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This lab will introduce the ECP Model 205 Torsion Control Plant. The plant essentially consists of a

motor-driven weighted disk that can be rotated in either direction. An incremental encoder is attached to

the weighted-disk to measure its position as it rotates. Figure 1 shows a Simulink model for the weighted

disk and motor. Through experiment, the parameters for the model will be estimated.

voltage Km

ms + 1 velocity

Motor

Figure 1. Simulink model of control plant.

Section 2 Procedure

2.1.1 Logon.

a. Turn on the computer and log on to your NPS account.

b. Start the ECP Program. The shortcut is in the SERVO LAB APPS folder on the Windows desktop.

2.1.2 Record the ECP Station Number. Note that different stations will have different system

characteristics.

ECP Station Number:__________________________________

a. Single disk on the bottom encoder (encoder #1).

b. Two weights connected to the disk, mounted 180 degrees apart. The outside edge of the weight should be

tangent to the 9-cm line (last line on disk). Weights are connected to the disk by the 3/16 hex screw and

nut. Screw goes through the top of the weight; nut is placed on the bottom side of the disk in the slot. The

nut has a flat and rounded side. Flat side goes towards the bottom of disk. Slot holds the nut from rotating.

An access hole located on the front of the plant under the bottom disk can be used to hold the nut in place

while assembling.

c. Middle and upper disks are NOT assembled into system at this time.

d. Ensure the bottom disk is securely fastened to the system and the weights are securely fastened to the

bottom disk. The disk will be rotated at potentially high speeds in this experiment. It is important that the

weights or disks do not come apart. For proper operation ensure that the disk can rotate by hand prior to

energizing the control system. Two (2) weights must be at 180 degrees otherwise the system will be

unbalanced.

2.1.4 Energize the control system by pushing the ON button on the ECP controller. The controller is the

black and white box located next to the torsion control plant.

WARNING

The system is now energized and will rotate at potentially high speeds when a

control voltage is applied to the motor of the torsion system. At any point the motion

1

Lab 2r6.doc, 29 March 2006

EC2300 Control Systems Lab 2 First-Order System Response

of the system can be stopped by pressing the OFF (red) button on the ECP controller

box.

A voltage that is applied to the motor will not result in motor rotation if the voltage is not of sufficient

magnitude to overcome the plants friction. The Dead Zone in the Simulink model accounts for the friction

that exists in the real plant. In this part of the procedure, the student will seek an estimate of this dead zone

voltage, VDZ. To determine VD Z, a voltage sufficient to cause rotation will be applied to the motor and its

final velocity will be noted. The voltage will be reduced incrementally, noting the final velocity at each

step. Continue reducing the applied voltage and recording the motor velocity until the point that the

applied voltage does not cause the motor to rotate. Make a plot of these data similar to Figure 2.

Extrapolate the data by a straight line through to the horizontal axis and note this voltage value. This will

be VDZ that is to be used in the Simulink model, which will be constructed in Lab 3.

Data points

VDZ

Figure 2. Data points and extrapolated line used to estimate VDZ

2.2.1 Start the ECP software program. Setup the ECP program to run the motor as follows:

a. Click on SetupUser Units, select degrees

b. Select SetupControl Algorithm. Select Continuous Time. Click OK.

c. Select Data Setup Data Acquisition

Sample Period (servo cycles) = 10

Selected Items should be Commanded Position and Encoder 1 Position

Click OK

d. Select CommandTrajectory

Select Impulse and Unidirectional moves. Click Setup.

Select Open Loop Impulse and set Amplitude (volts)=0.2; Pulse width (msec) = 10,000; Reps = 5;

Dwell Time (msec)= 0;

e. Reset encoders to zero (Utility Zero Position)

f. Select Command Execute, Normal Data Sampling. Click Run to load and execute the program. Disk

should move and data is recorded. With the trajectory set up as described above, the ECP controller will

apply 0.2 volts to the DC motor for 10,000 msec (or 10 sec). Since the Dwell Time was set to zero, the

applied voltage does not turn off, and the signal is repeated four more times. So the voltage that is applied

to the motor is essentially 0.2 volts for 50 seconds.

g. Observe that the motor rotates for 50 seconds and achieves some final velocity. If the motor does not

run for the full 50 seconds, then the ECP software likely detected an overspeed condition and shut off the

applied motor voltage. Reduce the applied voltage by 0.01 volts and repeat as necessary to achieve the full

50 seconds.

2

Lab 2r6.doc, 29 March 2006

EC2300 Control Systems Lab 2 First-Order System Response

1. For the left axis chose Encoder 1 Velocity, and for the right axis choose Encoder 1 Position.

Select Plot Data.

2. Note the final velocity achieved by the mo tor. You can read it off the plot or you can select

PlottingAxis Scaling to see the range of data values.

2.2.2 Reduce the applied voltage by 0.01 volts and repeat steps 2.2.1d through 2.2.1h. Each time note the

final velocity achieved by the motor. Continue until the voltage does not cause the motor to rotate is

encountered.

2.2.3 Make a plot of your data similar to the one shown in Figure 2. Extrapolate a line from the data points

to estimate the value of VDZ.

In this portion of the procedure, the student will determine the parameters for the Transfer Function (Km

and m ) that will be used in the Simulink model. The plots generated in step 2.2.1h (velocity vs. time) are

examples of a first-order system response. From a plot such as these, we can determine the values of Km

and m needed for the Simulink model.

2.3.1 Repeat steps 2.2.1d f. Use the first voltage value you encountered that did not produce an

overspeed condition. The motor should run for the entire 50 seconds so that a constant steady state velocity

is achieved. Plot the data to verify that the motor achieved some steady final value.

2.3.2 Save the Data: Select DataExport Raw Data. Save the data in your home directory (drive H:\). Be

sure to use the *.txt extension. You can view the data with the Notepad utility. Also, before importing into

Matlab, youll need to delete the column headings at the first row of the data file, as well as the square

brackets in the beginning and end of the file. Bring this data into Matlab for plotting and analysis using the

load command. Note: Output data are encoder counts, and only for Commanded Position and Encoder 1

Position. Velocity data will need to be calculated from the position and time data. The calculation of

velocity will need to include a conversion from encoder counts to degrees/sec. There are 16,000 encoder

counts per 360 degrees revolution. Time is provided in seconds.

2.3.3 From the velocity plot, determine the first-order transfer function for the single disk system, namely

Km and m . Use the attached table to record some time and velocity data points from your plot. Using

these data, you can calculate m with Equation 3 in the Notes section of the procedure. The Notes also

show how to calculate Km . You will need to take into account the amplitude of the step input used in step

2.3.1 of this procedure and VDZ , which was determined earlier.

Section 3 -- Report

Submit a report in a format and with content similar to that of Lab 1. In the Introduction also discuss

relevant theory that was presented and explored during the lab. In the Results and Analysis section show

your calculations for the parameters of the first-order transfer function, as well as the Matlab velocity plot.

Include the attached table as a cover for your report.

Finally, discuss the main points of the lab in the Conclusion of the report. Include any significant findings

and recommendations you may have.

3

Lab 2r6.doc, 29 March 2006

EC2300 Control Systems Lab 2 First-Order System Response

Team Members: ______________________________

______________________________

______________________________

______________________________

ECP Station Number:

Configuration:

Number and location of disks

Number and location of weights

Applied Voltage, VA = Final Velocity, y( ) =

From Matlab Data Plot Equation 3

Time Velocity Time Constant (calculated)

4

Lab 2r6.doc, 29 March 2006

EC2300 Control Systems Lab 2 First-Order System Response

The trasnfer function for the first-order system has the form

Km

G( s) =

ms +1

where Km is a constant and m is the system time constant, both of which will be determined from the

experimental data. The time constant is defined as the time required for the system to reach 63% of its final

value.

If the input to the system is a step function, U(s) with amplitude A, then the system response is given by

Km A

Y ( s ) = G ( s ) U ( s) =

ms +1 s

In the time domain, the system response is

t

m

y (t ) = K m A (1 e ) Equation 1

and is shown in the figure.

y(t)

K m = y( ) A Equation 2

where A= VA VD Z, and y( ) is the final velocity achieved by the motor. In our lab procedure, VA is the

applied motor voltage and VDZ is the dead zone voltage. Substituting Equation 2 into Equation 1 and

solving for m gives

t

m = Equation 3

ln 1 y (t )

y( )

Use the equation above and pick several samples of t and y(t) from your measured data to calculate values

for the time constant. Choose samples that lie along the transitional portion of the curve before the

response settles to its final value. Average your calculated values of the time constant to get a more

accurate reading for the time constant.

5

Lab 2r6.doc, 29 March 2006

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