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6.302 Feedback Systems: Massachusetts Institute of Technology

This document provides instructions for Lab 1B of the 6.302 Feedback Systems course at MIT. The goal is to design a velocity control loop for a servomechanism using the mathematical model from Lab 1A. Students will measure the rise time, 3dB frequency, and steady state error of the system under different control configurations (proportional, proportional-integral, voltage-driven, current-driven) and compare the results to calculated values and expectations. Measurements are made using equipment from the lab including motor stations, BNC cables, and capacitors.

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61 views

6.302 Feedback Systems: Massachusetts Institute of Technology

This document provides instructions for Lab 1B of the 6.302 Feedback Systems course at MIT. The goal is to design a velocity control loop for a servomechanism using the mathematical model from Lab 1A. Students will measure the rise time, 3dB frequency, and steady state error of the system under different control configurations (proportional, proportional-integral, voltage-driven, current-driven) and compare the results to calculated values and expectations. Measurements are made using equipment from the lab including motor stations, BNC cables, and capacitors.

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 : September 19, 2003
Lab 1B Due : Friday, October 3, 2003

Introduction
The goal of the laboratory is the design of a velocity control loop through the use of the
mathematical model obtained for the servomechanism in Lab 1A. Measurements are made in
the laboratory to verify results calculated in the prelab. Use a motor station with a flywheel
on the servo for the entire lab.

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

Measurements
Configure the servomechanism as shown below. Use the “Summing Amp / Compensator”
section in the center of the box. Set its switch to the “flat” setting and dial in the value
of gain that you calculated in the prelab. Note that the potentiometer can be used to set
the compensator gain in the range between 0 and 10 (a pot setting of “542” would thus
correspond to a compensator gain of 5.42).

compensator power amp motor


Vm
input Gc −2 V/V θ̇(s)
Vm (s)
θ̇

tach
θ̇m
Ktach

1. Drive the system input with a square wave of voltage and display θ̇m to measure
the 10%–90% risetime of the motor velocity. Compare your measurement with the
calculated value from the prelab. Be sure that you don’t over-drive and saturate the
system while taking your rise time measurement. By observing Vm , determine the
input drive amplitude which is required to momentarily saturate the system.

2. Drive the system with a sine wave of voltage and find the frequency where the mag-
nitude of the closed loop gain has dropped to 0.707 of its DC value (this is the 3dB
frequency). How does this frequency relate to the time constant measured in the
preceding step response?

3. Drive the system with a square wave of voltage and measure the steady state error to
a unit step input. It may be helpful to use the “channel math (±)” function of the
oscilloscope in facilitating this measurement.

Place a 2 µF capacitor across the “Clag ” terminals of the compensator and move its
switch to the “P+I” setting. The system is now configured with a proportional plus integral
controller.

4. Measure the steady state error of the system in response to a unit step input, and
compare this with the result obtained with the proportional controller.

Move the compensator switch back to the “flat” position and remove the capacitor. Dial
in the compensator gain calculated in the prelab for the loop configuration with a current-
driven motor. Move the power amplifier switch to the “−0.4 A/V” setting.

5. Measure the 10%–90% rise time (with a square wave input), the 3dB frequency (with
a sinusoidal input), and the steady state error to a step (with a square wave input) of
the system. Compare the results with those obtained in the voltage driven case. Are
the results as you expected? Explain.

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

ωd = ωn 1 − ζ 2
 
−πζ
Po = 1 + exp √
1 − ζ2
π π
tp = = √
ωd ωn 1 − ζ 2
1
Mp = √
2ζ 1 − ζ 2

ωp = ωn 1 − 2ζ 2

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