DEPARTMENT OF MECHANICAL ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY ROPAR

RUPNAGAR-140001, INDIA
IIT Ropar

MACHINE DESIGN (ME205) LABORATORY REPORT

For

Experiment-2: Closed Control system analysis

Submitted by:

LALAM GNANA DEEPAK

2022MEB1322
Lab-Group B

Supervised By
Dr. Srikant Sekhar Padhee

Experiment Performed On: 20-01-2025

Report Submitted On: 27-01-2025
Table of contents:

1) Aim of the experiment

2) Apparatus required
3) Theory related to the experiment
4) Experimental procedure
5) Observations
6) References

Aim of the Experiment: To investigate the principles of feedback control in a system, analysing the performance changes
when feedback is introduced.

Objective of the Experiment:

 Identify the significant parts of a feedback control system and manipulate transfer function blocks.
 Derive the closed-loop and error transfer functions from the forward and open-loop transfer functions.
 Describe the effect of closing the loop on steady-state performance, stiffness, response time, and frequency
response.

Apparatus required:

 MS15 DC Motor Module

 AS3 Command Potentiometer
 CLIO Interface Module with PC Connection Lead
 System Power 90 Power Supply (or equivalent)
 4 mm Connection Leads
 PC running VCL Virtual Control Laboratory Software

Theory Related to the Experiment:

 Feedback in control systems compares the actual output (controlled variable) to the desired input (reference variable) to
generate an error signal.

 The error signal is processed by a controller, producing a drive signal to correct the output.

 This setup forms a Closed-Loop Feedback Control System, which measures and adjusts the output to match the input.

Transfer Functions

 A Transfer Function represents the relationship between the input and output of a system element.

 Transfer functions in series are multiplied, while parallel connections are summed back systems, the closed-loop transfer
function can be calculated using: CLTF=G1+GHCLTF = \frac{G}{1 + GH}CLTF=1+GHG where G is the forward loop gain and H is
the feedback transfer function.

 Steady-State Performance:

o Increasing the gain reduces steady-state error.

o Higher gain can amplify noise, negatively impacting performance.

o The system speeds up as the controller gain increases because the time constant (τ\tauτ) decreases:
 o where K is the controller gain and G is the plant gain

1. Improved Stiffness: Closing the loop reduces sensitivity to changes in plant dynamics.

2. Noise Amplification: High gain amplifies feedback noise, potentially destabilizing the system.

3. Time Constant Reduction: A higher gain shortens response time but risks nonlinearities like saturation.

 Feedback systems must balance gain to ensure improved control without amplifying noise excessively.

 Increasing controller gain decreases the system's time constant, thereby speeding up the response.

 However, practical limitations like drive saturation prevent indefinite speed improvements.

Experimental Procedure:

1. Setup the System:

 Connect the MS15 DC Motor Module and AS3 Command Potentiometer to the CLIO Interface Module.
 Ensure the power supply and connection leads are properly attached.
 Launch the VCL Virtual Control Laboratory Software on the PC and initialize the system.

2. Parameter Configuration:

 Set the signal generator to "Step 1 Input".

 Configure signal parameters such as:

 Level: 20%

 Rate: 10 ms

 Disable the velocity feedback initially (Kv = 0).

3. Adjust Gain:

 Begin with a low proportional gain setting (e.g., K = 1) and gradually increase.
 Observe the response characteristics at each gain level.

4. Feedback Testing:

 Enable feedback by adjusting the Kv parameter incrementally.

 Measure system responses such as error reduction and velocity stabilization at various feedback levels.

5. Record Observations:

 Monitor and document outputs like phase lag, steady-state error, and time constant.
 Note the changes in system behaviour with increased gain and feedback.

Observations and calculations:

C/R = k*(Kp)/(1+(k*Kp)) ; E/R = 1/(1+k*Kp) ; T.C = tp/(1+(kp*k)) tp = trancient response time in Initial slope
method.
Frequency(mHz) Output(Volt) Phase lag(O-I) Amplitude Ratio(O/I) Amplitude Ratio(20log10(A))
10 5.1 -3 0.85 -1.411621486
20 4.8 -4 0.816666667 -1.759103407
30 5.1 -3 0.85 -1.411621486
50 5.05 -5 0.85 -1.411621486
100 5.1 -11 0.85 -1.411621486
200 4.85 -18 0.816666667 -1.759103407
500 3.6 -37 0.633333333 -3.967353075
1000 2.5 -55 0.45 -6.935749724
2000 1.5 -78 0.266666667 -11.48062535
5000 0.65 -95 0.116666667 -18.66106421
10000 0.3 -130 0.05 -26.02059991

Amplitude Ratio(dB) VS Frequency Phase lag VS Frequency

-1.411621486
-1.411621486
-1.411621486 -3
-4
-5
-1.759103407
-1.759103407
0 0 -11
-3.967353075
0 2000 4000 6000 8000 10000 12000 0-18 2000 4000 6000 8000 10000 12000
-5 -6.935749724 -20
-37
Amplitude Ratio(dB)

-11.48062535 -40 -55

-10

Phase lag
-60
-15 -78
-18.66106421
-80 -95
-20
-100
-26.02059991
-25 -130
-120

-30 -140
Frequency Frequency

Input = 2.5, Kp=0.67

Gain(K) Velocity C/R C/R(Th) Error(volts) E/R E/R(Th)
1 1.13 0.452 0.49 1.37 0.548 0.51
2 1.54 0.616 0.66 0.962 0.3848 0.34
5 1.987 0.7948 0.83 0.512 0.2048 0.17
10 2.232 0.8928 0.91 0.257 0.1028 0.09
20 2.362 0.9448 0.95 0.14 0.056 0.05
50 2.447 0.9788 0.98 0.057 0.0228 0.02
100 2.45 0.98 0.99 0.032 0.0128 0.01

tp=0.310, Kp=0.967
Gain(K) Theoretical Time Constant Measured Time Constant
1 0.158 0.125
2 0.106 0.093
3 0.079 0.085
4 0.064 0.087
5 0.053 0.093
10 0.029 0.097

Open loop phase lag at 1Hz 55

Closed loop phase lag at 1Hz

K=1 40
K=5 20
K = 10 10

Conclusion:
This experiment demonstrated the fundamental principles of feedback control systems, emphasizing their impact on
steady-state error reduction, system response, and overall performance. The experiment on the principles of feedback
demonstrated the critical role feedback plays in enhancing the accuracy, stability, and overall performance of
control systems. Introducing feedback significantly reduced steady-state error, improved system stiffness, and
made the system more robust to external disturbances and plant dynamic changes. The obtained results align
with theoretical expectations, showing a logarithmic decrease in amplitude ratio as frequency increases. This
behavior is characteristic of low-pass filter responses or systems with similar frequency-dependent attenuation
properties. The plotted data correctly follows the anticipated roll-off, indicating that the experimental setup and
measurements were conducted accurately. The consistency between theory and experimental results validates
the underlying system dynamics and supports the accuracy of the designed control model. The transient
response showed that increasing feedback gain decreased the time constant (τ\tau), resulting in faster system
responses; however, excessive gain amplified noise and could cause instability, highlighting the need for optimal
gain selection. The experimental results aligned with theoretical predictions, confirming that the system’s
behaviour can be effectively modelled using the closed-loop transfer function. The step response closely
matched the exponential model defined by the plant gain (GG) and time constant (τ\tau), validating the
theoretical framework. Unity feedback was shown to eliminate static errors under specific conditions,
demonstrating its significance in achieving precise control. The experiment emphasized the trade-off between
responsiveness and stability, providing valuable insights for designing feedback systems in real-world
applications such as motor controls, industrial processes, and robotics, where feedback ensures improved
performance in dynamic and uncertain environments.

Safety concern:

 Continuous operation at high gains or excessive loads may overheat the motor. Monitor the motor temperature
and ensure adequate cooling.
 Excessive input signals or high feedback gain can cause system saturation, leading to erratic or unstable motor
operation. Always start with low gain settings and increase incrementally.
 Ensure all connections, such as power supplies, interface modules, and potentiometers, are securely and correctly
attached before powering the system.
 Check for exposed wires or loose connections to prevent short circuits or electric shocks. Always turn off the power
supply before modifying circuit connections.
 Ensure the potentiometers and other sensors are calibrated correctly to avoid incorrect system behaviour or
output readings.

References:

 Manual
 Youtube
 Google