Exercise Q

Servo Closed Loop Speed Control - Steady State

Characteristics

ExERcrsE OBJEcflvE When you have completed this exercise, you will be familiar with servo operation
in closed loop speed control. You will know how to calculate and measure the
steady state speed of the Digital Servo in closed loop speed control for various
controller gains both theoretically and experimentally and be able to compare the
two.

DtscusstoN OurLtNE The Discussion of this exercise covers the following points:

n Components ofthe Digital Servo operating under closed loop speed

control
" Sensor and power amplifier gain

DtscusstoN Components of the Digital Servo operating under closed loop speed
control

The Digital Servo closed loop speed-control system consists of the following.

o The dc brush-type servo motor.

. A speed sensor, i.e., an incremental encoder directly coupled to the

motor shaft.

. The system controller.

o The human machine interface (HMI), which is used for setting the
controller parameters, function generator and recorder functions.

From now on, we will refer Figure 25 shows a simplified block diagram of the servo closed loop speed-
to the motor steady state control system with a first-order motor model (developed in Exercise 2). The
speed constant lfs as the controller is proportional only, which means that it can only have a constant gain
general motor speed con- term (proportional action is discussed in more detail in Exercise g).
stant I( for simplification.

Controller

Motor tran sfer function

Figure 25. Block diagram of a servo motor in closed loop speedrontrol mode.

tdbyolt' Digital Se.r'o Motor Control

47
)rcise 4 - Servo Closed Loop Speed Control - Steady State Characteristics ') Dlscusslon

The controller gain I(" is the result of the PID controller three different gains: the
proportional gain Kr, the integral gain Ki and the derivative gain I(a. ln most
exercises in this manual, the controller gain is equivalent to the proportional
gain (r, as only proportional action is present in the system.

Analysis of the block diagram components in Figure 25 (see Appendix B for the
detailed analysis), shows that the steady state speed r,rrr of the closed loop
system can be given as follows:

tKcK\
.u = \r=Gx),,r, (26)

where oss is the motor steady state speed (controlled or process variable)
,REF is the desired or reference motor speed (set point)
K is the motor speed constant [(rad/s)M
Kc is the controller gain (adjustable)

Equation (26) shows that as the controller gain (proportional only) I(. increases,
the (KcK)/(1 + KcI() ratio approaches 1. That is, with higher gain, the motor
steady state speed c,.r$ approaches the desired or reference speed rop6p. The
difference between the reference speed and the actual speed (a*6" - a-l) is
referred to as the error (or offset). Thus, increasing the proportional gain
decreases the error. This means that, theoretically, the proportional gain could be
set to a very large value in order to minimize the error. ln practice, however,
increasing the proportional gain renders the servo system unstable and produces
speed changes and oscillations. This is discussed in more details in Exercise 5.

Sensor and power amplifier gain

ln real servo system implementation, the analysis must consider the gains of
both the servo system power amplifier and the speed sensor. The reference
speed a.r*u, for the servo system as well as the controlled variable speed ra55 is
often expressed in percentage, as is the case for the Digital Servo controller. The
conversion bet\iveen percentage and speed must be taken into account and can
be seen as another gain term. All gain terms can then be grouped as one single
term by multiplying them together.

The following gain terms are determined for the Digital Servo:

o A 100% output from the controller output is equivalent to 48 V. The gain

for converting percentage output is thus 0.48 V/%.

. The power amplifier gain is of approximately 0.91. A 100% output from

the controller thus results in only 0.91 x 48 V being applied to the dc
motor. The power amplifier gain is due to the motor output electronic
design. This means that it cannot output more than 91% of its entry value
of 48 V dc.

. The conversion of rad/s to rpm can be represented as a gain term of

a rpm/Gad/s).

Digital Servo Motor Control lry,

 Exercise 4 - servo closed Loop speed control - steady state characteristics o Discusslon

. A 100% speed is equal for the Digital Servo to 3000 rpm. The gain term
for converting rpm to percentage is thus (1130)o/ohpm.

The block diagram in Figure 26 shows all of these gain terms:

100n rad/s =
Controller 3000 rpm
asgp (o/ol
a ('kl

1oo7o outPut = Moto, t[r,sfe6"tion

Figure 26. Block diagram of a servo motor in closed loop speed-control mods showing all gain
terms.

All the gain terms in Figure 26 can be grouped together as a total product of all
lerms. ln this case, the product is 0.139 V/(ad/s) (0.48 x 0.91 x 30/n x 1/30).
This gain will be referred to as a scaling factor. A block diagram that shows the
grouping of these gains is given in Figwe 2l .

Controller
a psp (o/ol

Motor transfer function

Flgure_27. Block diagram of a servo motor ln closed loop speed.control mode showing the
simpllfied galn term.

From the above, it can be seen that for this particular system, Equation (26) has
to be modified to the following:

,*=(r +0.139K5K
o.I3gKcK )-
o.L3?K"K )@REF
1 (27)

,dbyoh Digital Servo Motor Control

4S
-cise 4
- Senro Closed Loop Speed Control - Steady State Charactenstics ) Procedure Outline

)CEDURE OUTLTNE The Procedure is divided into the following sections:

, SetuP and connections

. Closed loop speed-control measurements

CCEDURE Seturp ancl corinectios'ts

ln this section, you will setup the Digital Servo for closed-loop speed-control
measurements.

'i. Make the following settings on the Digital Servo system:

. Setup the servo system for speed control, i.e-, disengage the
platform.

. Set the belt tension to allow the belt to be lifted of the pulley
connected to the motor shaft and slipped on the two pins to the rear
of the pulley, allowing the shaft to run uncoupled from the belt.

. Secure the flywheel to the shaft using the appropriate hex key.

!. Run LVServo, and click on the Device Controlled button in the Speed Loop
menu. Make sure the settings are initially as shown in Table 12:

Table'12. Settings for closed loop speed.control measurements.

Function Generator Trend Recorder

Signal Type Constant Reference Checked
Speed Checked
Current Unchecked

Offset Voltage Checked

Power off Error Unchecked

PID Controller Kp x Error Unchecked

Gain (Kr) 1 Error Sum / ti Unchecked

lntegral Time (t, ) lnf (Off) td x Delta Error Unchecked

(E))
Derivative Time on E (t,i 0 PID Output Unchecked

Derivative Time on PV (td (PV)) 0 Display Type Sweep

Timebase 10 ms Show and Record Data On

Anti-Reset Windup On l/easured Gain (rpm) 3000

Upper Limit 100% l\,4easured Gain (A) 7

Lower Limit -100% Measured Gain (V) 48

Open or Closed Loop C/osed

PV Speed Scaling

100% Value 3000 rpm

Digital Serr'o Motor Control @,

Exercise 4 - Servo Closed Loop speed control - steady state characteristics + Procedure

3. Set the function generator Power switch to ON.

Closed loop speed-control measurements

ln this section, you will calculate the steady state speed (.)ss and the speed
constant K value of the motor operating under closed loop speed control for
various gains using Equation (27). You will then measure experimentally the
motor ar55 and K values for various gains and compare the theoretical and
experimental results. You will eliminate the calculated error value by means of
integral action. Only proportional action will be used. The controller gain value is
thus equal to the proportional gain value and will be referred to as Kp.

4. Slowly increase the offset value until the motor voltage reading reaches 40%,
which corresponds to a voltage ol 19.2V. Record the actual speed a'r (rpm)
and the reference speed dRrF (%) in Table 13:

Table 13. speed readings during ctosed loop speedtontrol measurements'

Reference Speed Actual Spoed

5. Decrease the offset to 0%, increase the proportional gain K, to 2 and repeat
the previous operation. Do the same thing for I(p values of 3, 4, and 5'

6. Fill out the rest of Table 13 using Table 14 as a quick reference for speed
unit conversion. Keep in mind the following while completing Table 13:

. K is the ratio of speed r,r to supply voltage E and is calculated by

dividing the speed value in rad/s by the supply voltage (V)'

. The error value is calculated by subtracting the speed a'r value to the
reference speed aiREr.

. The steady state speed ralio (i,ssf a*sp and speed value a-r5s (%) are
calculated using Equaiion (27).

51
lslw" Didital Servo Motor Control
r4 - Servo Closed Loop Speed Control - Steady State Characteristics , Corcluslon

Table '14. Sp€ed unit conversion qulck reference.

Speed unit type Multiply by

ir rad/s
rpm -r rad/s
30 rpm
30 rpm
rad/s rpm
- r rad/s

% ---+ rad/s r radfs

t
@dls -) Vo

"
,^d It

7. Compare the calculated steady state speed with the measured steady state
speed.

8. Describe what happens to lhe error as the proportional gain K, value

increases.

9. Set the proportional gain Ke back to 1 and enter 0.1 s into the integral time ri.
Describe what happens to the error when integral action is introduced into
the controller.

JSION ln this exercise, you familiarized yourself with servo system operation in closed
loop speed control. You learned how to calculate and measure the steady state
speed of the Digital Servo in closed loop speed control. You also learned to
calculate the error value between the reference speed and the actual speed and
how to minimize it by increasing the controller gain.

QUEST|oNS 1 . Consider a dc motor system having a supply voltage E of 35 V. The dc motor

system proportional gain I(e is set to 3 and its steady state motor speed (,ss
is 1960 rpm. Find the motor system speed constant K (steady state speed to
voltage ratio:

Digital Servo Motor Control kalb!!.

Exercise 4 - Servo Closed Loop Speed Control - Steady State Characteristics . Reylew Questions

2. Given the same motor parameters as in question 1, find the motor reference
speed a.r*r. in rad/s, rpm, and percentage, as well as the steady state closed
loop system value (rL3s / toosp\.

Given the same motor parameters as in question 1, find the system error
value in percentage.

4. Given the same motor parameters as in question 1, calculate what happens

to the reference speed t-rp6o (rad/s, rpm, and percentage) when the
proportional gain Kp value is set to 4, as well as the resulting steady state
closed loop system value (rss/umi.

5. Given the same motor parameters as in question 4, flnd the system error
value in percentage.

Compare both calculated error values from question 3 and 5. Which one is
lower and why?