# Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control. DC Motor Control Trainer (DCMCT) Student Manual

Save this PDF as:

Size: px
Start display at page:

Download "Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control. DC Motor Control Trainer (DCMCT) Student Manual"

## Transcription

1 Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control DC Motor Control Trainer (DCMCT) Student Manual

2 Table of Contents 1 Laboratory Objectives1 2 References1 3 DCMCT Plant Presentation1 31 Component Nomenclature1 32 DCMCT Plant Description2 4 Pre-Lab Assignments2 41 Pre-Lab Exercise #1: Open-loop Modeling3 42 Pre-Lab Exercise #2: System Type4 43 Pre-Lab Exercise #3: Closed-loop Transfer Function7 44 Pre-Lab Exercise #4: Peak Time and Overshoot8 5 In-Lab Session13 51 System Hardware Configuration13 52 Experimental Procedure13 Revision: 01 Page: i

3 1 Laboratory Objectives The objective of this experiment is to design a closed-loop control system that regulates the position of the DC motor The mathematical model of a DC motor is reviewed and its physical parameters are identified Once the model is verified, it is used to design a proportional-integral-derivative, or PID, controller Regarding the Gray Boxes: The gray boxes present in the instructor manual are not intended for the students as they provide solutions to the pre-lab assignments and contain typical experimental results from the laboratory procedure 2 References [1] NI-ELVIS User Manual [2] DCMCT User Manual [3] QNET Experiment #01: DC Motor Speed Control 3 DCMCT Plant Presentation 31 Component Nomenclature As a quick nomenclature, Table 1, below, provides a list of the principal elements composing the DC Motor Control Trainer (DCMCT) system Every element is located and identified, through a unique identification (ID) number, on the DCMCT plant represented in Figure 1 ID # Description ID # Description 1 DC Motor 3 DC Motor Case 2 Motor Encoder 4 Disc Load Table 1 DCMCT Component Nomenclature Revision: 01 Page: 1

4 Figure 1 DCMCT Components 32 DCMCT Plant Description The DCMCT system consists of a DC motor equipped with a servo motor driving a disc load The motor input is a voltage with a range of ±24V The motor has an encoder that measures its position, a digital tachometer that measures its speed, and a current sensor to measure the actual current being fed into the motor It is assumed that the QNET system is properly configured as dictated in Reference [1] 4 Pre-Lab Assignments This section must be read, understood, and performed before you go to the laboratory session There are three pre-lab assignments that need to be completed before the in-lab session The first exercise is deriving the open-loop model of the DC motor position In Pre-Lab Exercise 42, a simple feedback system is used to analyze some properties of the DC motor system The closed-loop system using a given controller is to be derived in Pre-Lab Exercise 43 and its control gains are designed to meet certain specifications in the last assignment (ie Pre-Lab Exercise 44) Before beginning the exercises, the elecrical and mechanical equations describing a DC motor are summarized and the model paramater used are given For the various parameters Revision: 01 Page: 2

5 defined in Table 2, the electrical equations describing the open-loop response of the DC motor are V m ( t ) R m I ( t ) E ( ) = m emf t 0 [1] and E emf ( t) = K d m θ dt m ( t ) [2] The mechanical equations describing the torque of the motor are d T m ( t) = J 2 eq θ dt 2 m ( t ) [3] and T m ( t ) = K t I ( t ) m, [4] where T m, J eq, ω m, K t, K m, and I m are described in Table 2 This model does not take into account friction or damping Symbol Description Unit V m Motor terminal voltage V R m Motor terminal resistance Ω I m Motor armature current A K t Motor torque constant Nm/A K m Motor back-electromotive force constant V/(rad/s) ω m Motor shaft angular velocity rad/s T m Torque produced by the motor Nm J eq Motor armature moment of inertia and load moment of inertia kgm 2 Table 2 DC Motor Model Parameters 41 Pre-Lab Exercise #1: Open-loop Modeling Derive the open-loop transfer function, G(s), that represents the DC motor angular position with respect to the input voltage using equations [1], [2], [3], and [4] The block diagram is shown in Figure 2 Revision: 01 Page: 3

6 Figure 2 Open-loop Transfer Function Diagram of Motor Position Solution: Combine the mechanical equations by substituting the Laplace transform of equation [4] into the Laplace of [3] and solving for current I m (s) [s1] Substituting the above equation and the Laplace of [2] into the Laplace transform of [1] gives [s2] The open-loop transfer function, denoted G(s), of the DC motor is found by solving for θ m (s)/v m (s): [s3] 42 Pre-Lab Exercise #2: System Type The transfer function developed in Exercise 41 is a mathematical representation of the DC motor shaft position and will be used to design a controller Before designing the control system that will be implemented on the QNET-DCMCT module, the capability of the Revision: 01 Page: 4

7 position of the motor, θ m (t), to track a reference position, θ r (t), will be investigated Show that the unity feedback system shown in Figure 3 is a Type 1 system That is, for a unit step input 1 θ r ( s ) = s [4], show that that the closed-loop system in Figure 3 has zero steady-state error Note that G(s) is the open-loop transfer function of the DC motor, ie G(s) = θ m (s)/v m (s) HINT: Calculate the error transfer function E(s) and find the steady-state error using the final-value theorem Figure 3 DC Motor Position Unity Feedback System Revision: 01 Page: 5

8 Solution: The closed-loop unity feedback transfer function using Figure 3 is where [s4] [s5] is the open-loop model found in Exercise 41 in [s3] Solving for θ m (s) in [s4] gives The Laplace transform of the error is and becomes [s6] [s7] after subsituting [s6] into [s7] and simplifying After inserting the open-loop model [s5] into [s8] the error expression becomes [s8] [s9] The final-value theorem [s10] can be used because the system s E(s) is stable, that is, all its poles are in the left-hand plane except for a single pole sitting at the origin Applying the unit step and evaluating the final-value of the error [s11] gives [s12] This is a type 1 system because it has zero steady-state error for a reference step input Revision: 01 Page: 6

9 43 Pre-Lab Exercise #3: Closed-loop Transfer Function The position of the DC motor is to regulated to a desired setpoint position using a proportional-velocity (PV) controller, as shown in Figure 4 The control enters in the input voltage of the DC motor and has the structure V m ( s ) = K p ( θ m ( s ) θ r ( s )) K v s θ m ( s ), [5] where K p >0 is the proportional control gain and K v >0 is the velocity control gain This is very similar to the more common proportional-derivative (PD) controller which, instead, feeds-back the derivative of the error and not only the derivative of the position (ie the velocity) The PV controller is preferable in this case because it simplifies the peak time and overshoot calculations, which are done in the next exercise, and still results in good performance Figure 4 PV Control Loop Find the closed-loop transfer function using G(s) found in Exercise 41 and the PV control law in [5] Figure 4 may be used as a guide HINT: Refrain from subsituting the open-loop transfer function G(s) until then final form of the closed-loop expression has been reached Revision: 01 Page: 7

10 Solution: Substitute the control law V m (s) given in [5] into the open-loop model [s3], [s13] and solve for θ m (s) to get the general closed-loop transfer function [s14] The closed-loop transfer function is finalized by inserting open-loop model [s3] into expression [s14], resulting in [s15] 44 Pre-Lab Exercise #4: Peak Time and Overshoot The goal is for the angle of the disk load that is connected to the motor shaft to track a usercommanded angular position The PV controller will be designed to result in a closed-loop response that yields to the specifications given in Table 3 This desired response is to be achieved by tuning the control gains K p and K v Response Property Symbol Requirement Unit Peak time t p < 0150 s Overshoot M p < 500 % Settling time t s < 025 s Steady-state error e ss 0 deg Table 3 Control Specifications As shown in Exercise 42, the steady-state error of the closed-loop system is already zero Thus the fourth specification, at least theoretically, is already satisfied The settling time will be adjusted in the laboratory session Revision: 01 Page: 8

11 The peak time and overshoot of the closed-loop response need to satisfy the specifcations given in Table 3 The closed-loop transfer function using the PV controller, attained in Exercise 43, is a 2 nd order system of the form H( s ) = ω n 2 s 2 2 [6] + 2 ζω n + ω n where ω n is the natural frequency and ζ is the damping ratio The peak time and overshoot of H(s) is π t p = 1 ζ 2 [7] and M p ω n = e where 0 ζ <1 π ζ 1 ζ 2, The PV control gains are now to be designed First, the natural frequency and damping ratio must be expressed in terms of the control gains and the DC motor parameters The minimum damping ratio and natural frequency needed to meet the time peak and overshoot specifications in Table 3 can be calculated using equations [7] and [8] Finally given that the minimum damping ratio and natural frequency is known and by solving for the K p and K v gains in the ω n and ζ expressions derived, the PV gains needed to attain this desired closed-loop response can be found Find the natural frequency expression ω n (K p ) and the damping ratio equation ζ(k p,k v ) that results in the the closed-loop transfer function you found in Exercise 13 being equal to H(s) given in [6] [8] Revision: 01 Page: 9

12 Solution: The closed-loop system in [s15] maps to H(s) in [6] by setting the natural frequency to and the damping ratio to [s16] [s17] Find the minimum damping ratio required to satisfy the overshoot requirement in Table 3 using expression [8] Then using ζ min and peak time expression [7], find the minimum natural frequency needed to satisfy the peak time specification given in Table 3 Express both in terms of the model parameters and evaluate them numerically using the DC motor model parameters in Table 4 Symbol Description Value Unit R m Motor terminal resistance 250 s K t Motor torque constant 0020 N m/a K m Motor back-electromotive force constant 0020 V/(rad/s) J eq Motor armature moment of inertia and load moment of inertia 200E-005 kg m 2 Table 4 Model Parameter Values for Exercise 44 Revision: 01 Page: 10

13 Solution: Using equation [8], an overshoot of M p can be achieved by having a damping ratio satisfying the inequality [s18] The minimum damping ratio needed for an overshoot of M p =005 is [s19] The damping ratio must be this or larger for the first peak to overshoot less than or equal to 5% Using relationship [7], the time of the first peak of the response is less than t p when the the natural frequency ω n satisfies [s20] The minimum natural frequency to achieve a peak time of t p =015 seconds is, using damping ratio [s19] and expression [s20] [s21] Find the control gains needed to meet the specifications using the expressions found in the first part of this exercise and using the minimum damping ratio and natural frequency calculated above Express K p and K v in terms of the model parameters, ω n, and ζ, and give the numerical result of the control gains Revision: 01 Page: 11

14 Solution: Solving for K p in equation [s16], the proportional gain must satisfy resulting in, [s22] [s23], after subsituting the minimum natural frequency found in [s21] and the DC motor parameters in Table 4 Solving for K v in expression [s17] gives [s24] and using damping ratio [s19] results in the velocity gain having to be at least [s25] For a DC motor plant with the parameters in Table 4, the peak time and overshoot of the closed-loop response will meet the specifications in Table 3 given that the proportional gain and the velocity gain satisfy the [s23] and [s25], respectively Revision: 01 Page: 12

15 5 In-Lab Session 51 System Hardware Configuration This in-lab session is performed using the NI-ELVIS system equipped with a QNET- DCMCT board and the Quanser Virtual Instrument (VI) controller file QNET_DCMCT_Lab_02_Position_Controlvi Please refer to Reference [2] for the setup and wiring information required to carry out the present control laboratory Reference [2] also provides the specifications and a description of the main components composing your system Before beginning the lab session, ensure the system is configured as follows: QNET DC Motor Control Trainer module is connected to the ELVIS ELVIS Communication Switch is set to BYPASS DC power supply is connected to the QNET DC Motor Control Trainer module The 4 LEDs +B, +15V, -15V, +5V on the QNET module should be ON 52 Experimental Procedure The sections below correspond to the tabs in the VI, shown in Figure 5 Please follow the steps described below: Step 1 Read through Section 51 and go through the setup guide in Reference [2] Step 2 Run the VI controller QNET_DCMCT_Lab_02_Position_Controlvi shown in Figure 5 Revision: 01 Page: 13

16 Figure 5 Overview of QNET-DCMCT Position Control Laboratory VI Step 3 Step 4 In the previous laboratory, Reference [3], the three DC motor parameters given below were identified for a particular DCMCT unit: (1) Motor Electrical Resistance (R m ) An electrical property of a motor It describes the motor's response to a given voltage and determines the amount of current able to flow through the motor (2) Motor Torque Constant (K t ) Describes the torque a motor generates and is directly proportional to the current going through the motor Note that the electromotive force constant, K m, is equal to the motor torque constant K t (3) Moment of Inertia (J eq ) The moment of inertia of the disc load and the motor shaft The three model parameters found in the last laboratory, Reference [3], may not represent the current DCMCT module being used accurately because a different QNET unit may be being used For this reason, the model fitting procedure is redone to verify that the parameters in the transfer function developed in Exercise 41 represents the actual system Select the Model Fitting tab that loads the VI shown in Figure 6 and continue with the laboratory Revision: 01 Page: 14

17 Figure 6 Model Fitting Step 5 Step 6 Step 7 As depicted in Figure 6, the scope displays the simulation of the motor speed response, generated using the mathematical model developed in the last laboratory, and the actual motor speed response, measured using the tachometer sensor The QNET motor is being driven by the signal generator The Acquire Data button stops the VI and continues to the next step of the laboratory Also in the top panel shown in Figure 6 is the simulation time readout, the sampling rate, and the RT LED that indicates if real-time is being held Slow down the sampling rate if the RT LED is either RED or flickering between GREEN and RED For the new sampling rate to take effect, stop this controller by clicking on the Acquire Data button and return to the Model Fitting tab to reload this sub-vi Enter the parameters R m and K t into the model variables that were derived in the DC motor speed control laboratory, Reference [3] Select the Update Model button and notice that the simulation on the plot changes because it is simulating the system using the model with new parameters If there is a large discrepancy between the plots then a different QNET- DCMCT module is being used than the system used to perform the parameter estimation in the previous speed control laboratory Adjust the motor torque Revision: 01 Page: 15

18 constant, K t, the motor resistance, R m, and the inertia parameter, J eq, until the simulated response begins to match the actual response Remember to click on the Update Model button after changing a model parameter for the changes to take effect in the simulation Step 8 Once the simulation matches the actual response well, record the final J eq, K t, and R m used in Table 5 and click on the Acquire Data button to proceed to the control design Model Fitted Parameter Measured Unit Value R m 312 Ω K t N m/a J eq 193E-005 kgm 2 Step 9 Table 5 Model Fitted Parameters The Controller Design tab should now be selected As shown in Figure 7, the Motor Model block is the transfer function representing the open-loop system, the proportional and velocity compensators together compose the PV control system, as in Pre-Lab Exercise 43 By default, the reference input signal is a step of 90 degrees and the resulting closed-loop step response is shown in the top-right corner The natural frequency and damping ratio are indicated above the plot Further, the closed-loop poles are plotted on the s-plane in the middle graph of the VI and the locations of the poles are also given directly above the graph Note that the locations of the poles is directly related to the damping ratio and natural frequency, which effects the resulting closed-loop response Revision: 01 Page: 16

19 Figure 7 Controller Design Step 10 The two control knobs in Figure 7 change the proportional gain, K p, and the velocity gain, K v, of the controller Vary the gains K p and K v as listed in Table 6 and record the Controller Performance changes Revision: 01 Page: 17

20 K p (V/rad) K i (Vs/rad) Peak Time (s) Max Overshoot (%) Setting Time (s) Steady-State Error (%) Table 6 Controller Performance Step 11 Re-calculate the minimum control gains in Pre-Lab Exercise 44 needed to meet the specifications in Table 3 based on the model parameters of the current DCMCT module, recorded previously in Table 5 Record the PV control gains in Table 7 K p K v Control Gain Minimum Value to meet Unit Specifications 171 V/rad 0052 V/(rads) Table 7 Required PV control gains for current DCMCT unit to meet specifications Step 12 Enter the minimum PV control gains calculated above in the K p and K v knobs in the Control Design VI shown in Figure 7 The resulting response should meet the specifications in Table 3 but some fine-tuning may be needed The settling time was not accounted for in the design, thus the gains may have to fine-tuned to meet the settling time requirement Once the controller gains yield a closedloop response that meets the required specifications, enter the K p and K v gains used in the last row of Table 6 along with the resulting response time-domain properties Step 13 Select the Controller Implementation tab to load the VI shown in Figure 8 The controller designed is now to be implemented on the actual QNET DC motor system The scope in Controller Implementation VI, as shown in Figure 8, plots the simulated motor position from the mathematical model using the parameters enterred and the actual closed-loop position of the motor measured by the encoder Revision: 01 Page: 18

21 Figure 8 PV Controller Implementation Step 14 Ensure the proportional and velocity gains designed to meet the specifications, recorded in Table 7, are set in the CONTROLLER GAINS panel shown in Figure 8 The function generator in the DESIRED POSITION panel is used to generate the reference position Set the commanded position signal to a square signal with an amplitude of 90 degrees at 01 Hertz Implement the controller for the same system on which the model was obtained This ensures the controller is not based on a model that may not represent your motor Step 15 Record the resulting control performance properties of the actual measured motor position peak time, overshoot, settling time, and steady-state error in Table 8 If needed, use the zoom tools in the top-left corner of the scope to view a closeup of the plots Revision: 01 Page: 19

22 Specification Measured Unit Value Peak time 015 s Overshoot 00 % Settling time 02 s Steady-state error 30 deg Table 8 Actual Closed-Loop Performance Step 16 Did the actual DC motor measurement meet all the specifications in Table 3? If not, give the specifications that were not met and provide an explanation why the PV control designed does not result in the desired properties when implemented on the actual system Solution: The model and control system does not take into account any type of friction of damping The steady-state error on the actual system may not be zero due to the Coulomb friction, or stiction, present in the actual system Similarly, the overshoot on the actual system may be zero or less than the simulation because the model does not consider viscous damping Energy is lost in the actual mechanical system through vibrations giving a response that is more dampened then the model would predict Step 17 Change the amplitude, frequency, and/or type of reference signal (sine, sawtooth, and square) and observe the behaviour of the responses Step 18 Stop the controller implementation by clicking on the Acquire Data button and this will send you to the Mathematical Model tab Shut off the PROTOTYPING POWER BOARD switch and the SYSTEM POWER switch at the back of the ELVIS unit Unplug the module AC cord Finally, end the laboratory session by selecting the Stop button on the VI Revision: 01 Page: 20

### QNET Experiment #05: HVAC System Identification. Heating, Ventilation, and Air Conditioning Trainer (HVACT) Student Manual

Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #05: HVAC System Identification Heating, Ventilation, and Air Conditioning Trainer (HVACT) Student Manual Table of Contents 1. Laboratory Objectives...1

### QNET Experiment #04: Inverted Pendulum Control. Rotary Pendulum (ROTPEN) Inverted Pendulum Trainer. Instructor Manual

Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #04: Inverted Pendulum Control Rotary Pendulum (ROTPEN) Inverted Pendulum Trainer Instructor Manual Table of Contents 1 Laboratory Objectives1 2

### Rotary Motion Servo Plant: SRV02. Rotary Experiment #01: Modeling. SRV02 Modeling using QuaRC. Student Manual

Rotary Motion Servo Plant: SRV02 Rotary Experiment #01: Modeling SRV02 Modeling using QuaRC Student Manual SRV02 Modeling Laboratory Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1

### Laboratory 11 Control Systems Laboratory ECE3557. State Feedback Controller for Position Control of a Flexible Joint

Laboratory 11 State Feedback Controller for Position Control of a Flexible Joint 11.1 Objective The objective of this laboratory is to design a full state feedback controller for endpoint position control

### FEEDBACK CONTROL SYSTEMS

FEEDBAC CONTROL SYSTEMS. Control System Design. Open and Closed-Loop Control Systems 3. Why Closed-Loop Control? 4. Case Study --- Speed Control of a DC Motor 5. Steady-State Errors in Unity Feedback Control

### Mechatronics Engineering. Li Wen

Mechatronics Engineering Li Wen Bio-inspired robot-dc motor drive Unstable system Mirko Kovac,EPFL Modeling and simulation of the control system Problems 1. Why we establish mathematical model of the control

### SRV02-Series Rotary Experiment # 7. Rotary Inverted Pendulum. Student Handout

SRV02-Series Rotary Experiment # 7 Rotary Inverted Pendulum Student Handout SRV02-Series Rotary Experiment # 7 Rotary Inverted Pendulum Student Handout 1. Objectives The objective in this experiment is

### ME 375 Final Examination Thursday, May 7, 2015 SOLUTION

ME 375 Final Examination Thursday, May 7, 2015 SOLUTION POBLEM 1 (25%) negligible mass wheels negligible mass wheels v motor no slip ω r r F D O no slip e in Motor% Cart%with%motor%a,ached% The coupled

### DC Motor Position: System Modeling

1 of 7 01/03/2014 22:07 Tips Effects TIPS ABOUT BASICS INDEX NEXT INTRODUCTION CRUISE CONTROL MOTOR SPEED MOTOR POSITION SUSPENSION INVERTED PENDULUM SYSTEM MODELING ANALYSIS DC Motor Position: System

### PID Control. Objectives

PID Control Objectives The objective of this lab is to study basic design issues for proportional-integral-derivative control laws. Emphasis is placed on transient responses and steady-state errors. The

### Rotary Flexible Joint

Rotary Flexible Joint Workbook ROTFLEX Student Version Quanser Inc. 2011 c 2011 Quanser Inc., All rights reserved. Quanser Inc. 119 Spy Court Markham, Ontario L3R 5H6 Canada info@quanser.com Phone: 1-905-940-3575

### Flexible Pendulum (FLEXPEN)

Linear Motion Servo Plant: IP02 Flexible Pendulum (FLEXPEN) User Manual Table of Contents 1. Flexible Pendulum (FLEXPEN) Experiment...1 1.1. System Description...1 1.2. Control Challenge...1 2. System

### Introduction to Feedback Control

Introduction to Feedback Control Control System Design Why Control? Open-Loop vs Closed-Loop (Feedback) Why Use Feedback Control? Closed-Loop Control System Structure Elements of a Feedback Control System

### Lab Experiment 2: Performance of First order and second order systems

Lab Experiment 2: Performance of First order and second order systems Objective: The objective of this exercise will be to study the performance characteristics of first and second order systems using

### Mo de ling, Ide nti cat ion, and Control of a DC-Servomotor

Mo de ling, Ide nti cat ion, and Control of a DC-Servomotor Concepts emphasized: Dynamic modeling, time-domain analysis, system identi cation, and position-plus-velocity feedback control. 1. Introduction

### Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response

Page 1 of 5 Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response Physical Setup A common actuator in control systems is the

### MECHATRONICS ENGINEERING TECHNOLOGY. Modeling a Servo Motor System

Modeling a Servo Motor System Definitions Motor: A device that receives a continuous (Analog) signal and operates continuously in time. Digital Controller: Discretizes the amplitude of the signal and also

### Industrial Servo System

Industrial Servo System Introduction The goal of this lab is to investigate how the dynamic response of a closed-loop system can be used to estimate the mass moment of inertia. The investigation will require

### EEL2216 Control Theory CT1: PID Controller Design

EEL6 Control Theory CT: PID Controller Design. Objectives (i) To design proportional-integral-derivative (PID) controller for closed loop control. (ii) To evaluate the performance of different controllers

### CHAPTER 1 Basic Concepts of Control System. CHAPTER 6 Hydraulic Control System

CHAPTER 1 Basic Concepts of Control System 1. What is open loop control systems and closed loop control systems? Compare open loop control system with closed loop control system. Write down major advantages

### Feedback Control of Linear SISO systems. Process Dynamics and Control

Feedback Control of Linear SISO systems Process Dynamics and Control 1 Open-Loop Process The study of dynamics was limited to open-loop systems Observe process behavior as a result of specific input signals

### Application Note #3413

Application Note #3413 Manual Tuning Methods Tuning the controller seems to be a difficult task to some users; however, after getting familiar with the theories and tricks behind it, one might find the

### CHAPTER 7 STEADY-STATE RESPONSE ANALYSES

CHAPTER 7 STEADY-STATE RESPONSE ANALYSES 1. Introduction The steady state error is a measure of system accuracy. These errors arise from the nature of the inputs, system type and from nonlinearities of

### Overview of motors and motion control

Overview of motors and motion control. Elements of a motion-control system Power upply High-level controller ow-level controller Driver Motor. Types of motors discussed here; Brushed, PM DC Motors Cheap,

### KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING QUESTION BANK SUB.NAME : CONTROL SYSTEMS BRANCH : ECE YEAR : II SEMESTER: IV 1. What is control system? 2. Define open

### Laboratory handouts, ME 340

Laboratory handouts, ME 340 This document contains summary theory, solved exercises, prelab assignments, lab instructions, and report assignments for Lab 4. 2014-2016 Harry Dankowicz, unless otherwise

### Fast Seek Control for Flexible Disk Drive Systems

Fast Seek Control for Flexible Disk Drive Systems with Back EMF and Inductance Chanat La-orpacharapan and Lucy Y. Pao Department of Electrical and Computer Engineering niversity of Colorado, Boulder, CO

### Pre-Lab Exercise Full Name:

L07 Rotational Motion and the Moment of Inertia 1 Pre-Lab Exercise Full Name: Lab Section: Hand this in at the beginning of the lab period. The grade for these exercises will be included in your lab grade

### MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics 8.02 Spring 2003 Experiment 17: RLC Circuit (modified 4/15/2003) OBJECTIVES

MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Physics 8. Spring 3 Experiment 7: R Circuit (modified 4/5/3) OBJECTIVES. To observe electrical oscillations, measure their frequencies, and verify energy

### Chapter 5 HW Solution

Chapter 5 HW Solution Review Questions. 1, 6. As usual, I think these are just a matter of text lookup. 1. Name the four components of a block diagram for a linear, time-invariant system. Let s see, I

### AN INTRODUCTION TO THE CONTROL THEORY

Open-Loop controller An Open-Loop (OL) controller is characterized by no direct connection between the output of the system and its input; therefore external disturbance, non-linear dynamics and parameter

### KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING QUESTION BANK SUB.NAME : CONTROL SYSTEMS STAFF NAME: Mr. P.NARASIMMAN BRANCH : ECE Mr.K.R.VENKATESAN YEAR : II SEMESTER

### Survey of Methods of Combining Velocity Profiles with Position control

Survey of Methods of Combining Profiles with control Petter Karlsson Mälardalen University P.O. Box 883 713 Västerås, Sweden pkn91@student.mdh.se ABSTRACT In many applications where some kind of motion

### Dr Ian R. Manchester Dr Ian R. Manchester AMME 3500 : Review

Week Date Content Notes 1 6 Mar Introduction 2 13 Mar Frequency Domain Modelling 3 20 Mar Transient Performance and the s-plane 4 27 Mar Block Diagrams Assign 1 Due 5 3 Apr Feedback System Characteristics

### The basic principle to be used in mechanical systems to derive a mathematical model is Newton s law,

Chapter. DYNAMIC MODELING Understanding the nature of the process to be controlled is a central issue for a control engineer. Thus the engineer must construct a model of the process with whatever information

### School of Mechanical Engineering Purdue University. ME375 ElectroMechanical - 1

Electro-Mechanical Systems DC Motors Principles of Operation Modeling (Derivation of fg Governing Equations (EOM)) Block Diagram Representations Using Block Diagrams to Represent Equations in s - Domain

### Belt Tension Clamp. Drive Motor. Friction Brake. Load. Encoder 2. Drive. (4000 lines/rev incremental) Encoder 1. (4000 lines/rev incremental)

Industrial Servo System Introduction The first part this lab is to investigate how the dynamic response of a closed-loop system can be used to determine the mass moment of inertia of a model industrial

### Chapter 3 AUTOMATIC VOLTAGE CONTROL

Chapter 3 AUTOMATIC VOLTAGE CONTROL . INTRODUCTION TO EXCITATION SYSTEM The basic function of an excitation system is to provide direct current to the field winding of the synchronous generator. The excitation

### MEM04: Rotary Inverted Pendulum

MEM4: Rotary Inverted Pendulum Interdisciplinary Automatic Controls Laboratory - ME/ECE/CHE 389 April 8, 7 Contents Overview. Configure ELVIS and DC Motor................................ Goals..............................................3

### Performance of Feedback Control Systems

Performance of Feedback Control Systems Design of a PID Controller Transient Response of a Closed Loop System Damping Coefficient, Natural frequency, Settling time and Steady-state Error and Type 0, Type

### Analysis and Design of Control Systems in the Time Domain

Chapter 6 Analysis and Design of Control Systems in the Time Domain 6. Concepts of feedback control Given a system, we can classify it as an open loop or a closed loop depends on the usage of the feedback.

### Rectilinear System. Introduction. Hardware

Rectilinear System Introduction For this lab, there are three separate experiments that will be performed. The first experiment will calculate all the system parameters that will be used in later parts

### Linear Control Systems Solution to Assignment #1

Linear Control Systems Solution to Assignment # Instructor: H. Karimi Issued: Mehr 0, 389 Due: Mehr 8, 389 Solution to Exercise. a) Using the superposition property of linear systems we can compute the

### 100 (s + 10) (s + 100) e 0.5s. s 100 (s + 10) (s + 100). G(s) =

1 AME 3315; Spring 215; Midterm 2 Review (not graded) Problems: 9.3 9.8 9.9 9.12 except parts 5 and 6. 9.13 except parts 4 and 5 9.28 9.34 You are given the transfer function: G(s) = 1) Plot the bode plot

### RLC Circuits. 1 Introduction. 1.1 Undriven Systems. 1.2 Driven Systems

RLC Circuits Equipment: Capstone, 850 interface, RLC circuit board, 4 leads (91 cm), 3 voltage sensors, Fluke mulitmeter, and BNC connector on one end and banana plugs on the other Reading: Review AC circuits

### The Application of Anti-windup PI Controller, SIPIC on FOC of PMSM

Electrical and Electronic Engineering 2016, 6(3): 39-48 DOI: 10.5923/j.eee.20160603.01 The Application of Anti-windup PI Controller, SIPIC on FOC of PMSM Hoo Choon Lih School of Engineering, Taylor s University,

### ME 304 CONTROL SYSTEMS Spring 2016 MIDTERM EXAMINATION II

ME 30 CONTROL SYSTEMS Spring 06 Course Instructors Dr. Tuna Balkan, Dr. Kıvanç Azgın, Dr. Ali Emre Turgut, Dr. Yiğit Yazıcıoğlu MIDTERM EXAMINATION II May, 06 Time Allowed: 00 minutes Closed Notes and

### INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II

INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II Asst. Prof. Dr.-Ing. Sudchai Boonto Department of Control Systems and Instrumentation Engineering King Mongkut s University

### Design via Root Locus

Design via Root Locus I 9 Chapter Learning Outcomes J After completing this chapter the student will be able to: Use the root locus to design cascade compensators to improve the steady-state error (Sections

### (b) A unity feedback system is characterized by the transfer function. Design a suitable compensator to meet the following specifications:

1. (a) The open loop transfer function of a unity feedback control system is given by G(S) = K/S(1+0.1S)(1+S) (i) Determine the value of K so that the resonance peak M r of the system is equal to 1.4.

### Calibration Routine. Store in HDD. Switch "Program Control" Ref 1/ Ref 2 Manual Automatic

4.2 IMPLEMENTATION LABVIEW 4.2.1 LabVIEW features LabVIEW (short for Laboratory Virtual Instrument Engineering Workbench) originally released for the Apple Macintosh in 1986. It is a highly productive

### Digital Control Semester Project

Digital Control Semester Project Part I: Transform-Based Design 1 Introduction For this project you will be designing a digital controller for a system which consists of a DC motor driving a shaft with

### Teaching State Variable Feedback to Technology Students Using MATLAB and SIMULINK

Teaching State Variable Feedback to Technology Students Using MATLAB and SIMULINK Kathleen A.K. Ossman, Ph.D. University of Cincinnati Session 448 I. Introduction This paper describes a course and laboratory

### Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation

Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation Dr. Kevin Craig Greenheck Chair in Engineering Design & Professor of Mechanical Engineering Marquette University K.

### FUZZY LOGIC CONTROL Vs. CONVENTIONAL PID CONTROL OF AN INVERTED PENDULUM ROBOT

http:// FUZZY LOGIC CONTROL Vs. CONVENTIONAL PID CONTROL OF AN INVERTED PENDULUM ROBOT 1 Ms.Mukesh Beniwal, 2 Mr. Davender Kumar 1 M.Tech Student, 2 Asst.Prof, Department of Electronics and Communication

### Project Lab Report. Michael Hall. Hao Zhu. Neil Nevgi. Station 6. Ta: Yan Cui

Project Lab Report Michael Hall Hao Zhu Neil Nevgi Station 6 Ta: Yan Cui Nov. 12 th 2012 Table of Contents: Executive Summary 3 Modeling Report.4-7 System Identification 7-11 Control Design..11-15 Simulation

### VALLIAMMAI ENGINEERING COLLEGE

VALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur 603 203 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING QUESTION BANK V SEMESTER IC650 CONTROL SYSTEMS Regulation 203 Academic Year 207 8 Prepared

### School of Mechanical Engineering Purdue University. ME375 Feedback Control - 1

Introduction to Feedback Control Control System Design Why Control? Open-Loop vs Closed-Loop (Feedback) Why Use Feedback Control? Closed-Loop Control System Structure Elements of a Feedback Control System

### Rotary Inverted Pendulum

Rotary Inverted Pendulum Eric Liu 1 Aug 2013 1 1 State Space Derivations 1.1 Electromechanical Derivation Consider the given diagram. We note that the voltage across the motor can be described by: e b

### Modelling and simulation of a measurement robot

Modellbygge och Simulering, TSRT62 Modelling and simulation of a measurement robot Denna version: 4 oktober 2017 Servo- motor Strömregulator + u + i(t) [A] r (t) [V] u(t) [V] Arm Skruvtransmission Remtransmission

### Scanned by CamScanner

Scanned by CamScanner Scanned by CamScanner t W I w v 6.00-fall 017 Midterm 1 Name Problem 3 (15 pts). F the circuit below, assume that all equivalent parameters are to be found to the left of port

### Chapter 12. Feedback Control Characteristics of Feedback Systems

Chapter 1 Feedbac Control Feedbac control allows a system dynamic response to be modified without changing any system components. Below, we show an open-loop system (a system without feedbac) and a closed-loop

### EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES. ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION

EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION NAME: I agree to the assessment as contained in this assignment. I confirm that the work submitted

### Circular Motion and Centripetal Force

[For International Campus Lab ONLY] Objective Measure the centripetal force with the radius, mass, and speed of a particle in uniform circular motion. Theory ----------------------------- Reference --------------------------

### Driven Harmonic Oscillator

Driven Harmonic Oscillator Physics 6B Lab Experiment 1 APPARATUS Computer and interface Mechanical vibrator and spring holder Stands, etc. to hold vibrator Motion sensor C-209 spring Weight holder and

### B1-1. Closed-loop control. Chapter 1. Fundamentals of closed-loop control technology. Festo Didactic Process Control System

B1-1 Chapter 1 Fundamentals of closed-loop control technology B1-2 This chapter outlines the differences between closed-loop and openloop control and gives an introduction to closed-loop control technology.

### Mechanical Oscillations

Mechanical Oscillations Richard Spencer, Med Webster, Roy Albridge and Jim Waters September, 1988 Revised September 6, 010 1 Reading: Shamos, Great Experiments in Physics, pp. 4-58 Harmonic Motion.1 Free

### On-Line Fast Algebraic Parameter and State Estimation for a DC Motor Applied to Adaptive Control

Proceedings of the World Congress on Engineering 28 Vol II WCE 28, July 2-4, 28, London, U.K. On-Line Fast Algebraic Parameter and State Estimation for a DC Motor Applied to Adaptive Control G. Mamani,

### EECS C128/ ME C134 Final Wed. Dec. 15, am. Closed book. Two pages of formula sheets. No calculators.

Name: SID: EECS C28/ ME C34 Final Wed. Dec. 5, 2 8- am Closed book. Two pages of formula sheets. No calculators. There are 8 problems worth points total. Problem Points Score 2 2 6 3 4 4 5 6 6 7 8 2 Total

### A SHORT INTRODUCTION TO ADAMS

A. AHADI, P. LIDSTRÖM, K. NILSSON A SHORT INTRODUCTION TO ADAMS FOR ENGINEERING PHYSICS DIVISION OF MECHANICS DEPARTMENT OF MECHANICAL ENGINEERING LUND INSTITUTE OF TECHNOLOGY 2017 FOREWORD THESE EXERCISES

### Digital Pendulum Control Experiments

EE-341L CONTROL SYSTEMS LAB 2013 Digital Pendulum Control Experiments Ahmed Zia Sheikh 2010030 M. Salman Khalid 2010235 Suleman Belal Kazi 2010341 TABLE OF CONTENTS ABSTRACT...2 PENDULUM OVERVIEW...3 EXERCISE

### first name (print) last name (print) brock id (ab17cd) (lab date)

(ta initials) first name (print) last name (print) brock id (ab17cd) (lab date) Experiment 1 Capacitance In this Experiment you will learn the relationship between the voltage and charge stored on a capacitor;

### Control of an Induction Motor Drive

Control of an Induction Motor Drive 1 Introduction This assignment deals with control of an induction motor drive. First, scalar control (or Volts-per-Hertz control) is studied in Section 2, where also

### Human Arm. 1 Purpose. 2 Theory. 2.1 Equation of Motion for a Rotating Rigid Body

Human Arm Equipment: Capstone, Human Arm Model, 45 cm rod, sensor mounting clamp, sensor mounting studs, 2 cord locks, non elastic cord, elastic cord, two blue pasport force sensors, large table clamps,

### Transient Analysis of Separately Excited DC Motor and Braking of DC Motor Using Numerical Technique

Journal homepage: www.mjret.in ISSN:2348-6953 Transient Analysis of Separately Excited DC Motor and Braking of DC Motor Using Numerical Technique Pavan R Patil, Javeed Kittur, Pavankumar M Pattar, Prajwal

### Experiment IV. To find the velocity of waves on a string by measuring the wavelength and frequency of standing waves.

Experiment IV The Vibrating String I. Purpose: To find the velocity of waves on a string by measuring the wavelength and frequency of standing waves. II. References: Serway and Jewett, 6th Ed., Vol., Chap.

### 06 Feedback Control System Characteristics The role of error signals to characterize feedback control system performance.

Chapter 06 Feedback 06 Feedback Control System Characteristics The role of error signals to characterize feedback control system performance. Lesson of the Course Fondamenti di Controlli Automatici of

### Lab 11 - Free, Damped, and Forced Oscillations

Lab 11 Free, Damped, and Forced Oscillations L11-1 Name Date Partners Lab 11 - Free, Damped, and Forced Oscillations OBJECTIVES To understand the free oscillations of a mass and spring. To understand how

### Homework 7 - Solutions

Homework 7 - Solutions Note: This homework is worth a total of 48 points. 1. Compensators (9 points) For a unity feedback system given below, with G(s) = K s(s + 5)(s + 11) do the following: (c) Find the

### Control of a Ball and Beam System

Control of a Ball and Beam System Wei Wang School of Mechanical Engineering The University of Adelaide South Australia 55 AUSTRALIA rd Submitted for the degree of Advanced Master on the 5 June, 27 Abstract

### Forced oscillation - Pohl s pendulum with measure Dynamics. Equipment TEP

Forced oscillation - Pohl s pendulum TEP Related topics Angular velocity, characteristic frequency, resonance frequency, torsional pendulum, torsional oscillation, restoring torque, damped/undamped free

### Revision Guide for Chapter 15

Revision Guide for Chapter 15 Contents tudent s Checklist Revision otes Transformer... 4 Electromagnetic induction... 4 Generator... 5 Electric motor... 6 Magnetic field... 8 Magnetic flux... 9 Force on

### CHV Series Vector Control Inverter Options. Operating Instructions for Tension Control Card

CHV Series Vector Control Inverter Options Operating Instructions for Control Card 1. Model and Specifications 1.1 Model The model of tension card is CHV00ZL. CHV series inverter can conduct constant

### Fuzzy modeling and control of rotary inverted pendulum system using LQR technique

IOP Conference Series: Materials Science and Engineering OPEN ACCESS Fuzzy modeling and control of rotary inverted pendulum system using LQR technique To cite this article: M A Fairus et al 13 IOP Conf.

### Root Locus. Motivation Sketching Root Locus Examples. School of Mechanical Engineering Purdue University. ME375 Root Locus - 1

Root Locus Motivation Sketching Root Locus Examples ME375 Root Locus - 1 Servo Table Example DC Motor Position Control The block diagram for position control of the servo table is given by: D 0.09 Position

### 13-Nov-2015 PHYS Rotational Inertia

Objective Rotational Inertia To determine the rotational inertia of rigid bodies and to investigate its dependence on the distance to the rotation axis. Introduction Rotational Inertia, also known as Moment

### Two-Mass, Three-Spring Dynamic System Investigation Case Study

Two-ass, Three-Spring Dynamic System Investigation Case Study easurements, Calculations, anufacturer's Specifications odel Parameter Identification Which Parameters to Identify? What Tests to Perform?

### Rotational Motion. Figure 1: Torsional harmonic oscillator. The locations of the rotor and fiber are indicated.

Rotational Motion 1 Purpose The main purpose of this laboratory is to familiarize you with the use of the Torsional Harmonic Oscillator (THO) that will be the subject of the final lab of the course on

### Modeling and Experimentation: Compound Pendulum

Modeling and Experimentation: Compound Pendulum Prof. R.G. Longoria Department of Mechanical Engineering The University of Texas at Austin Fall 2014 Overview This lab focuses on developing a mathematical

### Goals for today 2.004

Goals for today Block diagrams revisited Block diagram components Block diagram cascade Summing and pickoff junctions Feedback topology Negative vs positive feedback Example of a system with feedback Derivation

### Robust Speed Controller Design for Permanent Magnet Synchronous Motor Drives Based on Sliding Mode Control

Available online at www.sciencedirect.com ScienceDirect Energy Procedia 88 (2016 ) 867 873 CUE2015-Applied Energy Symposium and Summit 2015: ow carbon cities and urban energy systems Robust Speed Controller

### International Journal of Advance Engineering and Research Development SIMULATION OF FIELD ORIENTED CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR

Scientific Journal of Impact Factor(SJIF): 3.134 e-issn(o): 2348-4470 p-issn(p): 2348-6406 International Journal of Advance Engineering and Research Development Volume 2,Issue 4, April -2015 SIMULATION

### Alireza Mousavi Brunel University

Alireza Mousavi Brunel University 1 » Control Process» Control Systems Design & Analysis 2 Open-Loop Control: Is normally a simple switch on and switch off process, for example a light in a room is switched

### The Torsion Pendulum (One or two weights)

The Torsion Pendulum (One or two weights) Exercises I through V form the one-weight experiment. Exercises VI and VII, completed after Exercises I -V, add one weight more. Preparatory Questions: 1. The

### School of Mechanical Engineering Purdue University. DC Motor Position Control The block diagram for position control of the servo table is given by:

Root Locus Motivation Sketching Root Locus Examples ME375 Root Locus - 1 Servo Table Example DC Motor Position Control The block diagram for position control of the servo table is given by: θ D 0.09 See

### PHY222 Lab 2 - Electric Fields Mapping the Potential Curves and Field Lines of an Electric Dipole

Print Your Name PHY222 Lab 2 - Electric Fields Mapping the Potential Curves and Field Lines of an Electric Dipole Print Your Partners' Names Instructions January 23, 2015 Before lab, read the Introduction,

### SAMPLE SOLUTION TO EXAM in MAS501 Control Systems 2 Autumn 2015

FACULTY OF ENGINEERING AND SCIENCE SAMPLE SOLUTION TO EXAM in MAS501 Control Systems 2 Autumn 2015 Lecturer: Michael Ruderman Problem 1: Frequency-domain analysis and control design (15 pt) Given is a