Department of Mechanical & Industrial Engineering Concordia University

MECH 371 Analysis and

Design of Control Systems

Laboratory Manual

W. Xie, H. Hong, T. Wen, G. Huard

8/22/2014
 Table of Contents

Lab 1: Control System Introduction, Familiarization with Lab Equipments

and Instruments ........................................................................................................... 2
Lab 2: Determination of DC Motor Dead-Band, Gain, Servo-Amplifier
Gain, Torque/Speed Characteristic.… ....................................... 14
Lab 3: Time Response of Basic Closed-Loop System and Effect of
Tachometer Feedback .............................................................. 23
Lab 4: Frequency Response of Basic Closed-Loop DC Motor System .... 29
Lab 5: DC Motor Position Control with Cascade PID Compensation .... 33

Appendix A: DC voltage measurement using Oscilloscope………..………………………38

Appendix C: Summary of MS150 Data- DC Motor System …………..………………….39

Appendix B: Connect Oscilloscope to MS Excel………………………………………………….40

Labs are scheduled on an alternative week basis (every two weeks). Therefore,
formal lab reports must be submitted every two weeks during your lab period.

Please submit your fifth lab report directly to your lab instructor at his/her office,
two weeks after you have performed the lab.

No late lab reports will be accepted.

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 Lab 1: Control System Introduction, Familiarization
with Lab Equipment & Instruments
Objectives
To familiarization students with MS150 DC Motor Control Modules, instruments such as function
generator and oscilloscope and to calibrate potentiometers, Op Amp and pre-amplifier.

Introduction

The purpose of the laboratory is to acquaint the student with a practical classical feedback, control
system [specifically an electromechanical angular position control system using a DC motor], and
to become familiar with the measurement of basic performance parameters of the system, both in
the time-domain and in the sinusoidal frequency domain. A position control system (rather than any
other variable) is used in this lab not only because of its wide application (e.g. position control in
robotic manipulators, setting of hydraulic/pneumatic valves in process-control systems, positioning
of directional antennas in communication systems etc.) but also because important operational
characteristics such as overshoot may be directly (visually) observed when the controlled variable is
the 'position'.

𝑽𝒆
𝑽𝒊 150A 𝜽𝒐
𝜽𝒅 𝑲𝒎 𝝎𝒎
K1 Kp 𝟏
Ki 𝟏+𝑺𝝉𝑴
𝑺𝑵
150D
150H − 150B 150C 150X
top +150F
(Gear)

𝑽𝒐 Ko
150K

Figure 1-1 Basic DC Motor Angular Position Control System

Figure 1.1 is a basic angular position control system. An Input Potentiometer 150H (input position
transducer) translates the desired angular position θd into a proportional voltage Vi. A Servo-
amplifier 150D which drives the motor and which, together with a DC motor in 150F, forms the
'servomotor'. The motor drives a mechanical load mainly consisting of a flywheel (representing a
real load), through a Gear train (Gear box) in 150F which provides both amplification of the motor
torque as well as speed reduction.
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 Oscilloscope

Function Generator

AU150B Top

OU150A PA150C PID150Y

AU150B Bot

PS150E SA150D
DCM150F GT150X

LU150L
IP150H OP150K

Figure 1-2 MS150 DC Motor Control System

An Output Potentiometer 150K (output position transducer) translates the angular position θo, of
the flywheel shaft, into a proportional voltage Vo. The device called the “Reference Comparator”
150A compares the voltage Vo with the reference input voltage Vi, which represent s the desired
posit ion of the fly wheel, and generates the difference between them: Ve = Vi –Vo, then the
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voltage Ve will represent the 'error' between the desired position and the actual position. The
reference comparator is therefore also called an 'error detector'. The 'error' signal Ve , can be
adjusted by K1 150B, then amplified by a pre-amplifier 150C and subsequently by a power-
amplifier 150D, is used to drive the motor in such a sense as to reduce the 'error' itself. A system
such as the one just described (shown in Figure 1.1) is called a closed loop, negative-feedback
position control system.

The Modular DC Servotrainer MS150 used in the lab is designed to demonstrate the basic
principles of a classical closed-loop negative feedback control system as shown in Figure 1-2: an
electromechanical system using a DC motor which controls the angular-position of a shaft. The
equipment consists of modular units for the motor, amplifiers etc., mounted on a baseplate. The
various modules are positioned on a baseplate as shown above. Each station also includes a function
generator and an Oscilloscope. Except for some main connections, interconnections between the
various modules are made by the student, using banana-plug-ended patch cords which are provided
in the laboratory. The power supply module 150E is permanently connected to the motor-
tachometer module 150F and to the servo-amplifier module 150D. Terminals which provide a
balanced +15/ 0 /-15 volt DC output are available on the power
supply and servo-amp modules. A 3-wire harness is connected
to distribute the ±15 volt supply to the operational amplifier,
preamplifier and PID modules. The +15/ 0 /-15 supply voltages,
available at terminals on the power supply module 150E, are
also used to supply voltages to the Input & Output
Potentiometers (150H & 150K) , which make up the "error
channel".

Power Supply PS150E provides the ±15 volt DC power

supplies through two sets of sockets. These sockets are used to
operate small amplifiers and provide reference voltage. The
Ammeter is used for monitoring motor overload. The AC Figure 1-3 Power
outputs are not used in our experiments. The front panel is Supply: PS150E
shown in Figure 1-3.

Potentiometers: showing in Figure 1-4. The module includes an Input Potentiometer IP150H (as
an input position transducer), an Output Potentiometer OP150 K (output position transducer), and
an Attenuator Unit AU150B containing two smaller potentiometers, which are used to adjust gains
in the forward and feedback paths. The input and output pots are fitted with discs graduated (in
degrees) on their shaft.

However, the output pot can be rotated continuously over 360º, whereas the input pot has a limited
rotation of about ± 150°. Both these 'angular position transducers' are normally supplied with +15
and –15 volts, so that their outputs can vary linearly from zero to almost either of these limits as
their shafts are rotated in either direction from a central (zero) position. Normal operation is
symmetrical about this zero position. Note that in the output pot, a zero-voltage transition also

4
occurs at the + or –180° position, hence requiring operation which ensures output angular
displacements within these limits. Assuming that the total voltage applied across the output pot is
30 volts, and the rotation is 360°, the position-to-voltage transducer sensitivity K0 will be 30 / 360
≈ 0.083 volt / deg., or approx. 4.8 volts/radian. The input and output potentiometers should be
calibrated to obtain their sensitivity constants and/or to confirm whether Ki ≈ Ko.

The pots in the Attenuator unit are provided with knobs and scale graduations from 0 to 10. These
pots can be used as voltage dividers and to obtain the very small voltages.

A: Input Pot IP150H B: Output Pot OP150K C: Attenuator AU150B

Figure 1-4 Potentiometers

Operational Amplifier OA150A (Figure 1-5) is an op-amp normally connected as a unity-gain

summing-inverter by means of the 3-position switch mounted on it. It is used as the angular-
position-error detector.
Since the unit is a summing amplifier, the feedback
signal polarity must be reversed with respect to the
reference signal, in order that the output will represent
the error. The unit has three summing input terminals,
and the output is available at two (or three) output
sockets. The unit also has a zero-set control and a
selector switch, which selects the feedback (normally
resistive) within the unit. The selector switch is
normally switched to the leftmost position
indicating resistive feedback with unity gain. The
op-amp must be zeroed before use. {ZERO
PROCEDURE: With no input applied (input
terminals#1, #2, #3 connect to ground), the Zero-Set
control knob should be carefully adjusted until the
output #6 is zero volt mean.} Figure 1-5 Op-Amp OA150A

Preamplifier PA150C (Figure 1-6) is a low-power control amplifier which is used to provide the
"deadband compensation" voltage, as well as a fixed forward-path gain Kp. The module has two
summing input terminals and two output terminals. {An additional input terminal labelled "Tacho"
may also be present.} A positive voltage applied to either input yields an amplified positive voltage
at the upper output socket(3),the socket(4) staying near zero; a negative voltage applied to either
input yields an amplified positive voltage at the lower output socket(4), the socket(3) staying zero.
The two output terminals provide the positive voltage drive required as input for the servo-
5
amplifier. Thus, if the output terminals are
connected to the servoamplifier input terminals, the
motor will reverse direction whenever the
preamplifier input voltage changes polarity.

With zero input, the voltages at both output sockets

must be equal, and this condition must be achieved
by adjusting the Zero Set control on the
preamplifier.
{ PROCEDURE: Power on preamplifier. With
the input terminals left open circuited, adjust the
Zero Set knob until the differential voltage
between the two output sockets is zero, i.e., until
the voltages at the two output sockets are
equalized}. The preamplifier must remain
reasonably balanced for proper operation. Maximum Figure 1-6 Preamplifier PA150C
output is about 12 volts, and the linear voltage gain
is about 10 to 15 V/V.

'Deadband' occurs due to the presence of mechanical static-friction (Coulomb-friction) effects in the
commutator brushes and in the bearings. The term 'deadband' which essentially is "the no-response
of the motor until the servoamplifier[motor] input voltage Vm, exceeds a certain value Vd " [see
Figure 1-7 (a)] occurs in both rotational directions. The 'deadband' prevents the modeling of the
servomotor as a linear element. In the experimental equipment, the motor is 'linearized', by
providing the servoamplifier input with a bias voltage Vb which is approximately equal to the
deadband voltage. The required bias is obtained from a pre-amplifier which has the transfer
characteristic shown in Figure 1-7(b). The bias voltage Vb is somewhat less than Vd in order to
prevent motor response due to spurious noise signals which may be present in the preamplifier
output. At balance, identical output voltages of 1 to 1.5 volts should be obtained.

*The DC motor DCM150F, Servoamplifier SA150D, Tachometer DTX150X will be introduced in next lab
session.

Figure 1-7 (a) Motor Deadband Vd (b) Preamplifier Bias Vb

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Experiment Procedure
MS150 System is equipped with a DC motor, with a tachometer to measure angular velocity,
turning potentiometer (designated as input pot and output pot ) to give and measure angular
position, and power amplifier (also known as pre-amp and servo-amp) to drive the motor. The
command signal can be provided by the function generator or input pot, and the output of angular
position or velocity can be measured by the oscilloscope. Figure 1-1 shows the MS150 system.

In these experiments, we will begin with the close loop DC motor position control system setup,
power source and DC voltage measurement, use of potentiometers (attenuator, input pot and output
pot), Op-amp as a signal adder and Op-amp as a Pre amplifier and signal adder and bias voltage
provider.

Exp#1.1 Basic DC Motor Angular Position Control System Setup

1. Referring to Figure 1.1 block diagram, make connection as following Figure 1-8: Op Amp
OP150A will be used as a “signal adder” to detect the error signal between “command” -
IP150H and “real position”- OP150K. The error signal will be used to control how far and
which direction motor to run. Please note that this error signal can’t directly drive motor. It
has to be adjustable (by a Controller-AU150B used as a proportional controller). This
control signal will be amplified by “Power amplifier” (Pre-Amp PA150C and Servo-Amp
SA150D). This amplified power (voltage and current) will drive motor.

2. Check control stability: no function generator connection, adjust AU150B dial to 1 or less,
turn IP150H to 45 degree clockwise, check if OP150K follow the IP150H clockwise. If not,
re-check your connection, especial the IP150H and OP150K are cross-connected. If still
doesn’t work, ask your lab demonstrator to check your connect. Make sure the system is a
stable negative feedback position control system.

3. Increase the dial of AU150B, the system will become unstable, decrease the dial of
AU150B, the system will be stabilized and will stop response when dial to 0.

4. Disconnect the wire at the #3 of IP150H and connect to Function Generator output as shown
in dashed line. The function generator will be used as a command signal. Set function
generator: Square wave, High: 3v, Low 0, Offset 1.5v. Frequency: 0.5Hz.

5. Oscilloscope setting to get a low frequency waveform and measurement. The signal can be
displayed or not displayed by press button 1 and Button 2 above the scale knob. Press button
1: coupling: DC, invert: off, Probe setup: 1x. Press button 2: same as ch1, except for invert:
on. To make signal display correctly on the screen by adjusting the Horizontal Scale (time
scale: SEC/DIV) and Vertical Scale (voltage scale: VOLTS/DIV) knob. If function
generator signal is 3V p-p, 1.5 offset, 0.5 Hz, to get maximum display of 2 cycle signal on
screen, the setting is: adjust position: baseline on bottom of screen, vertical scale: 500 mv,
horizontal scale:400ms, as shown in Figure 1-9.

6. Adjust Attenuator AU150B: dial to 1, capture the response image using excel as shown in
Figure 1-10.

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7. Repeat step 6 for dial adjusting to 2, and 0.5.

Figure 1-8 Basic DC Motor Angular Position Control System connection

Figure 1-9 Oscilloscope setting

8
 Figure 1-10 Oscilloscope Screen capture

+15 0V
Exp#1.2 Observation of the Error Signal -15V

1. Zero Op-Amp (Figure 1-11): Connect a

Ground (0 volt) signal to one of the op-amp
inputs (leave the other two inputs open). Then
adjust the “zero set” knob so the output of the op-
amp is zero.

2. Remove the ground signal from #1 of Op-

amp. Connect the input and output potentiometer CH2
as in Figure 1-13. Rotate the output pot shaft
approximately to V0= 0 V position. Use DMM to
check Vo.

3. With the output potentiometer position left Figure 1-11 Zero Op-Amp
undisturbed, from start point position (0 degree),
vary the input pot position by slowly turning the disk and observe the change in Op-amp output.
Fill out the following table.

Figure 1-12 Op-Amp as a Summing and Error Signal Block Diagram

9
 Figure 1-13 Op-Amp Calibration and Error Signal connection

output input input Op-Amp Erro (Cal) Difference

pot Pot Pot Output Ve= of Ve(cal)
Vo Position Vi Ve -(Vi+Vo) and
(Deg) CH1 CH2 Ve(real)
0 -170
0 -90
0 -45
0 0
0 45
0 90
0 170

Exp#1.3 Determination of Preamplifier Bias and Gain

1) Balance the Preamplifier and determine Preamplifier Bias: Power PA150C, connect a
common signal (0V) to the inputs (input 1 and 2). Monitor (using the oscilloscope and its
measurement feature, scope vertical position and scale should be same) both outputs (3 and 4),

10
adjust the Balance Control (zero set
knob) until both outputs have the
same voltage, as shown in Figure 1-
14, This voltage should be in the
range of 1.0 to 1.5 volts and is the
"bias" voltage which is intended for
overcoming part of the system
Deadband. The zero set knob should
not be disturbed after balancing.
Record the bias value.

2) Set up the circuit to obtain a

small voltage signal: as shown in
Figure 1-15 using the Attenuator
modules. Note that the pots in the
Attenuator are connected in cascade Figure 1-14 Balance PA150C
so that very small DC voltages
required as input for the gain
determination can be easily obtained. Set top
pot 1.5 volt (after get 1.5V at #2, don’t touch
the top knob any more), then bottom pot will
yield an output of 0 to 0.5 volt over its entire
knob-rotation range at socket 5. If -15V
connect to # 3, then # 5 can obtain an output
of 0 ~ -1.5V.

3) Preamplifier Gain: Disconnect the

common signal from the pre-amp and connect
the signal from the bottom pot #5 as show in
Figure 1-16. Apply various voltages to the
preamplifier input #1 and check with scope
CH1. Connect PA150C output #3 to scope
CH2. Leave input #2 and output #4
unconnected. Vary input signal from 0~1.5 by
turning bottom knob, (Oscilloscope: press
“measure”, Source: CH1, Type: mean.
Second side menu: Source: CH2, Type: mean,
properly adjust voltage and time scale to get
reading from Scope), record data at the
following table. Then disconnect +15V on
AU150B #3, and connect -15V to AU150B
#3, thus a variable signal (varies from 0~ -
1.5V) can be obtained at #5 on AU150B and Figure 1-15 Using AU150B
at input #1 on PA150C, the amplified signal get small variable Signal
output to PA150C output #4,CH2 connect to
#4 of PA150C, leave input 2 and output 3 unconnected, record data at the following table.
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 Figure 1-16 Preamplifier Calibration Connection

Input Voltage Output Voltage

Input terminal # CH1 Volt (mean) Output Terminal # CH2 Volt (mean)
1 -1 (real reading here) 4

1 -0.9 ( ) 4
1 -0.8 4
1 -0.7 4
1 -0.6 4
1 -0.5 4
1 -0.4 4
1 -0.3 4
1 -0.2 4
1 -0.1 ↑ ( ) 4
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 1 0
1 0.1 ↓ ( ) 3
1 0.2 3
1 0.3 3
1 0.4 3
1 0.5 3
1 0.6 3
1 0.7 3
1 0.8 3
1 0.9 3
1 1.0 3

Experiment Results
Exp#1.1 Basic DC Motor Angular Position Control System Setup

1) Simulate the system using the block diagram as in Figure 1.1 by Matlab Simulink. Get 3
0.088𝑉𝑜𝑙𝑡
step (𝜃𝑑 =40 deg.) responses of k1=0.5, k1=1, and k1=2 (Assume: 𝐾𝑖 = 𝐾𝑜 ≈ 𝑑𝑒𝑔 ≈
4.8
𝑟𝑎𝑑
, 𝐾𝑝 ≈ 10, 𝐾𝑚 = 𝐾𝑀 ∗ 𝐾𝑆𝑒𝑟𝑣 ≈ 20 ∗ 6 = 120 𝑣𝑜𝑙𝑡/𝑣𝑜𝑙𝑡, 𝜏𝑚 = 0.1𝑠, N=30).

2) Compare above simulated responses with experimental response and comments.

Exp#1.2 Observation of the Error Signal

1) Explain how to check if the op-amp is zero or not. Can you use DMM to check. Please
explain in detail.
2) Referring Figure 1-12 and 1-13, if we switch the connection of IP150H (#1 to +15, #2 to -
15). What is the effect on Ve error signal.

Exp#1.3 Determination of Preamplifier Bias and Gain

1) Can you explain which terminal is input, which is output if we use AU150B as a voltage
divider. Do we need a ground for it, explain why.

2) Obtain a plot of output voltage (terminal 3) versus input voltage from 0~ +1.0 V (input
terminal #1). Next, on the same graph, plot other output (terminal #4) versus Vin from 0 ~ -
1.0V (input terminal #1). A V-shaped characteristic will result if the preamplifier has been
well balanced. Find Kp (slope of plot). Find preamplifier bias voltage when Vin =0 from the
plots.

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Lab 2: Determination of DC Motor Dead-Band,
Gain, Servo-Amplifier Gain, Torque/Speed
Characteristic.
Objectives
To familiar with the DC motor module, amplifiers and tachometer. To verify DC motor parameters,
calibrate the gain of servo-amplifier and tachometer.

Introduction
Servoamplifier SA150D is the power-amplifier which
drives the motor. Its panel shows a simplified schematic
of the amplifier. The left side of the panel contains two
input terminals which accept only positive input signal
voltages: A positive input voltage [exceeding the Vin
=V1
deadband voltage], when applied to one input terminal
will rotate the motor in one direction, a similar positive
voltage applied to the other terminal will produce reverse
rotation. Negative inputs will have no effect. The panel
also contains a set of ± 15v terminals which can be used Vin
by other units. The servoamplifier is already connected to =V2
the power supply unit by a cable, and does not require
further power connections.(Figure 2-1)

DC Motor DCM150F & Reduction Gear Tacho Unit

GT150X consists of a DC motor mechanically coupled to
a tachogenerator on high speed input end,( tachometer Figure 2-1 Servoamplifier
sensitivity is 0.025 Volts per radian-sec-1 and its output SA150D
polarity can be reversed
by appropriate
patching), through a
30:1 reduction gear (a
90° worm gear
assembly), to an output
shaft on the other end.
The output shaft is
coupled to the Output
Potentiometer through a
coupling link. A top
panel display can be
switched to indicate Figure 2-2 DC Motor DCM150F coupled Tacho- gear
speed in r/min or to GT150X, Loading Unit LU150L
monitor an external DC
14
voltage. The motor is operated in the armature-controlled mode, through appropriate patch-cord
connections made on the Servoamplifier. The motor is already connected to the Servoapmplifier by
cables, and does not require further power connections.

The motor is a permanent magnet type and has a single armature winding. Current flow through the
armature is controlled by power amplifiers as in Figure 2-1 so that rotation in both directions is
possible by using one, or both of the inputs. The input signals are provided by a specialized Pre-
Amplifier Unit PA150C, which connected to inputs #1 and #2 on SA150D.

As the motor accelerates the

armature generates an
increasing ‘back-emf’ Va
tending to oppose the driving
voltage Vin. The armature
current is thus roughly
proportional to (Vin – Va). If
the speed drops (due to
loading) Va reduces, the
current increases and thus so
does the motor torture. This
tends to oppose the speed drop. Figure 2-3 a DC Motor Deadband Figure 2-3 b DC Motor
This mode of control is called
‘armature-control’ and gives a
speed proportional to Vin as in
Figure 2-3 a. Due to brush
friction, a certain minimum input
signal is needed to start the motor
rotating. Figure 2-3 b show how
the speed varies with load torque.

Loading Unit LU150L An

aluminum disc can be mounted on
the extended motor shaft and
when rotated between the poles of
the magnet of the loading unit, the
eddy currents generated have the
effect of a brake. The strength of
the magnetic brake can be
controlled by the position of the
magnet (Figure 2-2). Figure 2-4
show the approximate brake
position characteristics of motor
at 1000 rpm. For other speeds, the
torque will be proportional to the
Figure 2-4 Approximate Brake Characteristics at 1000rpm
speed.

15
The armature-controlled DC Motor is used in the laboratory equipment. The motor is driven by a
servoamplifier [the combination of the two being called a 'Servomotor’]. The transfer function can
be written as follow:
𝜔𝑚 𝐾𝑚
𝐺𝑃 (𝑆) = = (2-1)
𝑉𝑚 1+𝑆𝜏𝑚
where 𝝎𝒎 is the output angular velocity, Vm is the motor input voltage(between #3 and #4 on
SA150D), Km is the motor gain constant and 𝜏𝑚 is an equivalent electro-mechanical time
constant. The two characteristic constants in (2-1) can be experimentally determined. The block
diagram is shown in Figure 2-5.

Figure 2-5 Block Diagram: SA150D+DCM150F+ GT150X

Experiment Procedure
In these experiments, we will calibrate the servoamplifier gain, determine motor deadband,
investigate brake characteristics and servomotor time constant.

Exp#2.1 Servomotor Gain, Deadband and Tachometer sensitivity Determination

1.Set up the circuit as shown in Figure 2-6. Apply 1.5 ~ 2.5 volts (using top attenuator AU150B) #3
connect from +15v, #1 connect from 0V, #2 connect to input #1 on Servo-amp SA150D , Scope
CH1 measure input voltage Vin at #1 on SA150D. DMM measure motor control voltage Vm
between #3 and #4 on SA150D.

2.GT150X connection: #1 from 0V, #2 connects to #3, switch turn towards to #3 for display n
(rpm) on LED, Scope CH2 measure tachometer voltage at #2.

3.Set Load unit LU150L at 0 position (unload status).

4.Gradually increase (adjust AU150B) input voltage allowing the motor to start to turn. Note that
the motor does not respond until the input voltage exceeds a certain threshold value Vd, which is
the deadband voltage for one direction. Continue to increase the input voltage approximate to
1.5V (read mean from CH1 of scope Vin), read Vm from DMM, read n (rpm) on the LED display,
read CH2 mean volts Vt and record all values on the following table.
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5.Repeat step 3, increase input voltage approximate to 2.0V.

6.Repeat step 3, increase input voltage approximate to 2.5V.

7.Disconnect #1 on SA150D, connect to #2 instead, the motor will run in opposite direction, repeat
step 4-6.

Figure 2-6 Servo-motor gain, DC Motor Deadband, gain, Time

constancy, and load characteristics investigate connection

Servo – Amp Tachometer

Vin Vm n 𝜔=2𝜋𝑛/60 Vtg 𝐾𝑡𝑔
Terminal Volts Volts rpm ( Rad/S) Volts = 𝑉𝑡/𝜔
# (CH1) mean (DMM) (read LED) (CH2)mean Volts.S/rad
#1 (≈ 1.5)
#1 (≈ 2.0)
#1 (≈ 2.5)

#2 (≈ 1.5)
#2 (≈ 2.0)
#2 (≈ 2.5)

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Exp#2.2 Torque speed Characteristics investigate

1. Set up the circuit as shown in Figure 2-6. Follow the steps 1-2 of Exp#2.1.

2. Set Load Unit at position #0. Gradually increase (adjust AU150B) input voltage, read LED,
make n reach to maximum speed. Record all data in follow table of position #0.

3. Keep input voltage unchanged, set load unit LU150L at position #1, record all data. Repeat until
position #10.
Load Servo – Amp Tachometer
Position Vin Vm n 𝜔=2𝜋𝑛/60 Vt
Volts Volts rpm ( Rad/S) Volts
(CH1) mean (DMM) (read LED) (CH2)mean
0
1
2
3
4
5
6
7
8
9
10

4. Set Load unit LU150L at position#0, decrease input voltage Vin until reach to above speed at
position#10, record all data in following table.

5. Keep input voltage unchanged, set load unit LU150L at position #1, record all data and repeat
until position #10.
Load Servo – Amp Tachometer
Position Vin Vm n 𝜔=2𝜋𝑛/60 Vt
Volts Volts rpm ( Rad/S) Volts
(CH1) mean (DMM) (read LED) (CH2)mean
0
1
2
3
4
5
6
7
8
9
10
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Exp#2.3 Servomotor Time Constant Determination:

1. Function Generator and Oscilloscope Setting:

1) The function generator is used to get a square-wave signal. Adjust Frequency(Period,
press again to switch to Period), Amplitude(HiLevel), Offset (LoLevel) and Duty Cycle
of these signals. Our signal: Frequency: 0.3Hz; HiLevel:2.0v; Lolevel: 0v; Offset:1.0v.

2) Set Oscilloscope to operate in Roll Mode(400ms/div to 5 sec/div) which produce a

scrolling trace. Adjust the position knob of CH1 and CH2 of DSO to bottom
position(baseline bottom) . Scope setting: Scale CH1: 500mv;CH 2:1.00V; Horizontal
scale: 40ms.

2. Set load unit LU150L at position #0. Use the circuit shown in Figure 2-6. Squire wave signal
replace AU150B #2, connect to #1 on Servo-Amp SA150D as shown in dashed line

3. Power on motor make sure motor run in one direction and full stop periodically. A trace of
squire wave will roll on screen. Adjust oscilloscope Vertical Scale(volts/div) and time scale
(sec/div) controls until the positive-going half-cycle of the square wave appears as a 'step' in
the display [see Figure bellow]. Press Run/Stop ** button in Scope to display the rising
wave form. Use the paired cursors to graphically determine the servomotor time constant 𝜏𝑀
by reading off the time corresponding to 63.2 % of the 'final' value*. Draw the display and
mark the time constant and final value, fill out the following table.

* How to get Time Constant using Cursor measurement:

1) From Scope, Press Cursor: two vertical cursor with cross bars will display for paired
measurement: using “Milipurpose a or b” to move cursor, press “Menu 1 or 2”, the
cursor will move along signal of CH1 or CH2. The ∆𝑥𝑥𝑥 𝑚𝑠 is the time measurement of
these two cursors. The ∆𝑥𝑥𝑥 𝑚𝑉 is the voltage measurement of these two cross bars.
Put “a” to initial point of signal CH2, “b” to final or stead state of tachometer, The
∆8.96𝑉 is Vt as following graph:

19
 2) Refer to graph above, find the cursor of 63.2% of Vt( e.i. if Vt=8.96v, the 63.2% of Vt is
8.96*0.632=5.66 v, move second cursor “b” to ∆5.68𝑉), The ∆29.6𝑚𝑠 is the time
constant. Draw a graph of this waveform and measurement.
3) Press Menu 1, the cursor will move along signal of CH1, refer to graph bellow, using
“Milipurpose a” to move cursor to low signal of CH1, “b” to high signal of CH1, The
∆3.96𝑉 is Vm as shown in following graph:
4)

3. Switch terminal #1 and #2 of Servo-Amp and to make sure motor run in reverse direction and
full stop periodically. Repeat the steps #2). Fill out table’s second row.

Load unit set at position #0

V Function Gen. Vin (CH1) Tachometer (Vt CH2) Time Constant 𝜏𝑚
0~2 V
-2~0V

4. Repeat Step #1, Set load unit LU150L at position #10, repeat step #2 and #3.fill following
table.

20
 Load unit set at position #10
V Function Gen. Vin (CH1) Tachometer (Vt CH2) Time Constant 𝜏𝑚
0~2 V
-2 ~0V

** Alternate method to get one shot wave form:

1) Scope setting: Scale: Ch1: 1.0V; Ch2: 2V, Horiaontal time scale: 40 ms,

2) Press Scope “Trigger Menu”: Type: Edge, Source: CH1, Slope: Rising (Falling
depending on waveform), Mode: Auto, Couple: DC. Trigger level set to +1.0v for
rising wave or -1.0v for falling wave.
3) Run motor by turn power. Press Scope: Single, A rising (or falling waveform) will
display and freeze on screen. Now you can use cursor to measure it.

Experiment Results

Exp#2.1 Servomotor Deadband and Gain Determination

2𝜋𝑛 𝑉𝑡 𝑆
1) From the table, calculate 𝜔 and Kt, 𝜔 = 60
(Rad/s), 𝐾𝑡 = 𝜔
(𝑉𝑜𝑙𝑡. 𝑅𝑎𝑑) .

2) Plot 𝜔 versus Vm in both input terminal #1 and #2 in one graph. Find Vd from this plot.

3) Plot 𝜔 versus Vin, find Km. From above results.

4) Can you derive a block diagram model of armature-controlled DC motor, includes a load
torque in your block. (referring to Appendix B for all parameters). Clear indicate Km, 𝜏𝑚 .

21
Exp#2.2 Torque speed Characteristics

1) Plot 𝑛 (𝑟𝑝𝑚) versus position # to get the speed toque characteristics from both setting. (plot
two curve in one graph.

2) From 2 experimental tables, take data of position #10, Plot 𝜔 versus Vin, find Km at
maximum load position #10. What is the difference with no load, why.

Exp#2.3 Servomotor Time Constant Determination

1) From the recorded table and plot, get average time constant.

2) Find servomotor gain from the final value and input square-wave amplitude. Refer to (2-1)
𝑉𝑡 𝐾𝑚∗𝐾𝑡 𝑉𝑡
and Figure 2-5, = , when t∞, S0, 𝐾𝑚 = 𝑉𝑖𝑛∗𝐾𝑡 . Compare this Km with
𝑉𝑖𝑛 1+𝑆𝜏𝑚
obtained from Exp#2.1.

3) Using above obtained parameters to simulate the DC motor with Matlab Simulink. Compare
with experimental one.

4) Using the block diagram of results Exp#2.1, 4) to simulate with Simulink. Compare with
experimental one.

22
Lab 3: Time Response of Basic Closed-Loop
System and Effect of Tachometer Feedback
Objectives
To observe the time response of the closed-loop DC motor position control system, investigate the
performance of second order system, and effect of tachometer feedback on the second-order system
response.

Introduction

Basic angular position control system:

The block diagram of the basic system which is investigated is shown in Figure 3-1. The speed
reducing gear coupled at the output shaft of the motor is represented as a block having the transfer
function (1/SN), to indicate speed reduction as well as angular velocity - to - position conversion.
Ki and Ko are the transfer functions of the Input and Output potentiometers, Kp is the pre-amp
gain, and Km is the servo-motor gain respectively, which were obtained by calibration in the
previous lab.

𝑲𝒎
𝟏 + 𝑺 𝝉𝑴
𝜽𝒅 𝜽𝒐
150 X
Gear Box

Figure 3-1 Basic Angular Position Control System

The op-amp 150A is used to sum multi-signals as “Reference Comparator” or “Error Detector”.
The error voltage Ve is the difference between desired voltage Vi and real voltage Vo (or = 𝐾𝑖 𝜃𝑖 −
𝐾𝑜 𝜃𝑜 ).

The close loop transfer function of the system of Figure 3-1 (including Ki) may be obtained as:
23
 𝐾 𝐾 𝐾 𝐾
𝜃𝑜 ( 𝑖) 𝑀 𝑜 ( 𝑖 )𝜔𝑛
2
𝐾𝑜 𝑁𝜏𝑚 𝐾𝑜
= 𝑆 𝐾 𝐾 = 2 2 (3-1)
𝜃𝑖 𝑆 2 +𝜏 + 𝑀 𝑜 𝑆 +2𝜁𝜔 𝑛 𝑆+𝜔𝑛
𝑚 𝑁𝜏𝑚

𝑀 𝐾 𝐾𝑜
Where the Natural Frequency is 𝜔𝑛 = � 𝑁𝜏 (3-2)
𝑚

𝑁
𝐾𝑀 = 𝐾𝑝 𝐾𝑚 , and the Damping Ratio is 𝜁 = �4𝐾 (3-3)
𝑜 𝐾𝑀 𝜏𝑀

Transient time response specifications to a step input are defined as follows (refer to Figure 3-2):

1.4
𝜽(𝒕)

1.2 tr P.O
O.S

𝜽𝟐
X2
1
𝜽𝟏
X1
𝜽𝟑
X3 2%
0.8

0.6

0.4 tp

T
0.2
ts

𝒕
0
0 2 4 6 8 10 12 14 16 18 20

Figure 3-2 Time Response of Basic Angular Position control System

2𝜋
Period Time: 𝑇 = 𝜔 where the damped natural frequency is 𝜔𝑑 = 𝜔𝑛 �1 − 𝜁 2 .
𝑑
Rise time, tr: the time required for the response to rise from 0 ~ 100% of its final value for a
underdamped second-order system.
𝜋
Peak Time: 𝑡𝑝 = time taken to reach the first maximum, 𝑡𝑝 ≈ 𝜔
𝑑

24
Percent Overshoot (P.O.): the maximum peak value of the response curve measured from unity.
𝜋𝜁
−
�1−𝜁2
𝑃. 𝑂 = 100𝑒 (3-4)

Settling Time: the time required for the response curve to reach and stay within a range about the
final value of size specified by absolute percentage of the final value (usually 2% or 5%).

𝒕𝒔 ≈ 𝟒/𝜻𝝎𝒏 , (2% settling time)

The time-domain specifications are quite important since most control systems must exhibit an
acceptable time response. Except for certain applications where oscillations cannot be tolerated, it is
desirable that the transient response be sufficiently fast and be sufficiently damped. Thus, for a
desirable transient response of a second-order system, the damping ratio must be between 0.4 and
0.8. Small values of 𝜁 (𝜁 < 0.4) yield excessive overshoot in the transient response and a system
with a large value of 𝜁 (𝜁 > 0.8) responds sluggishly. An overshoot in the range of 2 to 6% is
considered to be the optimum, a ‘range’ being necessary because setting the P.O. may involve a
‘trade-off’ with other specifications.

Note that an increase in KM, while providing an increase in the natural frequency (ie. speed of
response or rise-time), will also result in a reduction in the damping ratio, thereby increasing the
tendency towards instability (ie. larger overshoot and settling time). Thus, a 'trade-off’ exists
between, say, the rise-time and the settling time. Furthermore, in the experimental setup, all of the
above system parameters are constant and any adjustment capability can only be obtained through
an effective variation in the forward-path gain. In the experimental setup, such a gain- variation is
obtained by an attenuator which is ahead of the pre-amplifier (see Figure 3-3) to effectively reduce
the gain of that amplifier (ie. 0< overall forward-path gain ≤ KM , in our case, KM=K1KpKm , where
K1 is the potentiometer constant which was calibrated in previous lab and ranged from 0 to 1)

Basic angular position control system with velocity feedback:

The restrictive trade-off situation between 𝜁 and 𝝎𝒏 in the basic system described above may be
somewhat improved by using additional 'derivative feedback'. In obtaining the derivative of the
output position signal, it is desirable to use a tachometer instead of physically differentiating the
output signal. In our lab, the angular velocity of the motor 𝜔𝑚 (Tachometer feedback or Velocity
feedback or Rate feedback) is introduced. In the laboratory system, a ‘tachogenerator’
(Tachometer) is physically coupled to one end of the motor. It produces a DC voltage output
𝑉𝑡 = 𝐾𝑡 𝜔𝑚 , which is used as an additional negative feedback signal as shown in Figure 3-3.

This system can be shown to have the same transfer function given by Eqn. (3-1) where 𝜔𝑛 remains
unchanged but with 𝜁 now given by:

𝑁
𝜁 = �4𝐾𝑜𝐾 (1 + 𝐾𝑀 𝐾2 𝐾𝑡 ) (3-5)
𝑀 𝜏𝑀

25
The Damping Ratio is now multiplied by the factor (1 + KMK2Kt). Thus, 𝜁 can now be
independently set for any given 𝝎𝒏 . In the laboratory setup, an attenuator (with pot constant k2) is
used in cascade with the tachometer output, so that an effective adjustment range for Kt from zero
to its full value is possible. For the basic system, optimum* step response should normally occur
with the pot coefficients k1=0.4 and K2 = 0.02, respectively. It can be seen that velocity-feedback
improves stability by introducing extra damping.

𝑽𝒆
𝑽𝒊 150A
𝜽𝒅 𝑲𝒎 𝝎𝒎 𝜽𝒐
K1 Kp 𝟏
Ki 𝟏+𝑺𝝉𝑴
𝑺𝑵
150D
150H − 150B
− 150C
150X
top +150F

𝑽𝒕
K2 Kt
150B 150X
Bottom

𝑽𝒐
Ko
150K

Figure 3-3 Basic Angular Position Control System with Velocity Feedback

Experiment Procedure
Pre-lab: Please review Lab#1 and Lab #2 and connect a basic angular position control system with
velocity feedback as shown in Figure 3-3. The lab equipment layout is shown in Figure 1-2. All the
+15V and -15V and 0V voltage will be connected in the lab. The power supply PS150E, servo-
amplifier SA150D and DC motor DMC150-F are internal connected. Please note that input pot
IP150H and output pot OP150K must be cross connected (referring Figure 1-13). Make sure Ve is a
voltage difference and not a voltage sum. The reference voltage of IP150H and OP150K is ±15V.

Exp #1 Basic Closed-loop System Set Up

Notes: Throughout the following experiments, it will be assumed that the op-amp and the pre-
amp remain zeroed and balanced respectively and that the supplies to the input/output pots
are cross-connected so that the op-amp is the difference between the input and output position
signals.
26
1) Without power on, set up the circuit as in Figure 3-3. Set the input and output pots to their mid-
positions, indicating approximately zero output voltages. Also set the two pots in the Attenuator
unit to K1 =0.5, K2 = 0.

2) Offset the reference input pot by about 30° and turn the power on, the output pot will rotate
following the reference pot position if the system is functioning as a negative feedback system. If it
does not, then the feedback signal polarities of position are incorrect and must be reversed as
required until the system shows the proper position following response. (Letting K2=0, check
position feedback first. Switch +15,-15 connect of IP150H to make sure system is controllable and
stable. Then add K2=0.5, if system is unstable, switch the polarities of GB150X.)

3) Disconnect input pot IP150H terminal #3 with terminal #1 of OP150K, connect function
generator to terminal #1 of OP150K. Set square wave, 4V pk-pk, frequency 0.3 Hz. Connect scope
CH1 to Vi, (terminal #1 of OP150K), CH2 to Vo (terminal #2 of OP150K). Set the DSO time base
to produce a scrolling trace (roll mode). Now observe the responses to step input with various
settings of K1 and K2 which are the two control pots in the Attenuator module. Note that K1
effectively sets the forward-path gain (from zero to 1) while K2 sets the magnitude of the
tachometer feedback signal.

4) With K2 remaining at zero (thereby removing the velocity-feedback loop): increase K1 in steps
and observe the change in the transient response. Capture input and output in one plot for same
K2=0 but with K1=0.1, 0.2, 0.4. Try to measure Tp, T and P.O for each case. (using run/stop and
Cursor measurement).

5) Refer to Figure 3-2. record all data, capture the response image and sign data sheet by Lab
instructor before leave.

Exp #2 Closed-loop System with Tachometer Feedback

1) Keep same as above steps 1)—3).

2) With K1 set at maximum (=1), observe the change in transient response as the tachometer
(velocity) feedback is gradually introduced by increasing K2. Using RUN/STOP , capture plot for
same K1=1 but with K2=0.1, 0.2, 0.3 or 0.05(if the system shows too sluggish). Also try to measure
Tp, T and P.O for each case.

Exp #3 Closed-loop System Time Response

1) Keep same as Exp#1 steps 1)—3).

2) Select k1 and K2 which yields what you consider to be the 'best' step-response (approximately
10% of overshoot). From the displayed 'best' response curve, use the DSO cursors to graphically
determine the Percentage Overshoot and use it to estimate the damping ratio. Capture image of
this 'best' response for the report.

3) Repeat step 2) for a load position setting #10, Capture the image of this response for the report.

27
Experiment Results
Exp#1 Basic Closed-loop System Set Up
Write a summary of your observations in your report. Calculate 𝜔𝑑 , 𝜔𝑛 and 𝜁 from your recorded
T, Tp, and P.O for each case. Comment on your results.

Exp#2 Closed-loop System with Tachometer Feedback

Write a summary of your observations in your report. Calculate 𝜔𝑑 , 𝜔𝑛 and 𝜁 from your recorded
T, Tp, and P.O for each case. Pay attention to 𝜔𝑛 . Comment on your results.

Exp #3 Closed-loop System Time Response

1) Estimate two 𝜁 from your best response experiment by equation (3-4). Compare them with
value calculated using equation (3-5)
𝑁
𝜁 = �4𝐾𝑜𝐾 (1 + 𝐾1 𝐾𝑀 𝐾2 𝐾𝑡 )
1 𝐾𝑀 𝜏𝑀

where the selected values of K1 and K2 have been introduced to take into account the effective
modified values of the gain KM= Kp*Km and the tachometer sensitivity Kt. Tabulate the results of
your comparison. N = 30 is the output shaft gear ratio. You can find all the other parameters in your
former experiment results.

2) Use Matlab Simulink to simulate the system as in Figure 3-3. K1 and K2 are the two values used
in the lab (Exp#3, step #3, one is 10% of overshoot, other is 20% of overshoot). N = 30 is the
output shaft gear ratio. You can find all other parameters in your former experiment results. Plot the
simulated results and check the P.O. in graphs. Compare them with your experimental plot.

28
Lab 4: Frequency Response of Basic Closed-Loop
DC Motor System
Objectives
To study the frequency response of a basic closed-loop DC motor system by observing its natural
response, and compare the experimental response with computer simulation response.

Introduction

The frequency response means the steady state response of a system to a sinusoidal input. The
resulting output for a closed loop DC motor system is sinusoidal in the steady state; it differs from
the input waveform only in amplitude and phase angle. Consider the DC motor described by
Equation (3-1),

𝜃𝑜(𝑠) 2
𝜔𝑛
= 2 = 𝐺(𝑠) (4-1)
𝜃𝑑(𝑠) 𝑆 2 +2𝜁𝜔𝑛 𝑆+𝜔𝑛

𝜃(𝑡) 4
t T
3
𝜃𝑑(𝑡)

2
𝜃𝑜
1

0 𝜃𝑑

-1

-2

-3

𝜃𝑜(𝑡) 𝒕
-4
0 10 20 30 40 50 60

Figure 4-1 Frequency response of closed loop system

The input 𝜃𝑑(t) is sinusoidal and is given by:

29
 𝜃𝑑(𝑡) = 𝜃𝑑 sin 𝜔𝑡

If the system is stable, then the output 𝜃𝑜(𝑡) can be given by

𝜃𝑜(𝑡) = 𝜃 𝑑 |𝐺(𝑗𝜔)| sin(𝜔𝑡 + 𝜙)

𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑝𝑎𝑟𝑡 𝑜𝑓 𝐺(𝑗𝜔)

Where 𝜙 = ∠G(jω) = tan−1 𝑟𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝐺(𝑗𝜔)

We can present frequency response characteristics in graphical forms, Bode Diagrams or

Logarithmic Plots. A Bode Diagram consists of two graphs: one is a plot of the logarithm of the
magnitude of a sinusoidal transfer function (20 log |𝐺(𝑗𝜔)| ), or called dB; the other is a plot of the
phase angle (deg) or phase shift; both are plotted against the frequency in logarithmic scale.

System: DC Bode Diagram

20 Frequency (rad/sec): 10.6
Magnitude (dB): 10.3
10
Mp (in dB)
0
Magnitude (dB)

System: DC
-10 Frequency (rad/sec): 15
Magnitude (dB): 0.00225

-20

-30
𝜔𝑝 𝜔𝑛
-40
0

-45
Phase (deg)

-90

-135

-180
0 1 2
10 10 10
Frequency (rad/sec)

Figure 4-2 Bode diagram of closed loop DC motor System

An example of input and output sinusoidal waveform is shown in Figure 4-1.

The output/input magnitude ratio:
𝜃𝑜
M (dB) =20 log |𝐺(𝑗𝜔)| = 20 𝑙𝑜𝑔 �𝜃𝑑� (4-2)

30
 360𝑡
Phase shift: 𝜙(degree) = (4-3)
𝑇
Figure 4-2 shows the Bode Diagram of closed loop DC motor system. We can estimate the
underdamped natural frequency 𝜔𝑛 and damping ratio 𝜁 by the asymptotic lines from Bode
diagram.
1
𝑀𝑝 (𝑑𝐵) = 20 log 2
, 𝜁 < 0.707 (4-4)
2𝜁�1−𝜁

Experiment Procedure

1) Set up the circuit shown in Figure 3-3, make sure system is controllable and stable, use function
generator to replace input pot 150H. Function generator setting: Squire wave, 4 volts peak-to peak,
0.5Hz, offset 0v. Get step response by setting K1, K2 which yielded your good step-response
(25% of overshoot). Set the oscilloscope to read DC at 1 volt/div and adjust the sec/div setting
until the waveform is scrolling, 100-500ms/div. Turn on the 'invert' for Ch2 of scope.

2) After getting 35% of overshoot, keep all setting unchanged, only adjust function generator
controls to obtain a sine wave output.

3) Keep the peak-to-peak input voltage magnitude unchanged, manually change frequency from
0.1 to 10 Hz, find the resonance peak, more readings will have to be taken near the peak so that it is
well defined in a plot. Conversely, less readings may be taken in regions where the response is
'flat'. At each frequency fin, 'freeze' the signal and use cursors to find the input period T, pk-pk
𝜃𝑖, pk-pk 𝜃𝑜, and the phase-shift time t between input and output waveforms. Tabulate the results
as shown in Table 4-1.

Experiment Results

1) Calculate the output/input Magnitude Ratio M (dB) and the Phase shift Ф (degrees) at each
frequency and put them into the table above. For an input 𝜃𝑑(𝑡) and an output 𝜃𝑜(𝑡) which lags the
input, the Ф (degrees) and M (dB) may be calculated by (4-3) and (4-4). Plot the Magnitude Ratio
M (dB) and the Phase-lag Ф (degrees) against the radian-frequency ω=2πf, using two-cycle, semi-
logarithmic graph paper. Example M and Ф plots are shown in Figure 4-2. Typical data points are
also shown to emphasize the need to take more readings at frequencies where rapid changes occur.
Note: A distinct peak will not be obtained if the system is set for near critical damping.

2) Estimation of undamped natural frequency ωn and damping ratio ζ from the resulting frequency
response plot. The magnitude (dB) – frequency data points plotted on semi-log graph paper can be
used to obtain system parameters such as ζ and ωn, as shown in Figure 4-2. Use asymptotic lines to
estimate the ωn and the peak (if any) to find the ζ by (4-4). Compare the result of ζ with the
corresponding value calculated earlier in Lab#3.

3) Use Matlab M scripts to plot the Bode diagram given the system parameters as in the previous
lab. The K1 and K2 are chosen in this lab. Find the 𝜔𝑛 and 𝜁 from the Bode diagram.

31
Table 4-1

Fin T t 𝜃𝑑 (pk- 𝜃𝑜 (pk-pk) 𝜔 M Phase

(Hz) (sec) (sec) pk) (volt) (volt) (rad/S) ( dB) (deg)
0.1
0.5
1
1.5
1.6
1.7
1.8
1.9
2.0
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.5
4.0
5.0
6.0
7.0
8.0
9.0
10.0

32
Lab 5: DC Motor Position Control with Cascade
PID Compensation

Objectives
To investigate PID controller and cascaded PID with tachometer feedback, compare the
experimental response with computer simulation response.

Introduction

'Compensation' is the modification of system (plant) performance characteristics so that they

conform to certain desired specifications. This is accomplished by effectively changing the transfer
function (more specifically, the OLTF) of the system, by introducing a ‘compensator’ block at some
suitable point in the closed loop. The compensator is usually located near the input comparator,
since the signal levels are low there and hence the compensator can be a low-power device. In
cascade Proportional-Integral-Derivative (PID) compensation, the time-integral and time-derivative
of the comparator output are obtained and added to that output itself and the composite signal is
used as the actuating signal (refer to Figure 5-1).

In the laboratory setup, a Proportional-Integral-Derivative amplifier unit (called PID unit PID150Y)
is used in the forward path, following the reference comparator, for the investigation of cascade
compensation. The Proportional-Integral-Derivative unit PID150Y is a three-mode control
amplifier. It provides three operational paths (P+I) or (P+D) or (P+I+D). The block diagram is
shown in Figure 5-2. Switching possibilities can be readily seen on the simplified schematic shown
on the faceplate of the unit (see Figure 5-3).

This amplifier has the following transfer function:

Gc(S) = K [1 + (1/sTi) + sTd] (5-1)

where the proportional gain K and the integral and derivative time constants Ti and Td can be
varied over specified ranges by means of three calibrated knobs on the unit. [The gain K can be
varied from 0.11 to 11 in two decade ranges. The Integral Time Constant Ti can be set from 0.11 to
11 seconds (in two decade ranges) and the Derivative Time Constant Td can be set from 2
milliseconds to 220 milliseconds in two ranges. Also, the Integral and Derivative functions can be
independently switched on or off as required.]

33
 150C
150A
𝑽𝒆
𝑽𝒊 Vc 𝑲𝒎 𝜽𝒐
𝜽𝒅 PID Kp 𝟏
Ki 𝟏+𝑺𝝉𝑴
𝑺𝑵
150H − 150Y − 150C 150D
150X
PID +150F
𝑽𝒕 𝝎𝒎
K2 Kt
150B 150X

𝑽𝒐
Ko
150K

Figure 5-1 DC Motor Position Control with Cascade PID + Velocity

Feedback Compensation

Figure 5-2 PID150Y Module

34
Now consider the system with the PID unit in the forward path, but with the tachometer feedback
removed (with the PID module parameters K, Ti and Td set, K2=0, this will correspond to cascade
PID compensation).
1
𝐾𝐾𝑀 [1+ +𝑠𝑇𝑑 ] 𝐺
𝑠𝑇𝑖
Using 𝐺 = 𝐺𝑐 𝐺𝑝 = and 𝐻 = 𝐾𝑂 , the CLTF is given by 𝑇 = 𝐾𝑖 .
𝑠𝑁(1+𝑠𝜏𝑀 ) 1+𝐺𝐻

𝑇 𝐾𝑖
The equivalent unit-feedback transfer function 𝐺𝑢𝑓𝑠𝑐 = 1−𝑇 may be found, assuming 𝐾𝑜
= 1 by:

1 1
𝐾𝐾𝑜 𝐾𝑀 𝑇𝑑 [𝑠2 +𝑇 𝑠+𝑇 𝑇 ]
𝐺𝑢𝑓𝑠𝑐 (𝑠) = 𝑑 𝑖 𝑑
(5-2)
𝑠2 𝑁(1+𝑠𝜏𝑀 )

Equation (5-2) clearly shows that (a) the system ‘Type’ has been changed to Type 2, and (b) a pair
of zeros has been introduced. ie: the system will now have zero steady state error for both step and
ramp inputs. However, its transient response will depend on the location of the roots of the system
characteristic equation [ie: closed loop poles].

Experiment Procedure

Pre-lab: Please review Lab#1, Lab#2 and Lab#3, connect a basic angular position control system
with PID controller and cascade velocity feedback as shown in Figure 5-1. The lab equipments
layout is shown in Figure 1-4. All the +15V and -15V and 0V voltage will be connected in the lab
later. The power supply PS150E, servo-amplifier SA150D and DC motor DMC150-F are internal
connected. Please note that input pot IP150H and output pot OP150K must be cross connected
(referring Figure 1-8), make sure Ve is a voltage difference not a voltage sum. The reference
voltage of IP150H and OP150K is ±15V.

Expt. #1 Dc Motor Position Control With PID Compensation

Notes: Throughout the following experiments, it will be assumed that the op-amp and the pre-
amp remain zeroed and balanced respectively and that the supplies to the input/output pots
are cross-connected so that the op-amp is the difference between the input and output position
signals. Check system is controllable and stable, then replace input pot with function
generator.

Set up the circuit shown in Figure 5.1. Set K2 to zero to eliminate the velocity feedback. Adjust the
function generator controls to obtain a square wave output of about 4 volts peak-to-peak,
symmetrical about the zero volt baseline, at approximately 0.4 Hz.

Notes: For the following each steps, record your observations (Stop/Run scope, using curser
measurement to get Peak time Tp, overshoot P. O., steady state error ∆𝜃𝑒. capture display, or
drawing at a blank paper, for your report), and comment on them.

1. Proportional Compensation: switch out the Integral (Ti=0) and Derivative (Td=0) paths, and
switch in only the Proportional path. Observe the change in 'step' (square-wave) response of the
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angular-position output as the proportional compensator gain K is varied from 0.1 to 1.
Momentarily switch the input waveform to a triangular-wave and observe the change in the
"follower" (ramp) response as K is changed. (Let: K=0.1, 0.2)

2. Proportional-Integral Compensation*: Switch in the Integral path. Set the proportional gain
K=0.1, and observe the effect on the output responses for square wave and triangular wave input
when Ti is set to various values, Let ( 𝑇𝑖 = 0.5, 1, 10 ).

3. Proportional-Derivative Compensation*: With K=0.1, switch out the Integral path and switch
in the Derivative path instead. Observe the effect on the output responses for square wave and
triangular wave input when Td is set to various values. Decrease the proportional gain if necessary,
to reduce noise. Let ( 𝑇𝑑 = 2, 20 , 200𝑚𝑠 ).

4. Proportional-Integral-Derivative Compensation*: Next, switch in the Integral path again. The

compensation is now a "PID". Observe the effect on the 'step' (square-wave) response and
triangular-wave response when the gain K, Ti and Td are set to various values.
Let a) (K=0.1, 𝑇𝑖 = 0.5, 𝑇𝑑 = 20 𝑚𝑠 ).
b) (K=0.1, 𝑇𝑖 = 10, 𝑇𝑑 = 20 𝑚𝑠 ).
c) (K=0.1, 𝑇𝑖 = 0.5 , 𝑇𝑑 = 200 𝑚𝑠 ).
d) (K=0.1, , 𝑇𝑖 = 10, 𝑇𝑑 = 200 𝑚𝑠 ).

Expt. #2 DC Motor Position Control With PID Compensation and Tachometer feedback

Cascade Compensation with Tachometer feedback: Velocity feedback compensation can be

introduced in addition to any of the cascade compensation schemes given in Expt#1,steps 1, 2, 3
and 4 above, by means of pot coefficient K2. Note that the tachometer feedback is now applied
directly to the preamplifier (Y150C, input#2) in an internal loop which is also called a "minor"
feedback loop. Observe the effect of increasing K2 in each of the above cases. Record your
observations and comment on them.
a) P+ Tach: (K=0.1, K2=0) ;(K=0.1, K2=0.1); (K=0.1, K2=0.2)
b) PI+Tach: (K=0.1, 𝑇𝑖 = 10 𝐾2 = 0) ; (K=0.1, 𝑇𝑖 = 10 𝐾2 = 0.1) ; (K=0.1, 𝑇𝑖 = 10
𝐾2 = 0.2)

Setting K, Ti, Td a. Step Response Tp, P.O. , S.S. e b. Ramp Response

1. P K=0.1
a. Squire
f=200mhz
v=4v p-p
offset=0
b. Tran.

P K=0.2
PI

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Experiment Results

Expt. #1
1). Derive the transfer Function 𝜃𝑜 (real position of DC motor)/ 𝜃𝑑 (desired position of DC motor)
from Figure 5.1 given K2=0.

2). In Expt.#1, draw a Root-Locus plot for each step 1,2, 3 and 4 using system parameters and the
value in the experiments. Comment on them.

3). In Expt.#1, Simulate block diagram Figure 5.1 for each step 1,2, 3 and 4 using system
parameters and the value in the experiments, compare it with the experimental results.

4). In Expt.#1, get step response of the transfer function from question #1 for each step 1,2, 3 and
4 using system parameters and the value in the experiments. Compare the results with Question #3
and experimental results.

Expt. #2
1). Derive the transfer Function 𝜃𝑜 (real position of DC motor)/ 𝜃𝑑 (desired position of DC motor)
from Figure 5.1 with velocity feedback K2.

2). In Expt.#2, Simulate block diagram Figure 5.1 with K2 using system parameters and the value
in the experiments of each case, compare them with the experimental results.

3). In Expt.#2, get step response of the transfer function from question #1 for each case. Compare
the results with Expt#2 Question #2 and experimental results.

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Appendix A: DC voltage measurement using Oscilloscope

1. Display and measure DC voltage by Oscilloscope and check the reading by DMM: The
oscilloscope used in our lab is a 2 channel storage oscilloscope. It can display and measure two
different signal sources simultaneously. DMM is 8085A.

1) DMM set to: DC, V, scale to 20, connect V/KΩ/S to measure point.
Note: only one “ground” in scope is connected to circuit common. In the manual Figures
of Scope connections, Ground connections maybe not be show, but still need to connect
one Ground.
2) To make signal display correctly on the screen by adjusting the Horizontal Scale (SEC/DIV)
and voltage scale (VOLTS/DIV) knob. On the bottom of screen, it display: CH1 2.00V,
CH2 2.0V, 20ms. The signal can be displayed or not displayed by press button 1 and
Button 2 above the scale knob.
3) Push the MEASURE button to see Measure menu. Push Add Measurements: Select type:
MEAN , Select CH1 for first measurements Source. Then OK Add Measurement.
4) Select CH2, select Type: MEAN. OK Add Measurement again, The CH1 and CH2 mean
values are shown in the menu and are updated periodically. If it is a question mark or not
display, clockwise turn the Time scale until it is in auto run mode.

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Appendix B: Connect Oscilloscope to MS Excel

When turn on oscilloscope, the desktop of computer will display :

This means the computer connected to Scope. Now link scope to Excel. Click ADD_INS, then first
Icon , click “Identify”:

Click to capture scope Image:

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Appendix C: Summary of MS150 Data- DC System:

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