Scribd
Upload
256 views

Control Lab 2

This document provides instructions for a lab experiment on control systems. The experiment has two parts: 1) Position control with speed feedback, where adding a speed control loop helps stabilize the system and prevent oscillation when the position control gain is increased. 2) Stabilizing an unstable position controller, where an unstable oscillating system can be stabilized by adjusting the speed feedback gain through the speed control loop. The document describes the equipment, procedures, and objectives of the two-part experiment on improving position control systems through the addition of speed feedback loops.

Uploaded by

Kelvin Ting S B
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
256 views

Control Lab 2

This document provides instructions for a lab experiment on control systems. The experiment has two parts: 1) Position control with speed feedback, where adding a speed control loop helps stabilize the system and prevent oscillation when the position control gain is increased. 2) Stabilizing an unstable position controller, where an unstable oscillating system can be stabilized by adjusting the speed feedback gain through the speed control loop. The document describes the equipment, procedures, and objectives of the two-part experiment on improving position control systems through the addition of speed feedback loops.

Uploaded by

Kelvin Ting S B
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 7

UEEA3423 Control System Lab 2

Universiti Tunku Abdul Rahman


Faculty
Department:
Unit Code and Name
Experiment No.:
Title of Experiment:

Laboratory Room No. and Name:


Experiment Duration (hour):
Number of Student per Group

Lee Kong Chian Faculty of Engineering and


Science
Department of Electrical and Electronic
Engineering (D3E)
UEEA 3423
Experiment 2
Part A: Position control with speed feedback
Part B: Stabilizing an unstable position
controller
KB 600
3 hours per lab session
5 students per group

Equipment and Materials


Item Description
ED-4400B DC Servo Trainer
Digital oscilloscope

Quantity estimation

*Item category

(e.g. per set/group of student)

E
E

1 per group
1 per group

*Item category
SP Sample or specimen
Consumable
C
CH Chemical
W Labware, glassware, tool, and
components
Equipment
E
Software
S
*** Lab 2 should be conducted from Week 7 to Week 9

UEEA3423 Control System Lab 2

Experiment 2
Part A: Position control with speed feedback
1. Basic theory
When the gain is raised in a position control system to minimize the deadband effect, the
closed loop system responded with an overshoot which resulted in undesired system
oscillation. One way to mitigate oscillation is to add a brake which is proportional to the
speed to the output shaft. The brake method may produce a satisfactory result. However, it
consumes a significant power and makes acceleration of the load difficult.
Better way of preventing oscillation is to add a speed control loop to the position control
loop. The speed control loop provides a negative feedback signal from the output of the
Tachogenerator which is proportional to the speed of the motor.
The effect of adding a speed loop is illustrated in Figure 12-1 (a), (b), and (c). An optimum
control of the speed feedback loop produces a system response as shown in (b).

Figure 12-1 Effect of a speed feedback loop to the system response

An actual system with both the speed and position control loops is shown in Figure 12-2. As
it can be seen in the figure, this system is essentially the same system as experimented in the
previous two sections, except that one more loop which is consisted of the Tacho circuit and
VR2 is added. To obtain the waveforms in Figure 12-1, it is needed to replace the input
potentiometer with a squarewave input and connect Po signal to an oscilloscope.

UEEA3423 Control System Lab 2

2. Experiment procedure
1. Referring to Figure 12-3, arrange the modules and an oscilloscope, and connect them
together.
2. Set ATT-1 and ATT-2 of U-151 to 10 respectively, and set U-152 switch to b.
3. Turn the power of U-156 on. Using U-153 Zero adjust, set the output of U-153 to 0.
Connect X input of the oscilloscope to measure the output of function generator and Y
input to measure the output of potentiometer U-158. Also set a Function Generator to
0.2 Hz. Adjust the oscilloscope X and Y inputs for best display.
4. Increase the system gain by changing ATT-1 from 10 toward 0 until oscillation is
observed. Place ATT-1 right before where oscillation takes place.
5. Change ATT-2 from 10 to 0. Observe the pattern on the oscilloscope and sketch the
pattern on a piece of paper.
6. Set ATT-1 to half of the gain setting in Step 4, and repeat Step 5.
7. Set U-153 output switch to a, and repeat Steps 4 and 5. Compare the difference in servo
time delay.

3. Summary
A position control system without a speed control loop can generate oscillation when the
system gain is too high. Adding a speed control negative feedback loop can stabilize the
system.

UEEA3423 Control System Lab 2

UEEA3423 Control System Lab 2

Part B: Stabilizing an unstable position controller


1. Basic theory
For a properly designed system, the transient response effect should gradually decay within a
few seconds, and the system should reach a steady state operation. However, for an
improperly designed system, the transient response can lead into an oscillation which can be
sustained over a long period of time. Such a system is unstable and should be corrected for a
stable operation.
The instability of a system is mainly caused by either a long time constant in the system, or
an excessive gain in the system. A closed loop speed controller can mitigate oscillation up to
certain extent. However, in case a highly stable system is desired with a maximum gain, the
system needs more advanced technique than a simple speed control loop. The experiment in
this section is limited to a speed controlled stabilization method. The same experiment system
as in the previous section is used for this experiment.

2. Experiment procedure
1. Referring Figure 13-1, arrange all modules and connect between them. Make sure the
coupling of U-161 and U-158 shaft is straight.
2. Set ATT-1 and ATT-2 (U-151) to 10 respectively. Set U-152 switch to b and turn the
power of U-156 on. Also set the Function Generator frequency to 0.1Hz.
3. Set the Zero Adjust of U-153 so that the output of U-153 is zero. May connect X input of
the oscilloscope to measure the output of function generator and Y input to measure the
output of potentiometer U-158.
4.

Scan ATT-1 from 10 to 0, and find a place where oscillation begins to take place in
the system. Leave ATT-1 where oscillation occurs.

5. Adjust ATT-2 to stop oscillation. Explain why oscillation has stopped.


6.

Turn U-156 off. Keep U-152 switch at b.

7. Set both ATT-1 and ATT-2 to 10. Remove the squarewave output of U-162 from U152 input. Connect U-157 output to U-152 input as indicated by the broken line in the
figure. Set U- 157 to 180 degree position. Turn the power of U-156 on.
8. Turn ATT-1 of U-151 from 10 to 0. Find a place where system begins to oscillate.
Leave ATT-1 slightly before where oscillation starts.
9. Quickly turn U-157 clockwise about 30 degrees, and observe U-158. In case U-158
oscillates, adjust ATT-2 to eliminate oscillation.

UEEA3423 Control System Lab 2

10.

Set U-152 switch to a and repeat Steps 8 and 9. Compare the results.

11.

Maximize the speed feedback by setting ATT-2 to 0. Set U-152 switch to EXT.
Oscillation may occur due to excessive gain.

12.

With U-152 switch left at EXT, connect a 1 M variable resistor to NET terminals.
Vary R and observe the results.

UEEA3423 Control System Lab 2


3. Summary
A. Typical problems associated with a position control servo system:
Increased position error and slow response when the gain of the error amplifier is not
sufficient
Increased position error, slow response and unstable oscillation due to excessive delays in
the system
Oscillation or vibration due to an overshoot during transient time period
When a servo motor is loaded with an inertia type load, the system response is slow. Also,
instability occurs in the system due to the phase shift of the feedback signal.

You might also like