that the system exhibit a finite settling time with zero steady-state error, the
system must exhibit a finite impulse response. Hence, the desired closed-loop impulse transfer
function is given by
F[z] = a0 + a z-1 + . + aN z-N where N n n is order of system
1
For the system to be causal, F[z] must not contain any positive terms of z
Controller Design
23
Figure 1. Continuous-time closed-loop system
24
1-a1 = 0 gives a1=1
So F[z] = z-1
Simulation Result
25
LabView
26
7. Conclusion
We conclude our discussion by comparing the results of implementation of all three designs.
Following plot shows step response of three designed compensator for speed control of DC Servo
System.
Comparison
27