DEPARTMENT OF MECHANICAL

ENGINEERING INDIAN INSTITUTE OF

TECHNOLOGY ROPAR RUPNAGAR-

IIT Ropar
140001, INDIA

MACHINE DESIGN (ME306) LABORATORY - II REPORT

For

Experiment 3: DC Motor II

Submitted by

Mehboob Alam (2022MEB1323)

Sahil Mhapsekar (2022MEB1324)
Mili Prajapati (2022MEB1325)
Mohit Sharma (2022MEB1326)
Palakpreet Kaur (2022MEB1327)

Lab-Group: Mon (Group-C)

Supervised By
Dr. Srikant Shekhar Padhee

Experiment Performed On: 03-01-2025

Report Submitted On: 16-02-2025
 Title
Evaluation of DC Motor Performance and Time Response Using Virtual Control
Laboratory (VCL)

Introduction
➢ Control systems are essential for maintaining stability and achieving optimal performance in
dynamic environments.
➢ This experiment investigates the behavior of a DC motor under open-loop and closed-loop control
strategies.
➢ The key objectives include:
• Measuring system performance parameters such as gain, frequency response, error signal, phase
difference, and steady-state behavior.
• Evaluating the effectiveness of feedback in improving stability and responsiveness.
➢ The study underscores the importance of feedback mechanisms in ensuring efficient motor operation
and performance optimization.

Aim
➢ Assess the performance of a DC motor under both open-loop and closed-loop control systems.

Experiment 1: Frequency Response Test

➢ Determine the Cut-off frequency or break frequency using BODE PLOT

Experiment 2: Principle of feedback:

➢ Observe the performance of a simple plant (first-order lag) with a simple proportional controller.

➢ Derive closed-loop and error transfer functions based on the forward and open-loop transfer
functions.

Theory
➢ A control system consists of three fundamental components:

• Plant – Represents the system’s output axis in this experiment.

• Controller – Generates a control signal to minimize deviations and align the actual output with
the desired value.

• Feedback – Sends output data back to the controller, allowing real-time adjustments to reduce
errors.
System Response to Input Changes

• Transient Response – The initial reaction of the system immediately after an input change,
influenced by internal dynamics.

• Steady-State Response – The final stable behavior of the system once transient effects
diminished.

Experiment 1: Frequency Response Test

The diagram shows that the output sinusoid lags in time behind the input, a phenomenon called Phase Lag
φ. Graphically, it can be measured in an amplitude vs. angle curve.

If the curve is drawn between amplitude vs. frequency then

Mathematically;
BODE PLOT where the amplitude ratio and phase are plotted separately against log frequency.

The amplitude ratio is converted into decibels (dB) by the formula:

Amplitude Ratio: On a Bode plot the curve at high frequency becomes a straight line making it easy to
determine the slope.

Also, draw a horizontal line to extend the low-frequency part of the curve to higher frequencies. The
frequency at which the two lines meet is called the Cut-off Frequency or Break Frequency. At the break
frequency, the actual curve should be 3 dB below the low-frequency level.

Phase Response

At low frequencies, there is no phase shift. At high frequencies, the Phase φ tends towards -90° (90° lag).

At the Break Frequency, the phase φ is at -45°.

BODE PLOT:
 ➢ So overall we have three different ways to determine Cut-off frequency:

• Slope Method: - This method involves plotting the Amplitude ratio in dB against the Log (Frequency in
Hz). Tangent lines are drawn from the low frequency response and high-frequency response on this graph.
The intersection point of these two tangent lines is identified, and a vertical line is drawn from this point
to the x-axis. Through this method, the cutoff frequency is determined utilizing the slope.

• -3 dB Method: - Starting with the Amplitude ratio in dB vs. Log (Frequency in Hz) graph, draw a
tangent line from the low-frequency response. Identify the frequency corresponding to this tangent line as
B. Next, locate the (B - 3) dB frequency. Draw a line from this (B - 3) dB point, intersecting the curve.
From the point of intersection, extend a vertical line that intersects the x-axis. Consequently, the cutoff
frequency from -3 dB is determined through this process.

• 45° Method: - Using the Phase lag vs. frequency graph, draw a horizontal line at a 45° phase angle onto
the curve. From the point where this line intersects the curve, extend a vertical line that further intersects
the x-axis. This procedure allows for the calculation of the cutoff frequency through the 45° Method.

Experiment 2: Principle of feedback:

Here

C – Output or Controlled Variable

R – Input or Reference Variable

E – Error signal

D – Drive signal
Part1: Study state velocity error with proportional gain

When the output is directly proportional to the input, such that there are no time constants involved. In
this case, the transfer function is termed the Gain which is given the symbol K.

Now,

➢ Output (C)= K x G x Error(E) or and C/R is called the Closed loop transfer function.

➢ Error transfer function.

➢ In most systems, there is direct feedback so H = 1 (Unity Feedback).

➢ K is under our control so we could make K.G large. 1/(K.G) would then be much less than 1 in
which case this term can be ignored and the output equals the input.

The gain Kp (=0.8667 from experiment 3) of the motor was found. Substituting Kp for G gives the
forward loop gain K.G = K.Kp. The velocity voltage is fed back directly so H = 1. In this case, the Closed
Loop Transfer Function can be written as:

Part2: Closed Loop Performance - Transient

If τp is the plant time constant, as measured in Chapter 3, and τcl is the time constant of the closed loop
system, it can be shown, for the motor speed control system we have, that:
Materials and Methods
Materials Used:
Components Used:
• MS15 DC Motor Module – Houses the DC motor for experimentation.
• AS3 Command Potentiometer – Used to control the motor’s input signal.
• CLIO Interface Module – Connects the system components and facilitates signal processing.
• System Power 90 Power Supply – Provides the necessary power for the setup.
• VCL (Virtual Control Laboratory) Software – Enables real-time monitoring and analysis of
system performance.
• Connecting Leads (4mm) – Establish electrical connections between modules.
Working Principle:
• Power Supply Activation – The DC motor receives power through the MS15 DC Motor
Module.
• Motor Rotation – The motor begins to rotate, generating mechanical motion.
• Speed Measurement – A tacho generator detects the motor’s speed, typically measured in
RPM (Rotations Per Minute).
• Voltage Output Generation – The tacho generator produces a voltage directly proportional to
the motor’s rotational speed.
• Data Analysis via VCL Software – The VCL software captures, processes, and visualizes the
system’s response, aiding in performance evaluation and experimentation.

Procedure
Experiment 1: Observing Motor Response Under Different Frequencies:
• Initialize the Setup:
o Open the VCL software and load the CA06PE04 file.
 • Power On the Motor:
o Switch on the MS15 DC Motor Module and set the desired input voltage (sine wave
signal) in our case it was peak-to-peak 6V.

• Data Collection:
o Record the peak-to-peak for output voltages (get from tachometer) and phase difference
between input and output response.
o Repeat for different frequencies (10mHZ, 20mHZ, 50mHZ, 100mHZ, 200mHZ,
500mHZ, 1HZ, 2HZ, 5HZ, 10HZ).

• Power Off the Motor:

o Once data collection is complete, disable the motor to prevent unnecessary wear.

• Cut-off frequency:
o calculate the amplitude ratio. The amplitude ratio is converted into decibels (dB).
o Then plot BODE PLOT and find the cut-off or break frequency.
▪ Draw a horizontal line through the low-frequency amplitude points.
▪ Draw a line at slope –20 dB/decade through the high-frequency points.
▪ The frequency at which the two lines meet is the break frequency.
▪ Adjust the lines if necessary to ensure that the actual amplitude curve is at
▪ –3 dB and the phase shift -45° at the break frequency.

Experiment 2: Principle of feedback

Part1: Study state velocity error with proportional gain (G=Kp = 0.8667)
➢ Launch the VCL Software:
• Open VCL software and select the CA06PE05 file for time response analysis.

➢ Step Input Application:

• Apply a DC input (2.5 V) and adjust the input offset to the desired value (50%).
• Activate the DC motor to observe input signal, output signal, error, and drive.
➢ Pause the Graph:
 • Once the motor completes one cycle, pause the generated graph to analyze the results.

➢ Determine the following data:

• Output velocity, C/R value, E/T value, and also calculate the theoretical E/R value.

Part2: Closed Loop Performance - Transient

➢ Launch the VCL Software:
• Open VCL software and select the CA06PE05 file for time response analysis.

➢ Step Input Application:

• Apply a Step input (1 V) and adjust the input level to the desired value (20%).
• Activate the DC motor to observe input signal, output signal, error, and drive.
➢ Pause the Graph:
• Once the motor completes one cycle, pause the generated graph to analyze the results.
➢ Determine the following data:
• Using Kp (= 0.8667) and τp (= 0.245 s from 63% Method) (as measured in Chapter 3), calculate
the expected time constant τcl at each of the gains (K = 1,2,3,4,5,10).

Observations and Graphs:

Experiment 1: Frequency Response Test
output peak-to- Phase Difference Amplitude Ratio Amp. Ratio
frequency(mHz)
peak (V) (in degrees) (A) (in db)

10 5.15 -2 0.858 -1.33

20 4.8 -3 0.8 -1.938
50 4.7 -5 0.78 -2.158
100 4.65 -8 0.775 -2.2139
200 4.6 -18 0.766 -2.315
500 3.5 -40 0.58 -4.731
1000 2.3 -60 0.383 -8.336
2000 1.25 -77 0.208 -13.638
5000 0.55 -100 0.091 -20.899
10000 0.5 -102 0.083 -21.678
Fig: Bode plot of frequency response for DC motor
Experiment 2: Principle of feedback
Part1: Study state velocity error with proportional gain (G=K p = 0.8667)

Part2: Closed Loop Performance – Transient

Result:

➢ Experiment 1: Frequency Response Test

The data analysis shows that the Cut-off frequency corresponding to a phase difference of
45 degrees is approximately 625 mHz.

➢ Experiment 2: Principle of feedback

o Part 1: Steady State Error decreases as loop gain is increased.
o Part 2: The speed of response to a transient increase with increasing gain but the
initial slope is limited by the maximum drive signal.

Conclusion & Discussion:

❖ Mehboob Alam (2022MEB1323)

The experiment effectively showcased the behavior of a DC motor under varying conditions,
focusing on its frequency response, steady-state error, and transient characteristics.
1. Part 1 (Frequency Response): The system's cut-off frequency was found to be
approximately 625 mHz at a phase lag of 45°, though this could also be determined using
alternative approaches.
2. Part 2 (Feedback Principle): As gain increased, the system's transient response
improved and steady-state error decreased notably, confirming the beneficial impact of
feedback in enhancing performance.

Discussion
Part 1: Frequency Response Analysis
• At lower input frequencies, the motor maintained a high amplitude ratio, indicating strong
performance. However, as frequency increased, the amplitude ratio declined—dropping
from -1.33 dB at 10 mHz to -21.68 dB at 10,000 mHz—illustrating reduced efficiency in
handling higher-frequency signals.
• The phase lag also increased progressively, starting at -2° at 10 mHz and reaching -102°
at 10,000 mHz, pointing to growing delays between input and output signals.
• A phase lag of 45° marked the cut-off frequency at approximately 625 mHz, signifying
the threshold beyond which the motor’s response starts deteriorating.
Part 2: Feedback and Closed-Loop Behavior
a) Steady-State Error:
• Increasing the feedback gain (K) led to a noticeable reduction in steady-state error,
meaning the output tracked the input more accurately.
• For instance, at K = 1, the theoretical error (E/R) was 0.5357, which dropped significantly
to 0.0114 at K = 100, highlighting the effectiveness of higher gain in minimizing output
deviation.
b) Transient Response and Time Constant:
• The closed-loop time constant (τ) decreased with higher gain values, resulting in a
quicker system response.
• At lower gain values (e.g., K = 1), the system was slower to respond, whereas at K = 10,
 the response was almost immediate.
• While the initial trend (K = 1 to 3) adhered to theoretical expectations—where an increase
in gain reduces the time constant—this trend diverged at higher gains (K > 3), where
further increases did not proportionally reduce the time constant.
c) Gain vs. Stability Trade-Off:
• Although greater gain enhances both speed and accuracy by lowering the time constant
and error, too much gain may introduce instability or cause overshoot. Thus, identifying
an optimal gain is critical to maintain a balance among responsiveness, precision, and
stability.
d) Practical Takeaways:
1. Analyzing frequency response is essential for designing control systems that perform
efficiently within their operational limits.
2. Feedback mechanisms significantly improve accuracy and response time.
3. A thoughtful approach is needed to manage the trade-offs between gain, stability, and
performance to ensure robust system behavior.

❖ (Sahil Mhapsekar (2022MEB1324)

This experiment analyzed the DC motor’s performance in open-loop and closed-loop control,
emphasizing frequency response, steady-state error, and transient behavior. The results
demonstrated the importance of feedback in improving stability and accuracy.

Frequency Response Analysis:

- The cut-off frequency was determined to be 625 mHz at a 45-degree phase lag, marking the
point where system response starts deteriorating.
- The amplitude ratio dropped from 0.858 at 10 mHz to 0.083 at 10,000 mHz, showing reduced
efficiency at high frequencies.
- The phase lag increased from -2° at 10 mHz to -102° at 10,000 mHz, highlighting the
increasing delay between input and output.

Feedback Control and System Performance:

- Steady-state error decreased significantly as gain increased, with E/R reducing from 0.5357
(K = 1) to 0.0114 (K = 100).
- Higher gain improved transient response, reducing the system’s time constant (τcl), making
the motor react faster to input changes.
- However, excessive gain led to potential instability, requiring careful tuning for optimal speed
and stability balance.
Discussion:
- The motor performed well at low frequencies but struggled at higher frequencies, confirming
the need for controlled operating conditions (Cut-off frequency).
- Feedback significantly improved accuracy and response time, making it essential for
automation and motor control applications.
-This Experiment underscores the importance of feedback-driven control in achieving efficient
and precise DC motor performance.
❖ (Mili Prajapati - 2022meb1325)
Conclusion:

The experiment successfully demonstrated the performance of the DC motor under varying
conditions, analyzing frequency response, steady-state error, and transient response.

1. Part 1 (Frequency Response): A cut-off frequency of approximately 625 mHz was

determined at a phase difference of 45 degrees or this can also be determined with the
other two methods.
2. Part 2 (Feedback Principle): The transient response improved with increasing gain,
while the steady-state error reduced significantly, validating the role of feedback in
enhancing system performance.

Discussion:

Part 1: Frequency Response Analysis

• At low frequencies, the system maintained a high amplitude ratio, demonstrating

better performance. However, as the frequency increased, the amplitude ratio dropped
(e.g., from -1.33 dB at 10 mHz to -21.68 dB at 10,000 mHz), highlighting the motor's
inability to respond to high-frequency inputs efficiently.
• The phase lag increased with frequency, starting from -2 degrees at 10 mHz and
reaching -102 degrees at 10,000 mHz, indicating a delay in output response.
• The cut-off frequency at 45 degrees phase lag was identified as 625 mHz, marking
the point beyond which the system's response starts to degrade.

Part 2: Feedback and Closed-Loop Performance

a) Steady-State Error:
o As the gain (K) increased, the steady-state error decreased, demonstrating
better output alignment with the input.
o For example, at K = 1, the error (E/R theoretical) was 0.5357, which reduced
to 0.0114 at K = 100. This reflects the system's improved ability to minimize
deviations with higher loop gain.
b) Transient Response and Time Constant:
o The time constant (τ) of the closed-loop system decreased with increasing
gain, indicating faster system response to changes.
o For example, at K = 1, τcl was significantly higher compared to K = 10, where
the response was nearly instantaneous.
o This trend shows that higher gains not only improve the speed of response but
also ensure the system quickly stabilizes at the desired state.

o For K = 1 → 3, the value for the time constant follows the theory, i.e.
increasing the gain decreases the time constant. However, above K = 3, the
theory falls – down as the time constant does not decrease in proportion to the
increase in gain.
 c) Trade-Off Between Gain and Stability:
o While increasing gain reduces the time constant and steady-state error,
excessive gain can lead to system instability or overshoot. Therefore, an
optimal gain value is crucial for balancing speed, accuracy, and stability.
d) Practical Insights:

1. The experiment highlights the importance of understanding a system's frequency

response to design control systems that operate efficiently within their limits.
2. Feedback mechanisms proved effective in reducing errors and improving response
time.
3. The trade-offs between gain, stability, and responsiveness need careful consideration
for reliable system design.

❖ (Mohit Sharma - 2022meb1326)

We have performed two experiments in this lab session. The first is Frequency Response of DC Motor
and second is the Principles of Feedback.
Frequency Response of DC Motor:

• For the first experiment we have focused on amplitude ratio and phase lag when a
sinusoidal input is given to the system. We have plotted amplitude ratio vs log frequency
graphs which shows that for a certain range of frequency, there is no change in amplitude
ratio.

• We got to know that when the frequency of input is increased then the phase lag is also
increased from the experiment. We also plotted the phase lag vs log frequency graph which
is always decreasing from the experiment.
Principles of Feedback:

• In this experiment we got to know about the difference between a closed loop and open loop
control system. We have also studied the close loop transfer function and also got to know
about the error transfer function.

• We also saw the impact of varying the controllers gain on the closed loop error transfer
function. When we increase the controller gain value then the error transfer function is
decreased and closed loop transfer function value increases.

• We find the theoretical time constant from theory and measured time constant from 63%
method. By plotting the graph between time constant and gain for theoretical and measured
time constant we observed that measured time constant is increasing in nature and theoretical
time constant is decreasing with rise in gain.
❖ (PalakPreet Kaur - 2022meb1327)

We conducted two experiments: Frequency Response of DC Motor and Principles of Feedback.

▪ In the Frequency Response experiment, we measured the break frequency and observed that
the amplitude ratio remains constant within a certain frequency range and decreases as
frequency increases, while phase lag continuously rises. The break frequency was accurately
determined using Bode plots through slope, -3 dB, and 45° methods.

▪ In the Principles of Feedback experiment, we explored open-loop and closed-loop control

systems, calculated closed-loop and error transfer functions, and studied the effect of varying
controller gain. Increasing the controller gain reduced steady-state error and increased the
closed-loop transfer function value.

▪ We also noted that higher gain leads to a smaller time constant and reduced phase lag, but it
can introduce position oscillations and noise. Experimental results closely matched theoretical
predictions, with minor deviations due to calibration errors.

▪ Overall, we confirmed that feedback improves system performance, reduces error, and
enhances response speed in DC motor control.