BEE20901 MKS 2 ELECTRONICS ENGINEERING LABORATORY II Speed Control System

d Electronic EngineeringDepartment of Mechatronic and Robotic Engineering
BEE20901 - Electronic Engineering Laboratory II

Instruction Sheet
Control Laboratory
Name Matric no. Section:

1. Instructors’ name:
2.
3.
4.
5.
Title Time/ Date

Experiment 2
1. Open Loop Speed Control System
2. Closed Loop Speed Control System
FOR INSTRUCTORS USE ONLY
Domain Item Subtotal Total

C Question /20 /20
P Lab activities /30
Results and analysis /25
Conclusion /05 /60
A Demonstration (understanding) /10
Ethics /10 /20
TOTAL MARKS /100
Experiment 2 – Part 1
Open Loop Speed Control System
Table of Content
Table of Content ii
Instruction 1
1.0 Title – Experiment 2 – Part 1 2
2.0 Outcomes 2
3.0 Overview 2
4.0 List of Equipments 4
5.0 Experiment Procedures 4
6.0 Results and Analysis 6
7.0 Questions 8
8.0 Conclusions 9
APPENDIX 1 10
APPENDIX 2 11
APPENDIX 3 12
FKEE, Sem01 Session 2017/18

Fakulti/Pusat Pengajian (Faculty/Centre) : Mukasurat (Page):
Faculty of Electrical and Electronic Engineering 1
Kod Kursus (Course Code): Nama Kursus (Name of Course) :
BEE 20901 Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) : Kredit Kuliah Tutorial : Amali
None (Credit): (Lecture): (Practical):
0 0 0 2
Edisi (Edition) : 1 Tarikh Keluaran (Published date) : September 2017
Instruction
1. Grouping: Lab group is not predetermined and consists of 3 members (maximum).
2. Pre-Lab Assignment: Must be submitted to the instructor at the beginning of lab sessions.
Verified by the instructor and returned to the students at the end of lab session. The verified
pre-lab must be attached with the final report for submission.
3. Lab Activities: All laboratory activities must be carried out in this laboratory and to be
completed within the given times.
4. Demonstration: Student must demonstrate the experiment to the respective instructor.
5. Report Submission: Report must be submitted to the respective instructor upon

COMPLETION of lab session.

0 0 0 2
1.0 Title – Experiment 2 – Part 1
Open Loop Speed Control System
2.0 Outcomes
After completing this laboratory, student should be able to:

2.1 Analyze the characteristic of an open loop servo motor speed control system.
(PLO2-PS-C4)
2.2 Organize time management in group effectively according task given.
(PLO5-TS-P5)
2.3 Demonstrate good leadership skill during laboratory experiment.
(PLO9-LS-A3)
3.0 Overview
In the steady-state it is possible to represent the speed control system by the simple block
diagram given in Figure 1. The motor produces an output angular velocity, ωo given by:
ω o=K a K s K L V i−K L T L (1)
where Ka is the Operational Amplifier gain, Ks is the servo amplifier gain, Km and KL are the
motor constant, Vi is the input voltage and TL is the load torque. This equation can be represented
by a family of straight line graph for various values of Vi as shown in Figure 2. It can now be
observed that for a given setting of Vi which represents a command signal, the system will
possess a certain no-load output angular velocity which decreases significantly when the load is
increased. The drop in speed is called the droop and ideal speed control system will possess zero
droop. The regulation is defined as percentage droop at a given load torque TL related to the no
load speed.
ωo ( NL) −ω0
i.e. percentage regulation ¿ ×100 (2)
ω o (NL)

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Motor TL
KL
Vi + Op Amp, Servo ωo
+ -
Km
Vg
Tachometer,
Kg
Figure 1: Block diagram of the speed control system

ωo
ωoNL
ωd
Vi3
Vi increasing
Vi2
Vi1
TL
TL1
Figure 2: Various value of Vi
From equation (1), if TL is very small than it can be concluded that the output angular
velocity, o is proportional to the input Voltage, Vi.
The armature current of the dc motor is directly proportional to the torque produced by the
motor and provides an indication of the total load torques including all the frictional torques
and any additional torque which is applied manually such as by applying the magnetic brake.
It should be understood of course that in practical situations the load torque may be produced
by for example wind-gusts in tracking radar or cutting forces in a machine tool control
system.

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4.0 List of Equipment
4.1 Power Supply Power Supply Module PS150E

4.2 Servo Amplifier Module SA150D
4.3 Direct Current Motor Module DCM150F
4.4 Attenuator Unit Module AU150B
4.5 Output Potentiometer Module IP150K
4.6 Tacho Unit Module GT150X
4.7 Input Potentiometer Module IP150H
5.0 Experiment Procedures
5.1 Experiment 2 – Part 1(a): To determine Tachometer constant
5.1.1 Connect the circuit as shown in Figure 3.

5.1.2 Set the scale on the Attenuator Unit to zero.
5.1.3 Set the switch on the Operational Amplifier Unit to the 100k Ω resistor.
5.1.4 Set the switch on the Tachometer Unit to rpm.
5.1.5 Switch “ON” the Power Supply. If the motor rotates continuously, vary the “zero set” on
the Operational Amplifier Unit until the motor stops
5.1.6 Vary the scale on the Attenuator in steps so that the motor speed will vary from zero to its
maximum value (2000 rpm).
5.1.7 Record the motor speed, the Tachometer voltage and the input voltage at each step in
Table 1.
5.1.8 Switch “OFF” the Power Supply.
5.1.9 Plot graphs

i. Motor speed against input voltage.
ii. Tachometer voltage against motor speed.
5.2 Experiment 2 – Part 1(b): To determine the speed-torque characteristics for an open
loop speed control system
5.2.1 Repeat procedure 5.1.1 to 5.1.5 above.

5.2.2 Vary the scale on the Attenuator so that the motor speed is at 1000 rpm.
5.2.3 Apply the magnetic brake in steps from minimum to the maximum values and record the
motor speed at each step. Tabulate your result as shown in Table 2.
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5.2.4 Switch “OFF” the Power Supply.
5.2.5 Plot graphs
Motor speed against brake scale.
Figure 3: Circuit for the open loop speed control system

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6.0 Results and Analysis
6.1 Results for Experiment 2 – Part 1(a)
Table 1: Input voltage, Motor speed and Tachometer voltage

Input voltage Motor speed Tachometer voltage
6.2 Plot graphs
i. Motor speed against input voltage.

Draw in Appendix 1
ii. Tachometer voltage against motor speed.

Draw in Appendix 2
6.3 Result analysis for Experiment 2 – Part 1(a)
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6.3 Results for Experiment 2 – Part 1(b)
Table 2: Magnetic Brake Scale and Motor speed.

Magnetic Brake Scale Motor speed
6.4 Plot graphs

Draw in Appendix 2
6.5 Result analysis for Experiment 2 – Part 1(a)
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7.0 Questions
Experiment 2 – Part 1(a)
7.1 What can you deduce from the graphs?

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7.2 Calculate the tachometer constant in volt/1000rpm.

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Experiment 2 – Part 2(b)

Calculate the percentage regulation for a particular value of brake scale. (student should select a
particular value and maintain for the rest of the experiment)
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8.0 Conclusions
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APPENDIX 1

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APPENDIX 2

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APPENDIX 3

Experiment 2 – Part 2
Closed Loop Speed Control System
Table of Content
Table of Content i
Instruction 1
1.0 Title – Experiment 2 – Part 2 2
2.0 Outcomes 2
3.0 Overview 2
4.0 List of Equipments 4
5.0 Experiment Procedures 4
6.0 Results and Analysis 6
7.0 Questions 7
8.0 Conclusions 8
9.0 Related course(s) 8
10.0 References 8
APPENDIX 1 9
2 0 0 2
Instruction
6. Grouping: Lab group is not predetermined and consists of 3 members (maximum).
7. Pre-Lab Assignment: Must be submitted to the instructor at the beginning of lab sessions.
Verified by the instructor and returned to the students at the end of lab session. The verified
pre-lab must be attached with the final report for submission.
8. Lab Activities: All laboratory activities must be carried out in this laboratory and to be
completed within the given times.
9. Demonstration: Student must demonstrate the experiment to the respective instructor.
10. Report Submission: Report must be submitted to the respective instructor upon
COMPLETION of lab session.

2 0 0 2
1.0 Title – Experiment 2 – Part 2
Closed Loop Speed Control System
2.0 Outcomes
After completing this laboratory, student should be able to:

2.1 Analyze the characteristic of a closed loop servo motor speed control system.
(PLO2-PS-C4)
2.2 Organize time management in group effectively according task given.
(PLO5-TS-P5)
2.3 Demonstrate good leadership skill during laboratory experiment.
(PLO9-LS-A3)
3.0 Overview
In the steady-state it is possible to represent the speed control system by the simple block
diagram given in Figure 1. The motor produces an output angular velocity, ωo given by:
ω o=K a K s K L V i−K L T L
where Ka is the Operational Amplifier gain, Ks is the servo amplifier gain, Km and KL are the
motor constant, Vi is the input voltage and TL is the load torque. This equation can be represented
by a family of straight line graph for various values of Vi as shown in Figure 2. It can now be
observed that for a given setting of Vi which represents a command signal, the system will
possess a certain no-load output angular velocity which decreases significantly when the load is
increased. The drop in speed is called the droop and ideal speed control system will possess zero
droop. The regulation is defined as percentage droop at a given load torque TL related to the no
load speed.
ωo ( NL) −ω0
i.e. percentage regulation ¿ ×100
ω o ( NL)

2 0 0 2
Motor TL
KL
Vi + Op Amp, Servo ωo
Ve + -
Km
-
Vg
Tachometer,
Kg
Figure 1: Block diagram of the speed control system

2 0 0 2
4.0 List of Equipment
4.1 Power Supply Power Supply Module PS150E

4.2 Servo Amplifier Module SA150D
4.3 Direct Current Motor Module DCM150F
4.4 Attenuator Unit Module AU150B
4.5 Output Potentiometer Module IP150K
4.6 Tacho Unit Module GT150X
4.7 Input Potentiometer Module IP150H
5.0 Experiment Procedures
5.1 To determine the speed-torque characteristics of a Closed Loop Speed Control

System
5.1.1 Connect the circuit as shown in Figure 2.

5.1.2 Set the scale on the Attenuator Unit to zero.
5.1.3 Set the switch on the Operational Amplifier Unit to the 100k Ω resistor.
5.1.4 Set the switch on the Tachometer Unit to rpm.
5.1.5 Switch “ON” the Power Supply. If the motor rotates continuously, vary the “zero set” on
the Operational Amplifier Unit until the motor stops.
5.1.6 Vary the scale on the Attenuator so that the motor speed is at 1000rpm.
5.1.7 Apply the magnetic brake in steps from minimum to the maximum values and record the
motor speed at each step. Tabulate your result as shown in Table 1.
5.1.8 Reverse the connections on terminal 1 and terminal 2 on the tachometer. Increase the
Attenuator Unit scale to 0.5 and immediately reduce it to zero. Observe and note down
the motor behaviour.
5.1.9 Switch OFF the Power Supply

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Figure 2: Circuit for the closed loop speed control system

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6.0 Results and Analysis
6.1 Results for experiment 2 – Part 2
Table 1: Magnetic brake scale and Motor speed

Magnetic Brake scale Motor speed
6.2 Plot graphs

Draw in Appendix 1
6.3 Result analysis for Experiment 2 – Part 2
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7.0 Questions
7.1 Calculate the percentage regulation for the same brake scale set for the open loop speed
control system.
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7.2 Compare this percentage regulation with the open loop regulation.
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7.3 Explain your observation for the procedure 5.1.7.
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8.0 Conclusions
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9.0 Related course(s)
BEH22003 - Instrumentation and Control
10.0 References
1. C. A. Smith, and A. B. Corripio. Principles and Practice of Automatic Process Control, 3rd Ed.
John Wiley, 2006. Call Number: TP155.75 .S58 2006.
2. K. Ogata. Modern Control Engineering, 5th Ed.; Prentice Hall, 2010. Call Number: TJ213
.O32 2010.
Disediakan oleh (Prepared by): Disemak oleh (Checked by) :

Tandatangan (Signature): Tandatangan (Signature):
Nama (Name): Dr Hisyam Bin Abdul Rahman Nama (Name): Dr. Wan Nurshazwani Binti Wan
Zakaria
Jawatan (Post): Lecturer Jawatan (Post): Head of Department
Tarikh (Date): September 2017 Tarikh (Date): September 2017

2 0 0 2
APPENDIX 1

Grading Rubric for Written Report
Criteria Scale
5 4 3 2 1
Lab activities Varies, depending on activity assigned
Conclusion Accurate statement of Accurate statement of A statement of the A statement of the No conclusion was
the results of lab the results of the lab results of the lab results in incomplete included or shows
indicates whether indicates whether indicates whether with little reflection on little effort and
results support results support the results support the the lab reflection on the lab
hypothesis. Possible hypothesis. Possible hypothesis
sources of error and sources of error
what was learned from identified.
the lab is discussed.
Demonstration Demonstration with Exhibits limited Demonstration without
clear understanding of understanding or understanding the
principle or concept principle principle; cannot relate
involved; accurately demonstrated; minor concept to
relates concept to inaccuracies in relating demonstration
demonstration demonstration.
Ethics - Self generated - Solution ideas are - Copied ideas
solution ideas. adopted from solution from others.
- Student dress others. - Student do not dress
properly according - Student dress properly according
to laboratory properly according to laboratory
regulations. to laboratory regulations
regulations.

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d Electronic EngineeringDepartment of Mechatronic and Robotic Engineering

BEE20901 - Electronic Engineering Laboratory II

Name Matric no. Section:

Title Time/ Date

FOR INSTRUCTORS USE ONLY

Domain Item Subtotal Total

Open Loop Speed Control System

1.0 Title – Experiment 2 – Part 1 2

4.0 List of Equipments 4

5.0 Experiment Procedures 4

6.0 Results and Analysis 6

FKEE, Sem01 Session 2017/18

1. Grouping: Lab group is not predetermined and consists of 3 members (maximum).

4. Demonstration: Student must demonstrate the experiment to the respective instructor.

5. Report Submission: Report must be submitted to the respective instructor upon

FKEE, Sem01 Session 2017/18

1.0 Title – Experiment 2 – Part 1

Open Loop Speed Control System

After completing this laboratory, student should be able to:

ω o=K a K s K L V i−K L T L (1)

FKEE, Sem01 Session 2017/18

Figure 1: Block diagram of the speed control system

FKEE, Sem01 Session 2017/18

4.1 Power Supply Power Supply Module PS150E

5.0 Experiment Procedures

5.1 Experiment 2 – Part 1(a): To determine Tachometer constant

5.1.1 Connect the circuit as shown in Figure 3.

5.1.9 Plot graphs

5.2.1 Repeat procedure 5.1.1 to 5.1.5 above.

Figure 3: Circuit for the open loop speed control system

FKEE, Sem01 Session 2017/18

6.1 Results for Experiment 2 – Part 1(a)

Table 1: Input voltage, Motor speed and Tachometer voltage

6.2 Plot graphs

i. Motor speed against input voltage.

ii. Tachometer voltage against motor speed.

6.3 Result analysis for Experiment 2 – Part 1(a)

FKEE, Sem01 Session 2017/18

Table 2: Magnetic Brake Scale and Motor speed.

6.4 Plot graphs

Motor speed against brake scale.

6.5 Result analysis for Experiment 2 – Part 1(a)

FKEE, Sem01 Session 2017/18

Experiment 2 – Part 1(a)

7.1 What can you deduce from the graphs?

7.2 Calculate the tachometer constant in volt/1000rpm.

Experiment 2 – Part 2(b)

FKEE, Sem01 Session 2017/18

FKEE, Sem01 Session 2017/18

FKEE, Sem01 Session 2017/18

FKEE, Sem01 Session 2017/18

FKEE, Sem01 Session 2017/18

Closed Loop Speed Control System

1.0 Title – Experiment 2 – Part 2 2

4.0 List of Equipments 4

5.0 Experiment Procedures 4

6.0 Results and Analysis 6

9.0 Related course(s) 8

6. Grouping: Lab group is not predetermined and consists of 3 members (maximum).

9. Demonstration: Student must demonstrate the experiment to the respective instructor.

FKEE, Sem01 Session 2017/18

1.0 Title – Experiment 2 – Part 2

Closed Loop Speed Control System