# ME 3210 Mechatronics II Laboratory Lab 4: DC Motor Characteristics

Size: px
Start display at page:

## Transcription

1 ME 3210 Mechatronics II Laboratory Lab 4: DC Motor Characteristics Introduction Often, due to budget constraints or convenience, engineers must use whatever tools are available to create new or improved systems. While doing so they may use equipment that they understand, but don t have sufficient data to model their performance. This lab exercise simulates this scenario by having you measure the lumped parameters needed to model a DC Motor. Figure 1: Simple schematic of a DC motor connected to a rotary inertia with viscous damping. An electromechanical model for a DC Motor is shown in Figure 1. Table 1 below summarizes the parameters required to determine the transfer function of the system in Figure 1. Name Motor Resistance Inductance Table 1: DC Motor Parameters. Back EMF Constant Motor Torque Constant Mechanical Time Constant Coulomb Drag System Rotational Inertia Electrical Time constant Symbol R L K e K t τ mech D c J τ elec D v SI Units Viscous Drag Ω H V/rad/s N-m/A s N-m kg-m 2 s N-m-s The applied voltage is V in. The copper windings in the motor cause a certain amount of resistance and electrical inductance, labeled R and L. As the rotor spins, a voltage is induced which is in opposition to the applied voltage. This is known as the back electromotive force, or the back EMF, labeled E in the figure. The back EMF is linearly related to the motor's angular velocity ω by the constant K e, which is known as the back EMF constant. Kirchhoff's voltage law around the electrical circuit yields di VIN = IR+ L + Keω (1) dt where I is the current in the motor windings in amperes. The output torque of the motor is linearly related to the motor current I by the constant K t as follows: T = K I (2) t where K t is the motor s torque constant. It can be shown from conservation of energy that K t must be proportional to K e, resulting in the following conversions: K t (N.m/A) = K e (V/rad/sec) (3) K t (oz.in/a) = 14.8 K e (V/rpm) (4) 1 of 6 Revised 2/20/2004

2 Notice that if SI units are used (Equation 3), the same numeric value is kept for the motor constant and the back EMF constant. Figure 2: Mechanical side torque balance. Now we turn our attention to the mechanical part of the system: the rotational inertia. Figure 2 is a free-bodydiagram of the torque balance on a DC motor rotor that has no external disturbance torque. Summing the torques (Kirchhoff's current law) results in: t v c ( ) T = K I = Jα + D ω+ D signum ω (5) where signum(ω) means the sign of ω. In other words, coulomb friction is independent of velocity, but that the sign of D c changes with ω. As the velocity increases, viscous drag increases the mechanical loss due to friction. Examples of viscous drag include lubrication in the bearings and aerodynamic drag caused by the load moving in air. The total friction as a function of rotational velocity is depicted in Figure 3. Figure 3: Friction versus angular velocity Upon inspection of Figure 3 we note that Equation 5 is nonlinear and cannot be modeled with linear techniques. However, when steady-state conditions are satisfied for DC input, the inductance and inertial terms in Equations 1 and 5 vanish, resulting in the following linear equations: V = IR+ K ω (6) IN e K I = D ω + D signum( ω) (7) t v c It should be mentioned that the lab setups used for this lab do not just consist of a DC Motor. Each setup is mechanically connected to a tachometer, potentiometer, and a rotational inertia. The tachometer, connection equipment, and the other components of the structure affect the inertia and friction forces that will be measured in this lab. The parameters you obtain from this exercise will characterize the whole system, not just the motor. This type of procedure is known as lumped parameterization. 2 of 6 Revised 2/20/2004

4 10. Once this is complete, two plots are shown in the CVI program displaying the data. Determine whether the data shown is consistent with your expectations. One plot should resemble Figure 3 above and the other should show a linear relationship between V/ω and I/ω. Ask your TA if you are unsure of your results. 11. Once you are satisfied with the data you have collected, save the data to disk by clicking the SAVE button. The data is saved in three different columns corresponding to speed in rad/s, input voltage to the motor in volts, and armature current in amps. 12. Manipulate Equation 6 to create a linear expression makes R the slope and K e the y-intercept. 13. Open the data you just collected in Excel or Matlab and determine R and K e using linear regression. Record the values you calculate for each below: R = Ω K e = V-s. 14. Use either Equation 3 or 4 to calculate K t including the proper units; record the value below: K t =. 15. Using Excel or Matlab, create a figure like Figure 3 above that shows the relationship between motor torque and motor speed. Based on this plot and Equation 7 determine D c and D v and record these values in the space provided. D c = N-m D v = N-m-s Based on these values, which friction term in Equation 7 is the most significant term? 16. Quit the MOTORS.exe CVI program by pressing the Quit button. Measuring the Rotary Inertia, J The rotary inertia, J, can be determined using the following equation: J ( RD K K ) τ + mech e t = (8) R where τmech is the mechanical time constant, which is defined as the time it takes for the motor to go from rest to 63% of the final angular speed, and D is the linearized friction (i.e. the most influential friction term in Equation 7). The mechanical time constant can be measured by giving the motor a step input. Since the mechanical time constant is much slower than the electrical time constant, the inertia can be calculated by ignoring the inductance effects (L=0). 17. Open 3IN1OUT.exe from the CVI program folder on the desktop. 18. Set the output voltage on the right side of the window so a step input of 10 volts is given to the motor. Recall that the amplifier scales the input sent from the computer by the amplifier s gain measured earlier in this experiment (i.e. output voltage = 10Volts / Amplifier Gain). 19. Set Channel 0 for display and make sure the other channels are not selected. 4 of 6 Revised 2/20/2004

5 20. Choose appropriate values for the sampling rate and number of samples so that you measure at least 5 seconds of data at a high resolution and press start to apply the step input and collect the data. 21. Repeat the previous step until you can clearly see the exponential increase in velocity toward a steady-state speed. Save a copy of the data. 22. Use a plotting program such as Excel or Matlab to plot the data and graphically determine the mechanical time constant. Recall that the mechanical time constant time constant is defined as the time it takes the motor to reach 63% of the final speed. τ mech = s 23. Use Equation 8 to solve for the lumped rotary inertia. Don t forget to use the proper units. J = kg-m 2 Measuring of the Rotor Inductance, L Much like the last section, the rotor inductance, L, can be determined using the following relationship: L= Rτ elec (9) where τ elec is the electrical time constant defined as the time taken by the current in the motor to go from rest to 63% of the final steady-state current. 24. Lock the shaft of the motor so that it cannot turn. The back EMF is zero in this condition. 25. Using 3IN1OUT.exe, alter the program settings so that the current going into the motor from the power amplifier (Channel 1) is measured the next time the program is run. Note: The next few steps are a little tricky. Remember that the electrical time constant is a very short amount of time (on the order of milliseconds). Keep this in mind as you perform these next steps. 26. Set appropriate values for the sampling rate and the number of samples for the CVI program. 27. Disconnect one lead from the DC Motor, press Start on the CVI program, and quickly replace the disconnected lead to the motor. This is necessary so that you can capture the time when steady-state conditions occur. 28. Repeat the previous steps until the data you collect shows an exponential approach to a steady state voltage. Record the sampling rate and number of samples and save the data to disk. 29. Use a plotting program such as Excel or Matlab to plot the data and determine the electrical time constant τ elec from the data like you did for the mechanical time constant. Remember that the motor does not start at time zero, so you must remember to subtract the time before you plugged the lead back into the power supply. 30. Calculate the motor inductance using Equation 9 and record the value below: L = H. 5 of 6 Revised 2/20/2004

### 3 Lab 3: DC Motor Transfer Function Estimation by Explicit Measurement

3 Lab 3: DC Motor Transfer Function Estimation by Explicit Measurement 3.1 Introduction There are two common methods for determining a plant s transfer function. They are: 1. Measure all the physical parameters

### Department of Mechanical Engineering

Department of Mechanical Engineering 2.010 CONTROL SYSTEMS PRINCIPLES Laboratory 2: Characterization of the Electro-Mechanical Plant Introduction: It is important (for future lab sessions) that we have

### MECHATRONICS II LABORATORY Experiment #4: First-Order Dynamic Response Thermal Systems

MECHATRONICS II LABORATORY Experiment #4: First-Order Dynamic Response Thermal Systems The simplest dynamic system is a linear first order system. The time response of a first-order system is exponential.

### DcMotor_ Model Help File

Name of Model: DcMotor_021708 Author: Vladimir L. Chervyakov Date: 2002-10-26 Executable file name DcMotor_021708.vtm Version number: 1.0 Description This model represents a Nonlinear model of a permanent

### 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

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

Quanser NI-ELVIS Trainer (QNET) Series: QNET Experiment #02: DC Motor Position Control DC Motor Control Trainer (DCMCT) Student Manual Table of Contents 1 Laboratory Objectives1 2 References1 3 DCMCT Plant

### EXPERIMENT 12 OHM S LAW

EXPERIMENT 12 OHM S LAW INTRODUCTION: We will study electricity as a flow of electric charge, sometimes making analogies to the flow of water through a pipe. In order for electric charge to flow a complete

### 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

### 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

### 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. 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

### Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos

Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos Lecture 6: Modeling of Electromechanical Systems Principles of Motor Operation

### Manufacturing Equipment Control

QUESTION 1 An electric drive spindle has the following parameters: J m = 2 1 3 kg m 2, R a = 8 Ω, K t =.5 N m/a, K v =.5 V/(rad/s), K a = 2, J s = 4 1 2 kg m 2, and K s =.3. Ignore electrical dynamics

### 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

### Practical 1 RC Circuits

Objectives Practical 1 Circuits 1) Observe and qualitatively describe the charging and discharging (decay) of the voltage on a capacitor. 2) Graphically determine the time constant for the decay, τ =.

### Experiment 4. RC Circuits. Observe and qualitatively describe the charging and discharging (decay) of the voltage on a capacitor.

Experiment 4 RC Circuits 4.1 Objectives Observe and qualitatively describe the charging and discharging (decay) of the voltage on a capacitor. Graphically determine the time constant τ for the decay. 4.2

### Mechatronics II Laboratory EXPERIMENT #1: FORCE AND TORQUE SENSORS DC Motor Characteristics Dynamometer, Part I

Mechatronics II Laboratory EXPEIMENT #1: FOCE AND TOQUE SENSOS DC Motor Characteristics Dynamometer, Part I Force Sensors Force and torque are not measured directly. Typically, the deformation or strain

### King Saud University

motor speed (rad/sec) Closed Loop Step Response ing Saud University College of Engineering, Electrical Engineering Department Labwork Manual EE 356 Control and Instrumentation Laboratory (كهر 356 معمل

### SRV02-Series Rotary Experiment # 1. Position Control. Student Handout

SRV02-Series Rotary Experiment # 1 Position Control Student Handout SRV02-Series Rotary Experiment # 1 Position Control Student Handout 1. Objectives The objective in this experiment is to introduce the

### Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise

Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise Goal: This exercise is designed to take a real-world problem and apply the modeling and analysis concepts discussed in class. As

### EXPERIMENT 5A RC Circuits

EXPERIMENT 5A Circuits Objectives 1) Observe and qualitatively describe the charging and discharging (decay) of the voltage on a capacitor. 2) Graphically determine the time constant for the decay, τ =.

### ENGG4420 LECTURE 7. CHAPTER 1 BY RADU MURESAN Page 1. September :29 PM

CHAPTER 1 BY RADU MURESAN Page 1 ENGG4420 LECTURE 7 September 21 10 2:29 PM MODELS OF ELECTRIC CIRCUITS Electric circuits contain sources of electric voltage and current and other electronic elements such

### DC-motor modelling and parameter identification

DC-motor modelling and parameter identification This version: November 1, 2017 Name: LERTEKNIK REG P-number: Date: AU T O MA RO TI C C O N T L Passed: LINKÖPING Chapter 1 Introduction The purpose of this

### Lab 10: DC RC circuits

Name: Lab 10: DC RC circuits Group Members: Date: TA s Name: Objectives: 1. To understand current and voltage characteristics of a DC RC circuit 2. To understand the effect of the RC time constant Apparatus:

### Example: DC Motor Speed Modeling

Page 1 of 5 Example: DC Motor Speed Modeling Physical setup and system equations Design requirements MATLAB representation and open-loop response Physical setup and system equations A common actuator in

### 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

### 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.

### RC Circuit (Power amplifier, Voltage Sensor)

Object: RC Circuit (Power amplifier, Voltage Sensor) To investigate how the voltage across a capacitor varies as it charges and to find its capacitive time constant. Apparatus: Science Workshop, Power

### SOTM LAB: P16 OHM S LAW I. TEACHER NOTES & GUIDELINES TITLE OF LAB: Ohm s Law DEVELOPERS OF LAB:

SOTM LAB: P16 OHM S LAW I. TEACHER NOTES & GUIDELINES TITLE OF LAB: Ohm s Law DEVELOPERS OF LAB: John Lane, JD853@maristb.marist.edu Taylor Pancoast, JD573@maristb.marist.edu OVERVIEW OF LAB DESCRIPTION

### ECE 5670/6670 Lab 8. Torque Curves of Induction Motors. Objectives

ECE 5670/6670 Lab 8 Torque Curves of Induction Motors Objectives The objective of the lab is to measure the torque curves of induction motors. Acceleration experiments are used to reconstruct approximately

### Feedback Control Systems

ME Homework #0 Feedback Control Systems Last Updated November 06 Text problem 67 (Revised Chapter 6 Homework Problems- attached) 65 Chapter 6 Homework Problems 65 Transient Response of a Second Order Model

### Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2)

Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2) For all calculations in this book, you can use the MathCad software or any other mathematical software that you are familiar

### Lab 1: Dynamic Simulation Using Simulink and Matlab

Lab 1: Dynamic Simulation Using Simulink and Matlab Objectives In this lab you will learn how to use a program called Simulink to simulate dynamic systems. Simulink runs under Matlab and uses block diagrams

### MCE380: Measurements and Instrumentation Lab. Chapter 5: Electromechanical Transducers

MCE380: Measurements and Instrumentation Lab Chapter 5: Electromechanical Transducers Part I Topics: Transducers and Impedance Magnetic Electromechanical Coupling Reference: Holman, CH 4. Cleveland State

### Lab 5 RC Circuits. What You Need To Know: Physics 212 Lab

Lab 5 R ircuits What You Need To Know: The Physics In the previous two labs you ve dealt strictly with resistors. In today s lab you ll be using a new circuit element called a capacitor. A capacitor consists

### System Parameters and Frequency Response MAE 433 Spring 2012 Lab 2

System Parameters and Frequency Response MAE 433 Spring 2012 Lab 2 Prof. Rowley, Prof. Littman AIs: Brandt Belson, Jonathan Tu Technical staff: Jonathan Prévost Princeton University Feb. 21-24, 2012 1

### MAE106 Homework 2 - Solution DC Motors & Intro to the frequency domain

MAE06 Homework 2 - Solution DC Motors & Intro to the frequency domain University of California, Irvine Department of Mechanical and Aerospace Engineering Problem You are given the circuit shown in Figure.

### Encoders. Understanding. November design for industry: Help clean up the ocean. Horizon failure forensics

November 2013 www.designworldonline.com INSIDE: design for industry: Help clean up the ocean Page 18 3D CAD: FEA aids Deepwater Horizon failure forensics Page 37 Understanding NETWORKING: Enhancing enterprise

### Rotary Motion Servo Plant: SRV02. Rotary Experiment #11: 1-DOF Torsion. 1-DOF Torsion Position Control using QuaRC. Student Manual

Rotary Motion Servo Plant: SRV02 Rotary Experiment #11: 1-DOF Torsion 1-DOF Torsion Position Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF

### TEMPERATURE EFFECTS ON MOTOR PERFORMANCE

TEMPERATURE EFFECTS ON MOTOR PERFORMANCE Authored By: Dan Montone Haydon Kerk Motion Solutions / Pittman Motors hen applying DC motors to any type of application, temperature effects need to be considered

### Elementary Theory of DC Permanent Magnet Motors

Much appreciation to David Cowden at Ga. Tech.: Web citation from 10/15/2004 http://www.srl.gatech.edu/education/me3110/primer/motors.htm Motors Introduction This section contains information about implementing

### Lab 5 RC Circuits. What You Need To Know: Physics 212 Lab

Lab 5 R ircuits What You Need To Know: The Physics In the previous two labs you ve dealt strictly with resistors. In today s lab you ll be using a new circuit element called a capacitor. A capacitor consists

### General Physics II Lab EM2 Capacitance and Electrostatic Energy

Purpose General Physics II Lab General Physics II Lab EM2 Capacitance and Electrostatic Energy In this experiment, you will examine the relationship between charge, voltage and capacitance of a parallel

### E11 Lecture 13: Motors. Professor Lape Fall 2010

E11 Lecture 13: Motors Professor Lape Fall 2010 Overview How do electric motors work? Electric motor types and general principles of operation How well does your motor perform? Torque and power output

### University of TN Chattanooga Physics 1040L 8/18/2012 PHYSICS 1040L LAB LAB 4: R.C. TIME CONSTANT LAB

PHYSICS 1040L LAB LAB 4: R.C. TIME CONSTANT LAB OBJECT: To study the discharging of a capacitor and determine the time constant for a simple circuit. APPARATUS: Capacitor (about 24 μf), two resistors (about

### 2.004 Dynamics and Control II Spring 2008

MIT OpenCourseWare http://ocw.mit.edu 2.004 Dynamics and Control II Spring 2008 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms. Massachusetts Institute

### ECEN 420 LINEAR CONTROL SYSTEMS. Lecture 6 Mathematical Representation of Physical Systems II 1/67

1/67 ECEN 420 LINEAR CONTROL SYSTEMS Lecture 6 Mathematical Representation of Physical Systems II State Variable Models for Dynamic Systems u 1 u 2 u ṙ. Internal Variables x 1, x 2 x n y 1 y 2. y m Figure

### Appendix A Prototypes Models

Appendix A Prototypes Models This appendix describes the model of the prototypes used in Chap. 3. These mathematical models can also be found in the Student Handout by Quanser. A.1 The QUANSER SRV-02 Setup

### Lab 3: Quanser Hardware and Proportional Control

Lab 3: Quanser Hardware and Proportional Control The worst wheel of the cart makes the most noise. Benjamin Franklin 1 Objectives The goal of this lab is to: 1. familiarize you with Quanser s QuaRC tools

### Name: Lab Partner: Section:

Chapter 6 Capacitors and RC Circuits Name: Lab Partner: Section: 6.1 Purpose The purpose of this experiment is to investigate the physics of capacitors in circuits. The charging and discharging of a capacitor

### Mechatronics II Laboratory EXPERIMENT #1 MOTOR CHARACTERISTICS FORCE/TORQUE SENSORS AND DYNAMOMETER PART 1

Mechatronics II Laboratory EXPEIMENT #1 MOTO CHAACTEISTICS FOCE/TOQUE SENSOS AND DYNAMOMETE PAT 1 Force Sensors Force and torque are not measured directly. Typically, the deformation or strain of some

### Experiment Aim: Students will describe the magnitude of resistance and define the EMF (electromotive force) of a cell.

Experiment I: Electromotive force and internal resistance Experiment Aim: Students will describe the magnitude of resistance and define the EMF (electromotive force) of a cell. Experimental tools and materials:

### 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

### International Journal of Advance Research in Computer Science and Management Studies

Volume 2, Issue 9, September 2014 ISSN: 2321 7782 (Online) International Journal of Advance Research in Computer Science and Management Studies Research Article / Survey Paper / Case Study Available online

### Laboratory 3 Measuring Capacitor Discharge with the MicroBLIP

Laboratory 3 page 1 of 6 Laboratory 3 Measuring Capacitor Discharge with the MicroBLIP Introduction In this lab, you will use the MicroBLIP in its Data Acquisition Mode to sample the voltage over time

### (a) Torsional spring-mass system. (b) Spring element.

m v s T s v a (a) T a (b) T a FIGURE 2.1 (a) Torsional spring-mass system. (b) Spring element. by ky Wall friction, b Mass M k y M y r(t) Force r(t) (a) (b) FIGURE 2.2 (a) Spring-mass-damper system. (b)

### Unit 2 Electrical Quantities and Ohm s Law

Electrical Quantities and Ohm s Law Objectives: Define a coulomb. Define an ampere. Define a volt. Define an ohm. Define a watt. Objectives: Compute electrical values using Ohm s law. Discuss basic types

### Simple circuits - 3 hr

Simple circuits - 3 hr Resistances in circuits Analogy of water flow and electric current An electrical circuit consists of a closed loop with a number of different elements through which electric current

### Introduction to Control (034040) lecture no. 2

Introduction to Control (034040) lecture no. 2 Leonid Mirkin Faculty of Mechanical Engineering Technion IIT Setup: Abstract control problem to begin with y P(s) u where P is a plant u is a control signal

### Old Dominion University Physics 112N/227N/232N Lab Manual, 13 th Edition

RC Circuits Experiment PH06_Todd OBJECTIVE To investigate how the voltage across a capacitor varies as it charges. To find the capacitive time constant. EQUIPMENT NEEDED Computer: Personal Computer with

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

Rotational Motion Equipment: Capstone, rotary motion sensor mounted on 80 cm rod and heavy duty bench clamp (PASCO ME-9472), string with loop at one end and small white bead at the other end (125 cm bead

### 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

### Measuring the time constant for an RC-Circuit

Physics 8.02T 1 Fall 2001 Measuring the time constant for an RC-Circuit Introduction: Capacitors Capacitors are circuit elements that store electric charge Q according to Q = CV where V is the voltage

### The Coupled Pendulum Experiment

The Coupled Pendulum Experiment In this lab you will briefly study the motion of a simple pendulum, after which you will couple two pendulums and study the properties of this system. 1. Introduction to

### Experiment P43: RC Circuit (Power Amplifier, Voltage Sensor)

PASCO scientific Vol. 2 Physics Lab Manual: P43-1 Experiment P43: (Power Amplifier, Voltage Sensor) Concept Time SW Interface Macintosh file Windows file circuits 30 m 700 P43 P43_RCCI.SWS EQUIPMENT NEEDED

### Lab 4 RC Circuits. Name. Partner s Name. I. Introduction/Theory

Lab 4 RC Circuits Name Partner s Name I. Introduction/Theory Consider a circuit such as that in Figure 1, in which a potential difference is applied to the series combination of a resistor and a capacitor.

### Switch. R 5 V Capacitor. ower upply. Voltmete. Goals. Introduction

Switch Lab 9. Circuits ower upply Goals + + R 5 V Capacitor V To appreciate the capacitor as a charge storage device. To measure the voltage across a capacitor as it discharges through a resistor, and

### System Modeling: Motor position, θ The physical parameters for the dc motor are:

Dept. of EEE, KUET, Sessional on EE 3202: Expt. # 2 2k15 Batch Experiment No. 02 Name of the experiment: Modeling of Physical systems and study of their closed loop response Objective: (i) (ii) (iii) (iv)

### Chapter 7 Direct-Current Circuits

Chapter 7 Direct-Current Circuits 7. Introduction... 7. Electromotive Force... 7.3 Resistors in Series and in Parallel... 4 7.4 Kirchhoff s Circuit Rules... 6 7.5 Voltage-Current Measurements... 8 7.6

### LO-COG DC Gearmotors. Series GM8000. Series GM9000. Series GM BULLETIN LCG Series GM8000, GM9000, GM Power Your Ideas

BULLETIN LCG Series GM8, GM9, GM149 LO-COG DC Gearmotors Pittman brand LO-COG brush-commutated DC gearmotors offer smooth, quiet operation and long life. LO-COG gearmotors feature sintered steel spur gears

### ( ) ( ) = q o. T 12 = τ ln 2. RC Circuits. 1 e t τ. q t

Objectives: To explore the charging and discharging cycles of RC circuits with differing amounts of resistance and/or capacitance.. Reading: Resnick, Halliday & Walker, 8th Ed. Section. 27-9 Apparatus:

### Model of a DC Generator Driving a DC Motor (which propels a car)

Model of a DC Generator Driving a DC Motor (which propels a car) John Hung 5 July 2011 The dc is connected to the dc as illustrated in Fig. 1. Both machines are of permanent magnet type, so their respective

### MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK

MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK 1 Mr.Dhaval K.Patel 1 Assistant Professor, Dept. of Electrical Engineering. Gidc Degree Engineering College Abrama, Navsari. ABSTRACT:

### Equal Pitch and Unequal Pitch:

Equal Pitch and Unequal Pitch: Equal-Pitch Multiple-Stack Stepper: For each rotor stack, there is a toothed stator segment around it, whose pitch angle is identical to that of the rotor (θs = θr). A stator

### Lab 1 Uniform Motion - Graphing and Analyzing Motion

Lab 1 Uniform Motion - Graphing and Analyzing Motion Objectives: < To observe the distance-time relation for motion at constant velocity. < To make a straight line fit to the distance-time data. < To interpret

### Lab 9. Rotational Dynamics

Lab 9. Rotational Dynamics Goals To calculate the moment of inertia of two metal cylindrical masses from their measured dimensions and their distance from the axis of rotation. To use the principle of

### In this experiment, a motor-generator combination serves as a first-order system with a voltage input V in and a voltage output V out.

ME 360: FUNDAMENTALS OF SIGNAL PROCESSING, INSTRUMENTATION AND CONTROL Experiment No. 4 Modeling and Identification of an Electric Motor using Step Response Methods 1. CREDITS Originated: T-C. Tsao and

### Automatic Control Systems. -Lecture Note 15-

-Lecture Note 15- Modeling of Physical Systems 5 1/52 AC Motors AC Motors Classification i) Induction Motor (Asynchronous Motor) ii) Synchronous Motor 2/52 Advantages of AC Motors i) Cost-effective ii)

### DYNAMIC ANALYSIS OF DRIVE MECHANISM WITH FUNCTIONAL MODEL

DYNAMIC ANALYSIS OF DRIVE MECHANISM WITH FUNCTIONAL MODEL Yasunobu Uchino Department of Mechanical Engineering, Hosei University 3-7-2 Kajinocho, Koganei-shi, TOKYO, JAPAN Tatsuhito Aihara Department of

### M61 1 M61.1 PC COMPUTER ASSISTED DETERMINATION OF ANGULAR ACCELERATION USING TORQUE AND MOMENT OF INERTIA

M61 1 M61.1 PC COMPUTER ASSISTED DETERMINATION OF ANGULAR ACCELERATION USING TORQUE AND MOMENT OF INERTIA PRELAB: Before coming to the lab, you must write the Object and Theory sections of your lab report

### THE REACTION WHEEL PENDULUM

THE REACTION WHEEL PENDULUM By Ana Navarro Yu-Han Sun Final Report for ECE 486, Control Systems, Fall 2013 TA: Dan Soberal 16 December 2013 Thursday 3-6pm Contents 1. Introduction... 1 1.1 Sensors (Encoders)...

### Experiment P28: Conservation of Linear and Angular Momentum (Smart Pulley)

PASCO scientific Physics Lab Manual: P28-1 Experiment P28: Conservation of Linear and Angular Momentum (Smart Pulley) Concept Time SW Interface Macintosh File Windows File rotational motion 45 m 500 or

### Lab 08 Capacitors 2. Figure 2 Series RC circuit with SPDT switch to charge and discharge capacitor.

Lab 08: Capacitors Last edited March 5, 2018 Learning Objectives: 1. Understand the short-term and long-term behavior of circuits containing capacitors. 2. Understand the mathematical relationship between

### 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,

### Coupled Drive Apparatus Modelling and Simulation

University of Ljubljana Faculty of Electrical Engineering Victor Centellas Gil Coupled Drive Apparatus Modelling and Simulation Diploma thesis Menthor: prof. dr. Maja Atanasijević-Kunc Ljubljana, 2015

### UNIVERSITY OF WASHINGTON Department of Aeronautics and Astronautics

UNIVERSITY OF WASHINGTON Department of Aeronautics and Astronautics Modeling and Design of a DC Motor Control System February 21, 2003 Christopher Lum Travis Reisner Amanda Stephens Brian Hass 1 LAB EXPERIMENT

### 2002 Prentice Hall, Inc. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini Feedback Control of Dynamic Systems, 4e

u Figure 2.1 Cruise-control model x Friction force bx m x u Figure 2.2 Free-body diagram for cruise control S P 278 Figure 2.3 Automobile suspension y m 2 k s b v car x m 1 k w Road surface r Inertial

### 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

### 17-Nov-2015 PHYS MAXWELL WHEEL. To test the conservation of energy in a system with gravitational, translational and rotational energies.

Objective MAXWELL WHEEL To test the conservation of energy in a system with gravitational, translational and rotational energies. Introduction A wheel is suspended by two cords wrapped on its axis. After

### Lesson 17: Synchronous Machines

Lesson 17: Synchronous Machines ET 332b Ac Motors, Generators and Power Systems Lesson 17_et332b.pptx 1 Learning Objectives After this presentation you will be able to: Explain how synchronous machines

### 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

### Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink Environment

Mathematical Modeling and Dynamic Simulation of DC Motors using MATLAB/Simulink Environment K. Kalaiselvi 1, K.Abinaya 2, P. Ramesh Babu 3 1,2 Under Graduate Scholar, Department of EEE, Saranathan College

### Fig. 1-1 Current Flow in a Resistive load

1 Electric Circuits: Current flow in a resistive load flows either from (-) to () which is labeled below as Electron flow or the Conventional flow from () to (-). We will use conventional flow in this

### SECTION 3 BASIC AUTOMATIC CONTROLS UNIT 12 BASIC ELECTRICITY AND MAGNETISM

SECTION 3 BASIC AUTOMATIC CONTROLS UNIT 12 BASIC ELECTRICITY AND MAGNETISM Unit Objectives Describe the structure of an atom. Identify atoms with a positive charge and atoms with a negative charge. Explain

### 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

### 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

### DC motors. 1. Parallel (shunt) excited DC motor

DC motors 1. Parallel (shunt) excited DC motor A shunt excited DC motor s terminal voltage is 500 V. The armature resistance is 0,5 Ω, field resistance is 250 Ω. On a certain load it takes 20 A current

### SC125MS. Data Sheet and Instruction Manual. ! Warning! Salem Controls Inc. Stepper Motor Driver. Last Updated 12/14/2004

SC125MS Stepper Motor Driver Salem Controls Inc. Last Updated 12/14/2004! Warning! Stepper motors and drivers use high current and voltages capable of causing severe injury. Do not operate this product