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6.302 Feedback Systems: Input Comp. Motor Gears Compensator

This document provides instructions for Lab 1D of the 6.302 Feedback Systems course at MIT. The goal is to design a position control loop for a servomechanism using its mathematical model. Students will make measurements on the physical system to verify the model. They will configure the system in different ways and measure its response to step, sine wave and triangle wave inputs to characterize the system and compare to the model. Adding acceleration feedback changes the system response, which students will also analyze and compare to the modeled system.

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22 views

6.302 Feedback Systems: Input Comp. Motor Gears Compensator

This document provides instructions for Lab 1D of the 6.302 Feedback Systems course at MIT. The goal is to design a position control loop for a servomechanism using its mathematical model. Students will make measurements on the physical system to verify the model. They will configure the system in different ways and measure its response to step, sine wave and triangle wave inputs to characterize the system and compare to the model. Adding acceleration feedback changes the system response, which students will also analyze and compare to the modeled system.

Uploaded by

albertwilly
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Department of Electrical Engineering and Computer Science

6.302 Feedback Systems


Fall Term 2003 Issued : October 17, 2003
Lab 1D Due : Friday, October 31, 2003

Introduction
The goal of this laboratory is the design of a position control loop using the mathematical
model obtained for the servomechanism in lab 1A. Measurements are made in the laboratory
to verify results calculated in the prelab.

Equipment
For this lab, you will need to pick up the following items from the equipment desk: seven
BNC cables, 3 BNC T-connectors, and a 2 µF capacitor.

Measurements
lacements Configure the servo-mechanism as shown below (remember the flywheel). Set the compen-
sator switches to the “flat” settings and dial in the gain values that you calculated. Note
that the compensator gain control dial has an imaginary decimal point after the first digit.
A pot setting of “542” would thus correspond to a compensator gain of “5.42”.
comp. compensator motor gears
input Im θ̇(s) θ̇ 1 θ 1
G1 G2 · −0.4A/V Im (s) s 6.75
θo

tachometer
θ̇m
Hmin (s)

pot
θp
Kp

1. Drive the system input with a square wave of voltage and measure the peak overshoot
and time to first peak of the output shaft position. Find the values of ζ and ωn that
correspond to your measurements. Compare your experimental and calculated values.
2. Drive the system with a sine wave of voltage and find the peak magnitude of the closed
loop response and the frequency at which this peak occurs. Find the values of ζ and
ωn that correspond to your measurements. Compare your experimental and calculated
values.
3. Drive the system with a triangle wave of voltage and measure the steady state error to a
ramp input. Normalize your error measurement to that which would be obtained from
a unit ramp. It may be helpful to use the “Channel Math” function of the oscilloscope
to facilitate this measurement.

4. Use MATLAB to plot the error response due to a ramp input into the modelled system.
How does the time constant of the error decay relate to the parameters of the system?

Place a 2 µF capacitor across the “Clead ” terminals of the “Tachometer Lead” section of
the control box and move the cable providing the tachometric feedback to your minor loop
summing amplifier from the θ̇m connector to the “θ̇m w/lead” connector. The minor loop is
now configured with acceleration feedback.

1. Repeat the above measurements on the newly configured system.

2. Use MATLAB to plot the error response due to a ramp input into the modeled system
(with the acceleration feedback.) How does the time constant of the error decay relate
to the parameters of the system?

Write Up
The write up for this lab should be prepared in the same spirit as last week’s: short, simple,
and informal.

Useful Formulae
q
ωd = ω n 1 − ζ 2
!
−πζ
Po = 1 + exp √
1 − ζ2
π π
tp = = √
ωd ωn 1 − ζ 2
1
Mp = √
2ζ 1 − ζ 2
q
ωp = ωn 1 − 2ζ 2

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