Laboratorium Teknik Pengaturan

Jurusan Teknik Elektro

Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

EXPERIMENT 2
DC MOTOR POSITION CONTROL

OBJECTIVE
Doing experiment of control system is essential to knowing the comparison between control
theory and the practical. DC motor position control can show the response of first order system
and also second order system. Adjusting the gain controller will change the behavior of the
system.

REFERENCE
Ogata, K. Modern Control Engineering. 2010.
Anonym. Modular Servo System – DC, Synchro & AC Basic Assignments

EXPERIMENT EQUIPMENT
In this experiment will used some servos as shown Table 1.

Table 1 Equipment of DC Motor Position Control Experiment

Quantity Designation Description
1 OA150A Op Amp Unit
1 PS150E Power Supply
1 IP150H Input Potentiometer
1 OP150K Output Potentiometer
1 - Reduction Gear Tacho Unit
1 AU150B Attenuator Unit
1 PA150C Pre Amplifier
1 SA150D Servo Amplifier
1 DCM150F DC Motor
1 GT150X Reduction Gear Tacho Unit
13 Jumper Cable
5 Power Cable

PRE-EXPERIMENT TASK
1. Explain open loop and closed loop of control system!
2. How position control of DC motor works?

INTRODUCTION
The purpose of this laboratory experience is to provide an introduction to control systems and
give explanation application of control system. In this experiment will give explaination about
position control of DC motor. First experiment will do error investigating, the second is simple
position control system the last is closed loop control system.

The Components of the Control System

The basic goal of a control system is to produce an output as a response to an input signal or
command and keep it this way in the presence of external interference, disturbances, etc.
Control systems can be basically classified as open-loop systems or closed-loop systems
depending on how they are built. This introductory lab experience will explore both types of
 Laboratorium Teknik Pengaturan
Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

systems.

Voltage Regulation
For permanent magnet dc motors, the magnetic field value is constant. Then you only need to
set the magnitude of the voltage at the motor terminals. Current passing through the armature
will cut the magnetic field of permanent magnet. According to the Lorentz law, if there is a
current-carrying conductor in a magnetic field then, there will be a force that moves the
conductor. The magnitude of the force is proportional to the current through conductors. The
amount of current is affected by the voltage received by conductor. A force that emerged later
converted into a rotation force by mechanical rings.

The equivalent circuit of the motor can be seen in Figure 1. While armature resistance is
constant, by regulating the voltage at the terminals, it will regulate the speed of the motor. Then
by doing closed-loop analysis, will be obtained Equation 1.
𝐸𝑠−𝐸𝑜
= 𝐼𝑜 (1)
𝑅𝑜

Where 𝐸𝑠 is voltage terminal, 𝐸𝑜 is induction voltage, is 𝑅𝑜 armature resistance, and 𝐼𝑜 is

armature current.

Figure 1 Equivalent Circuit of Permanent Magnet DC Motor

Increasing the value 𝐸𝑜 will increase the speed of DC motor. If the rotor of the DC motor
attached to output potentiometer is increased the value of 𝐸𝑜 and suddenly decrease it to the
zero value will bring the shaft of motor in the certain position.

Equipment: Modular Servo MS-150

Modular servo MS-150 is a lab instrument to practice speed and position control on dc motor.
Parts of modular servo system MS-150 is consist of the op-amp unit, attenuator, pre-amplifier,
servo amplifier, power supply, dc motor, input and output rotary potentiometer, magnetic
brakes, and tachogenerator.
 Laboratorium Teknik Pengaturan
Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Power supply PS150E

Supplying power to the modular servo with AC input voltage 115V and 230V, 50/60 Hz,
40VA. The resulting output DC 24V, + 15V DC and -15V DC, with current must not exceed
2A.

Figure 2 Power Supply PS150E

DC Motor DCM150F
DC motor that used is a separate excited dc motor, more precisely using permanent magnets to
generate magnetic field. There are shafts that coupled with tachogenerator.

Tachogenerator
With the induced voltage generated by a dc motor, used as a dc motor rotation speed reader.
The magnitude of the voltage generated is proportional to the reading of the motor rotation.

Servo Amplifier SA150D

Consists of two transistors that form long-tailed pair connection, to drive the motor in two
different directions. If the voltage difference between terminals one and two are zero, then the
motor will stop. When the terminal one is greater than the terminal two, then the motor will
rotate at the speed depends on the magnitude of the voltage difference between terminals one
and two. In contrast, when the terminal two is greater than the terminal one, the motor will
rotate in the opposite direction.
 Laboratorium Teknik Pengaturan
Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Figure 3 Servo Amplifier SA150D

Op Amp OA150E
In the op amp circuit, there is summing amplifier circuit. The output is the sum of the input
signal and multiplied with the gains. In OA150E device there are three setting options for
feedback resistance, thus the amount of amplifier can be arranged.

Figure 4 Op-Amp OA150

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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Attenuator AU150B
Potentiometer circuit which aims to reduce the signal or the voltage passing through. When
rotated clockwise terminal one and two have a small resistance, on the contrary when rotated
counter-clockwise. Maximum resistance owned by AU150B is 10kOhm.

Figure 5 Attenuator AU150B

EXPERIMENT

Error Channel Investigation

It is possible to use an amplifier of high gain to produce an output Vo that is the (minus) sum
of the input voltages (V1+V2). This can be done by connecting across the amplifier a feedback
R
k 2
resistor R , which then multiplies the output voltage by a factor R1 , where R was the
2 1
input resistance.

A. Operational Procedure
1. Adjust zero offset of OA150A so the output Op-Amp became zero volt if the input
summing is zero volt.
2. Connect the voltmeter to the output (Terminal 6) of the OA150A, switch on and adjust the
zero set to as near zero as possible.
3. After setting zero set, set the MS150 equipment like in the Figure 6a without coupling
arrangement.
4. Set the value of output potentiometer as shown in input potentiometer column in Table 2.
5. Set the input potentiometer as the Table 2 and rotate it to next one.
6. Take note the error voltage to the Table 2 in error voltage column.

B. Experimental Data
The value that get from step number six in operational procedure of error channel investigation
write in Error Voltage column as shown in Table 2
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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Table 1 Experiment of Error Channel Investigation

No Input Potentiometer Output Potentiometer Error Voltage
(Degree) (Degree) (Volt)
1 0
2 20
3 40
4 60 120
5 80
6 100
7 120

C. Analysis and Experimental Task

1. In the closed loop position control, what is the function of input potentiometer (IP150)
and output potentiometer (OP150)?
2. Find the misalignment value of the input potentiometer and output potentiomete? How
can be misalignment occur? Give explanation!

Open Loop Position Control

Two rotary potentiometer can be used to generate an error signal to show the misalignment of
the output cursor with that the input cursor. If the output potentiometer os mounted on the shaft
of a geared motor, can make the basis of an automatic control system. The error signal can be
used to drive the motor in a direction such as to reduce the missalignment to zero.

A. Operational Prochedure
1. Set the component of MS150F to be like Figure 6.
2. Use the push-on coupling to link a lowspeed shaft of the GT150X to the output
potentiometer shaft.
3. Starting AU150B the potentiometer knob at the fully counter clockwise position so the
output voltage of potentiometer become zero. Gradually turn it till the motor just rotates
and record to Table 3.
4. Set the input potentiometer as the value shown in Table 4.
5. Watch the error voltage, turn the potentiometer until the error voltage became almost zero.
6. Take note the error voltage and the value of output potentiometer.

B. Experimental Data
The value that get from step number four and number six in operational procedure of open loop
position control, write in Table 3 and Table 4.

Table 3 Minimum Gain of DC Motor Rotation

Minimum voltage of attenuator at
which the motor just rotates (Volt)
Direction in which the output rotary
potentiometer moves (CW/CCW)

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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Table 4 Open Loop Missaligment

Input Output Error Missalignment
Potentiometer Potentiometer Voltage (Degree)
(Degree) (Degree) (Volt)
20
40
10
84
80
100

(6a) Summing Error (6b) Direct Control DC Motor

Figure 6 Open Loop Position Control Scheme

C. Analysis and Experimental Task

1. Explain how the system works !
2. Draw a functional block diagram. You can consider the preamplifier and the servo
amplifier as “black boxes” without having to explain how they work !
3. Is this an open-loop or a closed-loop system? Why?

PA150C Characteristic
Pre amplifier PA150C have two input and two output. The two output have uniqe value that
will be explored by this experiment.

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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

Figure 7 PA150C Characteristic Arrangement

A. Operational Prochedure
1. Arrange the equipment like in the Figure 7 with +15V reference.
2. Verify the zero offset by connecting the input to the ground and measure the output voltage
with volt meter.
3. In the upper attenuator, adjust the output to +1V (Terminal 2).
4. Adjust lower attenuator to scale 1, and take note the value of terminal 3 and 4 in PA150C
as Table 5, repeat until scale value is nine.
5. Repeat step number 1 with +15V reference.

B. Experimental Data
The value that get from step number four from operational procedure of PA150C
Characteristic, write in Table 5.

Table 5 PA150C Characteristic Voltage

Reference (+15V) PA150C Output
Scale Vi Vo(3) Vo(4) Vo(4-3)
1
3
5
7
9
Reference (-15V) PA150C Output
Scale Vi Vo(3) Vo(4) Vo(4-3)
1
3
5
7
9

C. Analysis and Experiment Task

1. Draw the characteristic of PA150C by making curve of PA150C as vertical axis and Vi as
the horizontal axis! Give conclusion!

Closed Loop Position Control System

The difference between set point and feedback generate error value. Generated value than
became input to the controller which will give correction value to the actuator.

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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

A. Operational Procedure
1. Set the equipment of MS150 F to be like Figure 8.
2. Set the upper potentiometer (terminal 2) of AU150B become to zero.
3. Set the gain of the attenuator as the Table 6.
4. Now set the IP150H to some arbitary angle and increase the gain control setting and take
a note Table 6, repeat for the next value of input potentiometer.

Figure 8 Closed Loop Position Control

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Jurusan Teknik Elektro
Fakultas Teknologi Industri
Institut Teknologi Sepuluh Nopember

B. Experimental Data
The value that get from step number four from operational procedure of Closed Loop Position
Control System, write in Table 6.

Table 6 Data Experiment of Closed Loop Position Control

Output Cursor position in Degrees
Gain = 1.5/15
Required (Degree) Actual (Degree) Misalignment (Degree)
10
20
30
40
50
60
70
Gain = 2.5/15
Required (Degree) Actual (Degree) Misalignment (Degree)
10
20
30
40
50
60
70

C. Analysis and Experiment Task

1. Explain how this new system works! Explain the signal path!
2. Draw a functional block diagram. You can consider the preamplifier and the servo amplifier
as “black boxes” without having to explain how they work.
3. Is this an open-loop or a closed-loop system? Why?

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