MECHATRONICS ENGINEERING DEPARTMENT
CONTROL LAB
Experiment 1
Title: Open Loop DC Motor P Control
Objectives:
Operating a DC motor with reaction to voltage reference.
Measuring speed with a dynamo.
Creating a mechanical load on a DC motor and testing the influence on its
speed (retarding the controlled parameter).
The motor-dynamo reaction to a step signal.
Equipments Required:
TPS-3011
Voltmeter
Banana wires
PC + SESCOPE software
Discussion:
The TPS-3011 includes 2 variable voltage outputs called Vref1 and Vref2. They are
located in the SESLAB module. These voltages are controlled by two potentiometers
when the SESLAB is operated manually. These outputs cannot drive consumers such
as motors or lamps, so we will connect them to the system power amplifier and the
power amplifier will drive the consumers. The power amplifier output will be
connected to the DC motor. Changes in the voltage reference will cause changes of
the voltage supplied to the DC motor, and corresponding changes in the DC motor
speed. We will observe how the system reacts. When a DC motor is driven
mechanically, it acts as a dynamo. It creates a voltage on its output terminals and can
supply current. The motor, which is driven by the analog output, is mechanically
coupled so that it turns the dynamo motor.
1.1.2 DC motor load response We will connect the electrical output from the
dynamo to the voltmeter in the TPS-3011. The dynamo will supply voltage
proportional to its rate of rotation or in other words proportional to the speed of the
DC motor. A variable resistor and an ON/OFF switch are used as an electric variable
loads when they are connected in series to the dynamo output terminals and the switch
is ON. Turning the resistor changes the electrical load on the dynamo.
1.1.3 DC motor speed response and status A step signal is a signal, which changes
all at once, with zero transition time between one state and the other. Any system has
a reaction time including our motor. For control purposes, we need to know how the
controlled variable reacts to a step signal. We will apply such a signal to the motor
and observe the graphs, which show us how the motor reacts to this signal.
Electrical measurements: In the following experiments, we will measure the DC
voltages. These measurements can be taken with a simple voltmeter.
These measurements can also be taken with the SESCOPE software, as described in
the preface. If you are going to use the SESCOPE software for measuring, first
perform the exercise described in the preface before executing the following
experiments.
Procedure:
Step 1: Connect the TPS-3011 to the power supply.
Step 2: Connect the power supply to the Mains.
Step 3: Connect the Vref1 output to the power amplifier input.
Step 4: Connect the power amplifier output to the motor M+ terminal.
Step 5: Connect the motor M- terminal to GND.
Step 6: Turn ON the trainer.
Step 7: Set the power amplifier gain potentiometer to 1. At this position, the output
voltage of the power amplifier is equal to its input voltage.
Step 8: Change Vref1 and observe how it affects the motor. You can see that only on
a certain voltage the motor starts to rotate.
Step 9: Set the voltmeter to DCV at the 20V range.
Step 10: Connect the voltmeter's probes between the outputs of the power amplifier
and GND. If you use the SESCOPE software, connect the amplifier output to the CH1
input and perform the measuring as described in the preface.
Step 11: Change Vref1 to maximum voltage.
Step 12: Raise the amplifier gain gradually, while measuring the amplifier output
voltage and stop when the voltage reaches 4.5V.
Step 13: Change Vref1 until the amplifier output voltage is 0V.
Step 14: Raise Vref1 slowly and find out on which voltage level at the power
amplifier output the motor starts rotating. Record this voltage.
Step 15: Continue raising Vref1 and then lower it slowly. Find out on which voltage
of the power amplifier output the motor stops and register it. Is this voltage level the
same as the one you measured at step 12, smaller or bigger? It should be smaller
because the motor dynamic friction when it rotates is smaller than the motor static
friction when it does not rotate.
Step 16: We will now measure the motor speed, using the dynamo. Connect the D-
terminal of the dynamo to GND. Connect the D+ terminal of the panel voltmeter
input.
Step 17: Raise and lower the Vref1 and observe how it affects the motor speed and the
dynamo voltage.
Step 18: Make a white mark on the rubber band, which couples the dynamo to the DC
motor.
Step 19: Count the number of revolutions per minute for different values of power
amplifier output voltage and especially for the dynamo output voltage.
Step 20: Change the Vref1 step by step, measure (with a multitester) VP, VD and ,
and fill in the following table:
Step 21: Calculate the Gm for every step and add it to the table.
G Pm Vω
Step 22: Draw your results in the following graph:
Step 23: We use the dynamo as a tachometer. Connect the multitester to the dynamo
terminals. Change the Vref1 until VD (the dynamo voltage) is equal to 0.5V.
Step 24: Measure (count) the speed of the motor in RPM (Rounds Per Minute). Count
rounds during 10 seconds and multiply it by 6.
Step 25: Continue this way and fill in the following table:
This table can be used as a conversion table for measuring the motor speed.
Experiment2 – DC Motor Closed Loop Control with Negative Feedback
Objectives:
Repeating the open loop control experiment in order to compare it with a
closed loop reaction.
Realizing a negative feedback control diagram to control a DC motor.
Changing the amplification of the amplifier and the feedback and testing their
influences.
Disturbing the controlled variable and checking the stability of the system.
Checking the steady state and the steady state error.
The dynamic reaction to a step signal.
Equipment required:
TPS-3011
Voltmeter
Banana wires
PC + SESCOPE software
Discussion:
In this experiment, we will first revise open loop control of the DC motor briefly. We
will make the following connections:
The motor translates its voltage into rotational speed . The tachometer translates the
rotational speed into feedback voltage Vd, which is measured by the voltmeter. We
will find that this feedback voltage is approximately 0.6Vm (60% of the motor
voltage). We will add an electrical load to the dynamo, which is converted into a
mechanical load and we will see how the dynamo voltage Vd falls drastically while
the output voltage Vm remains constant. Now we will close a negative feedback loop
in the system, as in figure 3-16.
Procedure:
Step 1: Connect the TPS-3011 to the power supply.
Step 2: Connect the power supply to the Mains.
Step 3: Connect the Vref1 output to the power amplifier input.
Step 4: Connect the power amplifier output to the motor M+ terminal.
Step 5: Connect the motor M- terminal to GND.
The Adder does not affect the system because there are no other signals besides
Vref1. Its output is equal to its IN1 input.
Step 6: Turn ON the trainer.
Step 7: Set the power amplifier gain potentiometer to 1. At this position, the output
voltage of the power amplifier is equal to its input voltage.
Step 8: Change Vref1 and observe how it affects the motor. You can see that only on
a certain voltage the motor starts to rotate.
Step 9: Set the voltmeter to DCV at the 20V range.
Step 10: Connect the voltmeter's probes between the outputs of the power amplifier
and GND. If you use the SESCOPE software, connect the amplifier output to the CH1
input and perform the measuring as described in the preface.
Step 11: Lower Vref1 to 0V. Note that Vref1 changes from –5V to +5V.
Step 12: Raise Vref1 slowly and find out at which voltage level the motor starts
rotating.
Step 13: Continue raising Vref1 and then lower it slowly.
Find out on which voltage of the power amplifier output the motor stops. Is this
voltage level the same as the one you measured at step 12, smaller or bigger? It
should be smaller because the motor dynamic friction when it rotates is smaller than
the motor static friction when it does not rotate.
Step 14: We will now measure the motor speed, using the dynamo. Connect the D-
terminal of the dynamo to GND. Connect the D+ terminal of the panel voltmeter
input.
Step 15: Raise and lower the Vref1 and observe how it affects the motor speed and the
dynamo voltage.
Step 16: Make a white mark on the rubber band, which couples the dynamo to the DC
motor.
Step 17: Count the number of revolutions per minute for different values of power
amplifier output voltage and especially for the dynamo output voltage.
Step 18: Set the power amplifier gain to 1.
Step 19: We use the dynamo as a tachometer. Connect the multi-tester to the dynamo
terminals. Change the Vref1 until VD (the dynamo voltage) is equal to 0.5V.
Step 20: Measure (count) the speed of the motor in RPM.
Step 21: Continue this way and fill in the following table:
This table can be used as a conversion table for measuring the motor speed. When
needed, raise the power amplifier gain to reach the dynamo high voltages.
Step 22: Beneath the motor there is a load module with a variable resistor
(potentiometer) and an ON/OFF switch. Connect the load terminals to the dynamo
terminals.
Step 23: Turn OFF the ON/OFF switch. Turn the load potentiometer maximum
counter clockwise.
Step 24: Change Vref1 until VD (the dynamo voltage) is 2.5V.
Step 25: Turn ON the ON/OFF switch. What is the dynamo voltage?
Step 26: Turn the load potentiometer counter clockwise. Turn the load potentiometer
clockwise almost to the maximum. What happens to the dynamo voltage? The
variable resistor is now connected in parallel to the dynamo and loads the dynamo. An
electrically loaded dynamo becomes a mechanical load proportionally to the current,
which is drawn from it. The motor needs to work harder. Because we have not
changes the voltage supplying the motor, its speed will naturally fall.
What this demonstrates is interference with the controlled parameter, and how it
affects the behavior of the system. Smaller resistor means bigger electric load, higher
current and higher mechanical load.
Step 27: Repeat steps 23-26 with different voltages of the dynamo.
Step 28: Turn Vref1 maximum clockwise.
Step 29: Measure the power amplifier output voltage.
Step 30: Lower the power amplifier to 1 and raise its gain slowly until this voltage is
equal to 3.5V.
Step 31: Turn OFF the Load ON/OFF switch.
Step 32: Measure the dynamo voltage and record it.
Step 33: Turn the load potentiometer ¾ of its path clockwise.
Step 34: Turn ON the Load ON/OFF switch.
Step 35: Record the dynamo voltage. It should drop more than 0.5V.
Step 36: Turn OFF the Load ON/OFF switch.
Step 37: We will close the loop now. Connect the D+ of the dynamo to IN2 of the
adder.
Step 38: Turn the IN2 switch to position order to get a negative feedback.
Step 39: Observe the following: The power amplifier input voltage will drop and so
its output. The motor rotates slower. The dynamo voltage decreases.
Step 40: Increase the power amplifier gain until the power amplifier output voltage
return to 3.5V.
Step 41: Measure again the Dynamo voltage. It will return to the voltage you recorded
on step 32. It may oscillate a little because of the closed loop.
Step 42: Turn ON the Load ON/OFF switch. The Dynamo voltage will drop a little
but less than without the negative feedback.
Step 43: Measure the power amplifier output voltage. It increases. Explain why.
Step signal reaction:
Step 44: Change the load ON/OFF switch to OFF position.
Step 45: Turn ON your oscilloscope or use the SESCOPE software as described in the
preface.
Step 46: Set the trigger level to 1.2V and the trigger mode to fall.
Step 47: Set the time base to 50ms/cm.
Step 48: Connect the Vref2 output to the IN1 input instead of Vref1.
Step 49: Disconnect the dynamo output from the IN2 input.
Step 50: Connect the CH2 probe to the dynamo output.
Step 51: Lower the power amplifier gain to 1 and raise Vref2 to maximum.
Step 52: Set the SESCOPE to Free Run. You should get signals as follows:
Step 53: Measure with the cursors the time in which the dynamo voltage reaches 0.7
of the maximum voltage. This is the time constant of the system.
Step 54: Turn the load switch to ON position.
Step 55: Change the load potentiometer and check how it affects the dynamo voltage.
Step 56: Turn the load switch to OFF position.
Step 57: Connect the dynamo output back to IN2 input.
Step 58: Observe the signals. The dynamo voltage is decreased because of the
negative voltage. The difference voltage between the voltage reference and the
feedback voltage is the error voltage, which is amplified by the power amplifier in
order to produce the motor voltage.
Step 59: Raise the power amplifier gain gradually. You can see that the dynamo
voltage increases and comes closer to the voltage reference.
Step 60: Turn the load switch to ON position.
Step 61: Change the load potentiometer and check how it affects the dynamo voltage.
Step 62: Turn the load switch to OFF position.