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Steady State Error: Transient Response

The document presents the transfer function of a closed-loop motor speed control system. It is a first-order type-0 function. The summary describes: 1) The steady state response to a step input, including the definition of a positional error coefficient and expression for steady state error. 2) The transient response to a step input, including an expression for the motor speed as a function of time. 3) How to experimentally determine the motor and tachogenerator gain constants, and the motor time constant by measuring responses to a square wave input.

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Ashish Agarwal
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109 views

Steady State Error: Transient Response

The document presents the transfer function of a closed-loop motor speed control system. It is a first-order type-0 function. The summary describes: 1) The steady state response to a step input, including the definition of a positional error coefficient and expression for steady state error. 2) The transient response to a step input, including an expression for the motor speed as a function of time. 3) How to experimentally determine the motor and tachogenerator gain constants, and the motor time constant by measuring responses to a square wave input.

Uploaded by

Ashish Agarwal
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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This yields the closed loop transfer function of the complete system as :-

KaKm
W (s ) KaKm KaKmKt+ 1
=¿
sT + KaKmKt +1
=
T
(2)
Vr ( s ) s (
KaKmKt+1
+1 )

In equation 2 ; the transfer function of the full system is seen to be a first order type-0 function. Its
transient and steady state response to step input may be easily steadied as described below.

Steady State Error

Defining ‘positional error coefficient’, Kp as :-

Kp =1

Kp = lim G(s)H(s) =KaKmKt


s͢❑ 0
→

the steady state error, ess, to step input R u(t), is given by,

R R
lim (Vr – Vt) =lim (Vr-Vf) = ess = =
1+ Kp 1+ KaKmKt
s❑ ∞ s❑ ∞
→ →

Transient response

For a step input Vr(s) = R/s eq(2) yields

R KaKm
W(s) = ×( )/¿
s T

Taking inverse laplace transformation :-

KaKm
W(t) = R . (1 – e-(KaKmKt+1)/T)
KaKmKt +1

Where effective time constant Teff may be defined as :-

T
Teff =
KaKmKt+1
For a step unit disturbance wd(s) = Ω d , the steady state output speed is given by

Ѡss = Ω d/(KaKmKt+1)

 Plot N vs Vm , and Vt vs N . Obtain Km and Kt from the linear region of the


curves .

s h aft speed ∈rad /sec Ѡ ss


See gain constant, Km =
Motor voltage ,Vm

Vt ( volt /sec)
Tachogenerator gain , Kt =
Ѡ ss (rad )

 To calculate motor time constant, set Vr = 0 and Ka = 10. Now switch ON the
square wave signal Vs and measure peak to peak amplitude of the triangular wave
component in Vt . Use eq 7 to calculate the motor time constant T as,

Vs( p− p) KaKmKt
τ= . note that K=KaKm from eq 1
Vt ( p− p) 2f

(Caution: The CRO must be kept in ‘dc-input’ mode for this measurement . Also , the
operation must all the time be confined to the linear working region, i.e. speed
from 750 to 2000 rpm and Vt from 0.35 to 1.11 volt approx.)

 Obtain the motor transfer function using

Km
G(s) =
sT +1

Disturbance

 Set Ka = 5 and adjust the reference Vr to get a speed reading close to 1200 rpm.
The brake setting should be at 0 i.e. no braking
 Record and tabulate the motor speed variation for different settings of the eddy
current brake.
 Calculate percentage decrease in speed at each setting of the brake starting from
no braking.

In the experimental unit, the external disturbance is created by an eddy current brake.
The pole pieces of a permanent magnet are inserted to varying depths into the rotating
aluminium disk . The eddy currents induced in the disk result in power loss and thereby
load the motor.

Procedure

 Set Ka = 0 . Connect DVM to measure the range of reference voltage Vr.

 Switch ON the square wave signal Vs and measure its amplitude and frequency
using a calibrated CRO . The frequency of this signal is about 1 Hz which makes
the CRO display very inconvenient for measurements . It is suggested that the
amplitude may be measured with time base switched OFF , and for frequency
simply count the number of pulses (as seen on CRO screen) , in say 60 seconds,
using a watch.

Motor and Tachogenerator


 Set Vr = 1 volt and Ka = 3 . The motor may be running at a low speed . Record
speed N in rpm , and the tachogenerator output Vt.

 Repeat with Vr = 1 and Ka = 4 , 5 , ……., 10 and tabulate motor voltage Vm = VrKa ,


steady state motor speed in rpm ( or Ѡss = N× 2π/60 in radian/sec.) and
tachogenerator output Vt.

Closed Loop Performance


Performance of the closed loop system is evaluated in terms of steady state error and
disturbance rejection as functions of forward gain . The FEEDBACK terminals are
connected together for this experiment.

Steady State Error


 Set Vr = 1 volt and Ka = 3 . The motor may be running at a low speed . Measure
and record speed N in rpm , the tachogenerator output Vt , and steady state error ess
= Vr-Vt

 Repeat above for Ka = 4 , 6 , ………, 10


 Compare in each case the value of steady state error computed from eq (3) i.e.
1
Ess =
1+ KaKmKt

Transient Performance

 Set Vr = 0.5 volt and Ka = 5 . Switch ON the square wave signal and
measure peak to peak amplitudes of Vs and Vt . Use eq (7) to calculate
system time constant Teff . From a comparison of equations (6) and (2) , the
value of K may be obtained as

KaKm Vs ( p− p ) KaKmKt 1
K= and Teff = . .
KaKmKt+1 Vt ( p− p) KaKmKt+1 2 f

 Repeat above and tabulate the results for Ka = 7, 10.

Disturbance Rejection

 With Ka = 5 , FEEDBACK terminals shorted and the brake setting at 0 ,


adjust reference Vr to get a speed closed to 1200 rpm.

 Record and tabulate the variation for different settings of the eddy current
brake . Calculate percentage decrease in speed at each setting of the brake.

 Repeat above for Ka = 7, 10

 Compare the percentage decrease in speed at each setting of the brake


settings for open loop , closed loop with Ka = 5 , and closed loop with Ka =
10 . Comment on the results.
❑❑
❑❑

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