Miller, Lam, Vargas 1

Lab #6, 7, 8, 9

ECE 3709L

Prof. Arabo Gharibian

Hayden Miller, Dylan Lam, Cristian Vargas

 Miller, Lam, Vargas 2

Lab #6

Objectives:

In this experiment students will control the speed of a motor in an open loop fashion and will
verify the functions of the motor control setup as preparation for future experiments.

Material Required:

 Laptop with LabView Installed

 myDAQ
 DC Brushed Gearmotor with Hall Sensor Quadrature Encoder

Files Provided:

Open Loop Control.vi

Procedure:

1.) Verify the operation of your circuit by running the VI and changing the position of the
slider. If everything is correct the motor speed will vary as the slider’s position changes.

Ans: Yest the motor speed does vary with the slider’s position.

2.) Verify that you are using the correct scaling factor for your motor by setting the motor to
rotate at 0.5 rps. Count the number of rotations in the shaft of the motor over 10 sec using
a stopwatch. Repeat by setting the rotational speed at 1 rps. Your measurements must be
consistent.

Ans: Yes the measured rotations of the motor roughly match 0.5 rps and 1 rps.

3.) Reduce the slider and make note of the minimum voltage required for the motor to start
rotating:
a. When the slider starts at 0V and increases.
 Miller, Lam, Vargas 3

Ans: The minimum voltage is roughly 0.55V.

b. When the slider starts at a rotating speed and is decreased until the motor stops.
Ans: The measured voltage is roughly 0.45V.
Are these values equal? These values are important and will be used in future labs.
Keep them in a safe place so that you don’t have to repeat these measurements again.
Ans: The voltages are very similar but are roughly 0.1 V apart (0.55V – 0.45V =
0.1V)
4.) Make a graph where on the x axis you show the input voltage, and on the y axis you show
the speed in rps. Include the results in part 3.

Input Voltage (V) Speed (RPS)

0 0
0.5 0.43
1 0.86
1.5 1.29
2 1.63
2.5 2.06
3 2.41
3.5 3.09
4 3.26
4.5 3.69
5 4.04
5.5 4.47
6 4.9
6.5 5.24
7 5.67
7.5 5.93
8 5.93
8.5 5.93
9 5.93
 Miller, Lam, Vargas 4

Speed (RPS) vs Input Voltage (V)

7

5
Speed (RPS)

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

Input Voltage (V)

5.) Draw a functional block diagram of the system (similar to the ones shown in any control
systems textbook) labeling each of the components in the diagram.
 Miller, Lam, Vargas 5

Lab #7

Objectives:

In this experiment students will use myDAQ and LabView to identify the transfer function from
voltage input to angular motor speed.

Material Required:

 Laptop with LabView installed

 myDAQ
 DC Brushed Gearmotor with Hall Sensor
 Motor Control Chip

Files Provided:

Plant Identification 2.vi

Prelab:

K
1.) What is the unit step response of a system with transfer function G ( s )= , where K
sτ + 1
and τ are constants > 0?s

( )
K 1
∗ ∗1
τ 1
s+
1 τ
R ( s )= C ( s )=
s s

( )
K −τ τ
C ( s )= +
τ 1 s
s+
τ
−t
C ( t )=K (1−e τ )
2.) Make a hand sketch of the response of the unit steps response of the system of I.
 Miller, Lam, Vargas 6

3.) What is the valye of the step response of the system of I when t=τ ?

( )=K (1−e
−t
τ −1
C ( t )=K 1−e )
C ( τ )=K ( 1−e−1 ) =0.63 K
4.) Find in your Control Systems textbook the expression for the transfer function from
voltage to angular speed of an unloaded permanent magnet dc motor. Compare this
transfer function to the first order system in I.

Procedure:

I. Open the Plant Identification 2 VI and the Scope (if you use the virtual scope, you can
also choose to use a bench external oscilloscope). Use settings similar to the ones
shown in the figure above.
Fill out the table:

What is your motor Gear ratio? 0.86

What is your dead zone constant from 0.55V
experiment 6?
II. In your VI choose an appropriate value of amplitude and offset. A LabView error will
be generated if the square wave generates negative valyes as these are not allowed
into the chip. The value of the frequency is irrelevant; you just have to make sure the
input is slow enough so that the motor speed reaches steady state as shown in the
figure above.
III. Run the VI and the Scope. Press the stop button on the scope as soon as it shows a
full semi-cycle of positive speed, similar to the figure.
 Miller, Lam, Vargas 7

IV. Click on the Log button in the scope and give the file a name and save it to disk.
Open the file using a spreadsheet program.
V. Note that the response of the system in the scope is all likelihood that of a First Order
system, consistent with the theoretical expected. This means that the transfer function
K
will be of the form :
sτ +1
9V TF:
3.279
TF=
s +4.902

Transfer Function Graph (9V)

1.00E+01

8.00E+00

6.00E+00

4.00E+00

2.00E+00

0.00E+00
0.0005 0.1265 0.2525 0.3785 0.5045 0.6305 0.7565 0.8825
-2.00E+00

5V TF:
4.5275
TF=
s +5

Transfer Function (5V)

6.00E+00

5.00E+00

4.00E+00

3.00E+00

2.00E+00

1.00E+00

0.00E+00
0.0005 0.1505 0.3005 0.4505 0.6005 0.7505 0.9005 1.0505
 Miller, Lam, Vargas 8

2V TF:
4.122
TF=
s +4.878

Transfer Function (2V)

4.50E+00
4.00E+00
3.50E+00
3.00E+00
2.50E+00
2.00E+00
1.50E+00
1.00E+00
5.00E-01
0.00E+00
0.000000.065000.130000.195000.260000.325000.39000

What is the your motor gear ratio?

Gear Ratio: 8.46

Is your system linear? How do you know?

The system is linear since the transfer function is comprised of linear terms, although in a
rational way.

If your system is linear in a range of inputs, find a judicious “interpolation” between the three
transfer functions you found. Write down your concluding transfer function as it will be used in
future experiments.
The concluding transfer function we determined was:
4.2
TF=
s +5
 Miller, Lam, Vargas 9

Lab #8

Objectives:

In this experiment students will control the system in closed loop using a P compensator, and will
make observations on this compensator’s transient response and steady state error tradeoffs.

Materials Required:

 Laptop with LabView installed

 myDAQ
 DC Brushed Gearmotor with Hall Sensor Quadrature encoder (-10V to 10V normal
operation range)
 Motor Control Chip B6886

Files Provided:

Speed P Control Incomplete.vi

Signal Conditioning (subVI).vi

Pre-Lab:

Answer the following questions:

I. Find the closed loop transfer function from R(s) to C(s) for the system of the diagram
above.
C (s ) G (s ) KpK
= =
R ( s ) 1+G ( s ) sτ +1+ K p K
 Miller, Lam, Vargas 10

II. Draw the root locus for the system in the diagram above.

III. Draw the unit step response for the system

IV. Find an expression to the steady state error to a unit step input for the system in the
diagram above.
1
∗1
1+ G ( s ) 1
E ( s )= =
s KpK
1+
sτ +1
1 1
ess=lim =
s →0 K p K 1+ K p K
1+
sτ + 1

Lab:
I. Verify the operation of your closed loop system
II. Draw a functional block diagram (similar to the ones shown in control systems
textbooks) of the system, Do not include the signal conditioning functions, not the
change of direction signals.
 Miller, Lam, Vargas 11

III. Using the transfer function you found in Experiment 7, draw the system’s root locus.

IV. Find the theoretical range of Kp in which the system is closed loop stable.
V. Run your program and system to find experimentally the range of Kp in which the
system is closed loop stable
VI. Make a judicious choice of 3 different values of Kp for experimentation.
VII. Using the transfer function you found in the previous lab and the three judicious
choices of proportional gain complete the following table using hand calculations
only.
Theoretical:
Kp 0.5 1 1.5
Tp 0 0 0
%OS 0 0 0
Ts 0.8s 0.8s 0.8s
ess 0.667 1 0.4

P-Gain 0.5:
 Miller, Lam, Vargas 12

P-Gain 1:

P-Gain 1.5:
 Miller, Lam, Vargas 13

Experimental:
Kp 0.5 1 1.5
Tp 0.1s 0.1s 0.1s
%OS 75 97 100
Ts 0.6s 0.62s 0.58s
ess 0.667 1 0.4

Conclusion:
Based on the data gathered, the motor is not a type-0. This is because there was clearly a
measured overshoot of the motors time response graph. If the motor did indeed follow the
characteristics of a Type-0 motor, then there wouldn’t be overshoot recorded by the system.
 Miller, Lam, Vargas 14

Lab #9

Objectives: In this experiment students will control the speed of the motor in closed loop
using integral control and investigate the tradeoffs of this approach.

Materials Required:

Laptop with LabView installed

myDAQ

DC Brushed Gearmotor with Hall Sensor quadrature encoder (-10V – 10V normal operation
range)

Motor Control Chip B6886

Prelab:

Answer the following questions:

I. Find the closed loop transfer function from R(s) to C(s) for the system of the diagram
above.
K1 K
TF= 2
τ s +s+K1 K
II. Draw the root locus for the system in the diagram above as a function of Ki
 Miller, Lam, Vargas 15

III. Draw the unit step response for the system in the diagram above marking the settling
time, peak time and maximum output. Find all the possibilities: overdamped,
critically damped, underdamped.

IV. Find an expression to the steady state error to a unit step input for the system in the
diagram above.
1
∗1
(1+G ( s ) )
ess=lim sE ( s )=
s →0 s
Procedure:
I. Make the P gain 0, and choose a small I gain. Verify the operation of your closed loop
system. In this experiment we will keep the P gain at 0.
II. Draw a functional block diagram (similar to the ones shown in control systems
textbooks) of the system. Do not include the signal conditioning functions, no the
change of direction signals.
III. Using the transfer function you found in Experiment 7, draw the system’s root locus.
IV. Find the theoretical range of Ki in which the system is closed loop stable.
V. Run your program and system to find experimentally the range of Ki in which the
system is closed loop stable.
VI. Make a judicious choice of 3 different values of Ki for experimentation.
VII. Using the transfer function you found in the previous lab and the three judicious
choices of proportional gain complete the following table using hand calculations
only.
Ki 0.5 1 1.5
Tp 0 0 0
%OS 0 0 0
Ts 0.1s 0.1s 0.1s
 Miller, Lam, Vargas 16

ess 0.667 1 0.4

VIII. For each one fo the three values of Ki performs step input experiments, use one single
value of step input for the three values. Make sure that your oscilloscope capture
contain the system’s transient response in its entirety.

I-Gain 0.5:

I-Gain 1:
 Miller, Lam, Vargas 17

I-Gain 1.5:

Ki 0.5 1 1.5
Tp 0.2 0.6 0.4
%OS 0 0 0
Ts 0.1s 0.1s 0.1s
ess 0.667 1 0.4

Conclusion:
In conclusion, we found that we could not characterize the function as a Type-1 transfer function
either. This is because through our data, we found that the measured time response signals did
not reflect that of the Type-1 motor characteristics.