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    Linear Control Systems Lab Manual: Closed Loop Position Controller

    Uploaded by

    Rohaan a.k.a Honey
    1) This lab experiment involves a closed loop position controller system where the position of an output potentiometer (P01) is fed back and compared to a reference position input potentiometer (P). 2) The error between the two potentiometer signals is amplified and used to drive a motor to reduce the error until the positions match. 3) The student measures the offset error angle between the positions at different gains, observing that the deadband reduces as the gain increases.

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    Linear Control Systems Lab Manual: Closed Loop Position Controller

    Uploaded by

    Rohaan a.k.a Honey
    36 views4 pages
    1) This lab experiment involves a closed loop position controller system where the position of an output potentiometer (P01) is fed back and compared to a reference position input potentiometer (P). 2) The error between the two potentiometer signals is amplified and used to drive a motor to reduce the error until the positions match. 3) The student measures the offset error angle between the positions at different gains, observing that the deadband reduces as the gain increases.

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    linear control

    Original Title

    lab 9

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    1) This lab experiment involves a closed loop position controller system where the position of an output potentiometer (P01) is fed back and compared to a reference position input potentiometer (P). 2) The error between the two potentiometer signals is amplified and used to drive a motor to reduce the error until the positions match. 3) The student measures the offset error angle between the positions at different gains, observing that the deadband reduces as the gain increases.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    36 views4 pages

    Linear Control Systems Lab Manual: Closed Loop Position Controller

    Uploaded by

    Rohaan a.k.a Honey
    1) This lab experiment involves a closed loop position controller system where the position of an output potentiometer (P01) is fed back and compared to a reference position input potentiometer (P). 2) The error between the two potentiometer signals is amplified and used to drive a motor to reduce the error until the positions match. 3) The student measures the offset error angle between the positions at different gains, observing that the deadband reduces as the gain increases.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
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    Linear Control Systems lab Manual

    Lab # 9

    Closed Loop Position Controller

    Name: Raja Rohaan Abdullah

    Semester: 6th

    Section: A

    Mis id: 30558

    Department of Electrical Engineering

    Submitted to: Engr. Saqib Riaz


    Introduction:
    In a closed loop position controller system, the positional information from an output
    potentiometer (P01) which is mechanically coupled to a motor is fed back 1, a control amplifier.
    Then, the reference position input from the input potentiometer (P) is combined with the
    feedback signal at the input of the amplifier which drives the motor in proportion to the
    difference between two signals.
    The Al is an error signal generator A2 is an error signal amplifier and A3 is the driver for the
    motor M. As p w turned away from P1 is turned away from Po the difference between two
    potentiometer voltages become an error signal which appears at the input of Al. The error signal
    is kith amplified through A2 and A3, and drives the motor in the direction to reduce error voltage
    between P1 and Po therefore P1 is turned off Po follows the same direction. This feedback action
    continues until the output of Al is reduced to zero. At this point, the voltage measured at P1, and
    Po, are same but in opposite polarity. For example, if P1 is at +3V, then Po is at -3V,
    Making the sum of two zero. 
    The final relative position between P1 and Po depends upon the gain of the amplifiers. For a
    large gain. the position of P. can be almost equal to the position of R. But when the gain is not
    sufficient, there can be an offset in the relative position. This offset is the "deadband" for a
    position controller.

    Procedure 
    1. Referring to Figure, arrange the Modules, including coupling of U-158 to U -161, and conned
    them together.
    2. Set U-152 switch to "a" and U-151 to 10" Turn the power of U-156 on. Set U-157 dial to 180
    degrees.
    3. Adjust U-153 to make the output of U-I54 zero. Once the adjustment is done, do not alter U-
    I53 setting.
    4. Set U-151 to "9" . Within ±20 degrees from the original 180 degree setting, turn U-157 either
    clockwise or counterclockwise, and see if U-158 follows the movement. U-158 motion should
    lag U-I57. In case U-158 leads U-I57, switch the wires of U-I61 motor. 
    5. Turn U-157 clockwise from 0 degree position by 10 degree increment up to 150 degrees.
    Measure the angle of U-158 at each position of U-157. Repeat the measurements with U-157
    turned counterclockwise. Calculate the offset error angle between U-157 and U-158 at each
    position. 
    6. Increase the system gain by setting U-I51 to 7, 5, 3 and 1. At each U-151 setting, repeat Step 5
    experiment. Observe the change in offset error angle as a function of the system gain. 
    7. Plot the results of Steps 5 and 6. Plot the relationships between system gain and deadband. 

    Circuit diagram
    Calculations:

    No Ɵi error Ɵo

    1 0 2.86 35

    U- 2 10 -0.03 25
    151 3 30 1.56 40
    at 9
    4 50 3.36 60

    5 70 3.03 80

    No Ɵi error Ɵo

    1 0 0.49 5

    At 2 10 0.35 10
    6 3 30 0.87 25

    4 50 0.57 45

    5 70 1.10 55

    Observation:
    The final relative position between P1 and Po depends upon the gain of the amplifiers. For a
    large gain. the position of P. can be almost equal to the position of R. But when the gain is not
    sufficient, there can be an offset in the relative position. This offset is the "deadband" for a
    position controller.

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