Cycle 2 , Experiment 4

DC Modular Servo System

Submitted By​​:- (​GRP. 3B​)

Anubhav Bhatia 2016EE10835
Rahul Meena 2016EE10480
Ritwik 2016EE10432
Arpit Singh

Objectives:​​-
● Studying the operating characteristics of Pre Amplifier.
● Constructing and operating a simple speed control system.
● Observing the response of a position control system to a step input.
● Investigate the effect of gain on deadband and step response.
● Observe the effect of added inertia on step response.
● Observe overshooting and how to observe how it can be reduced by using
brakes.
● Recognize the term ‘velocity feedback’ and see how it affects the performance of a
position control system.
Theory -

1) Closed Loop Position Control Systems

A) Pre Amplifier:-

Pre Amplifier (PA150C) has two input and two outputs. If there is a positive voltage on
one of the inputs then one of its output become positive. while if one of the output
become negative, other will become positive.

B) Simple Motor driven Closed loop position control system:-

The error signal output of opAmp is being utilized to drive output potentiometer via
preamplifier and motor
2) Simple Speed Control System:-

Here a closed loop system is being deployed where actual speed is compared to the
required speed. This produces an error signal to actuate the servo amplifier output so
that the motor drives at a more constant speed

3) Dead Band and Step Response:-

Dead band is the minimum input required to get a response.
By knowing the error factor we can relate the signal input to the degree of misalignment
that occur before there is a corrective response by the system.
Increasing gain will reduce the input needed to get an output effect and hence also
deadband.
4) Velocity Feedback:-
In a position speed control system while increased gain decreases deadband but it
increases overshoot leading to instability.

The problem of overshoot arises due to motor’s speed carrying it past the point of
alignment , higher the gain higher will be the motor response so that above a certain gain
system never align. As a first step to reduce overshoot , magnetic brakes are used.

Observations -

Characterstics of the Pre-Amplifiers:-

Input Signal Vo(3) (V) Vo(4) (V) Vo(4-3) (V)

0 0.938 1.374 0.436
0.089 1.416 0.933 0.483
0.21 2.675 0.933 1.742
0.313 3.779 0.933 2.846
0.442 5.12 0.933 4.187
0.541 6.13 0.933 5.197
0.667 7.45 0.933 6.517
0.776 8.82 0.933 7.887
0.945 10.35 0.933 9.417
1.037 11.32 0.933 10.387
1.1 12.43 0.933 11.497
1.156 13.52 0.933 12.587
1.265 13.72 0.933 12.787
1.56 13.72 0.933 12.787
1.675 13.69 0.933 12.757
-0.04 0.937 1.798 -0.861
-0.081 0.937 2.217 -1.28
-0.103 0.937 2.452 -1.515
 -0.144 0.937 2.872 -1.935
-0.177 0.937 3.181 -2.244
-0.236 0.937 3.831 -2.894
-0.306 0.937 4.086 -3.149
-0.401 0.937 5.04 -4.103
-0.5 0.937 6.1 -5.163
-0.605 0.937 7.19 -6.253
-0.706 0.937 8.21 -7.273
-0.803 0.937 9.25 -8.313
-0.901 0.937 10.29 -9.353
-1.04 0.937 11.78 -10.843
-1.14 0.937 12.78 -11.843
-1.208 0.937 13.47 -12.533
-1.249 0.937 13.56 -12.623
-1.312 0.937 13.47 -12.533
-1.418 0.937 13.54 -12.603

A simple Motor Driven Closed-loop Position Control System:-

Required (deg) Actual (deg) Misalignment (deg)

230 200 30
290 220 70
170 135 35
90 50 40
120 75 45
200 205 -5
Simple Closed-loop Speed Control System:-

Reference (V) Tachogenerator (V) Error (V) Speed (rpm)

-1.722 1.5 0.412 540
-2.709 2.23 0.638 820
-3.723 3.04 0.887 1100
-5.08 4.02 1.206 1480
-7.08 4.77 2.44 1760

Effect of Load on Speed( gain = 1 )

Brake Position Ref Voltage (V) Error (V) Tachogenerato Speed (rpm)
(deg) r (V)

0 -1.94 0.825 2.749 1000

1 -1.95 0.827 2.69 990

2 -1.95 0.937 2.66 950

3 -1.97 0.97 2.56 930

5 -1.98 1.12 2.51 900

7 -1.98 1.24 2.39 830

9 -1.98 1.43 2.09 740

10 -1.98 1.693 1.86 680

Effect of Load on Speed( gain = 5 ​)

Brake Position Ref Voltage (V) Error (V) Tachogenerato Speed (rpm)
(deg) r (V)

0 -4.1 10.28 5.48 2000

3 -4.11 10.38 4.65 1780

6 -4.11 10.727 3.46 1240

10 -4.14 10.83 1.8 760

PLOTS:-
S​​imple Reversible Speed Control System:-

Minimum signal needed for motor response

Forward (mV) Reverse (mV)

119 54.2

Forward
Brake Tachogenerator Reference Speed
Position (V) (V) Error (V) (rpm)
0 2.74 2.806 0.943 1000
3 2.79 2.797 0.943 980
5 2.7 2.794 0.943 980
7 2.69 2.788 0.943 970
9 2.68 2.79 0.943 970
Reverse
Brake Tachogenerator Reference Speed
Position (V) (V) Error (V) (rpm)
0 2.83 2.89 1.715 1020
3 2.83 2.89 1.73 1020
5 2.7 2.886 1.86 1010
7 2.81 2.85 2.01 1000
9 2.8 2.897 2.097 1000
E​​ffects of Magnetic Brake on Overshoot

No.of Overshoots
GAIN BRAKE POSITION
0 2 5 10
2 3 5 4 2
5 3 3 4 4
10 3 3 3 6

Effects of Velocity Feedback on a Position Control System:-

No.of Overshoots
GAIN VELOCITY FEEDBACK
2 5 10
1 4 2 1
2 13 4 2
5 28 7 3
10 - 10 3

‘-’ represents the case when the oscillations were taking too long to die down
Pictures of Oscilloscope:-
Conclusion:-

First we looked at characteristics of Pre Amplifier (PA150C which had two input and two
outputs). It was noticed that there was inbuilt offset i.e zero input value had non zero
voltage across outputs which we eliminated using the ‘zero set’ control in pre amplifier.
Also the nonlinear part in curve were due to pre amplifier circuit limiting near supply line
voltage.
Next Tachogenerator was introduced to investigate the closed loop speed control system.
The error signal produced when actual speed is compared to required speed, actuated the
servo amplifier output so that the motor maintains more a constant speed.
Also increase of gain value will cause decrement in speed value to cause larger increase in
value of error.
Increasing gain will reduce the input needed to get an output effect and hence also
deadband.
Finally we reduced overshoot using magnetic brakes which had the effect if applying
loading proportional to the speed.