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    LCS Lab1

    Uploaded by

    Ethan Coyne
    This document describes an experiment on a remote position control servomechanism. The system includes [1] a summing amplifier, [2] a gain control potentiometer, [3] a drive motor, and [4] a tacho potentiometer. Proportional control results in instability above a certain gain setting and overshoot of 30% for a step input. Adding tachometric feedback reduces overshoot to 15% and settling time. Tachometric feedback works by using motor velocity feedback to provide derivative action, improving damping. Bandwidth is measured by applying a sinusoidal input and finding the maximum frequency where the output tracks the input. Faster scanning rates result in a distorted response waveform due to inertia and

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    LCS Lab1

    Uploaded by

    Ethan Coyne
    52 views6 pages
    This document describes an experiment on a remote position control servomechanism. The system includes [1] a summing amplifier, [2] a gain control potentiometer, [3] a drive motor, and [4] a tacho potentiometer. Proportional control results in instability above a certain gain setting and overshoot of 30% for a step input. Adding tachometric feedback reduces overshoot to 15% and settling time. Tachometric feedback works by using motor velocity feedback to provide derivative action, improving damping. Bandwidth is measured by applying a sinusoidal input and finding the maximum frequency where the output tracks the input. Faster scanning rates result in a distorted response waveform due to inertia and

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    19503383-LCS-Lab1

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    This document describes an experiment on a remote position control servomechanism. The system includes [1] a summing amplifier, [2] a gain control potentiometer, [3] a drive motor, and [4] a tacho potentiometer. Proportional control results in instability above a certain gain setting and overshoot of 30% for a step input. Adding tachometric feedback reduces overshoot to 15% and settling time. Tachometric feedback works by using motor velocity feedback to provide derivative action, improving damping. Bandwidth is measured by applying a sinusoidal input and finding the maximum frequency where the output tracks the input. Faster scanning rates result in a distorted response waveform due to inertia and

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    52 views6 pages

    LCS Lab1

    Uploaded by

    Ethan Coyne
    This document describes an experiment on a remote position control servomechanism. The system includes [1] a summing amplifier, [2] a gain control potentiometer, [3] a drive motor, and [4] a tacho potentiometer. Proportional control results in instability above a certain gain setting and overshoot of 30% for a step input. Adding tachometric feedback reduces overshoot to 15% and settling time. Tachometric feedback works by using motor velocity feedback to provide derivative action, improving damping. Bandwidth is measured by applying a sinusoidal input and finding the maximum frequency where the output tracks the input. Faster scanning rates result in a distorted response waveform due to inertia and

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    Laboratory 1

    LCS-1 R EMOTE P OSITION -C ONTROL


    S ERVOMECH ANISM
    Introduction

    The equipment set up is shown below in Figure 1 along with a block diagram
    representation in Figure 2.

    Figure 1 Remote position control servomechanism

    C(s)
    R(s) + E(s) M(s)
    Gctrl(s) Gplnt(s)
    _ −
    B(s)

    Hfbk(s)

    Figure 2 Block diagram of RPC servomechanism

    Identify which of the block diagram components each of the following circuit
    devices relates to:
     Summing amplifier:

    EE Dept., NUI Galway 1 Third Year Laboratories


     Gain control potentiometer:

     Drive motor:

     Tacho potentiometer:

    Write an expression for the closed-loop transfer function, C(s)/R(s):

    25.1 Proportional Control


    The system is connected as above and the tachometric feedback is initially set at zero.
    When tested, the system became unstable when the gain was raised to:

    K=

    With the gain reduced in accordance with the Ziegler-Nichols rule for proportional
    control, the following results were obtained for a step input of ϕc = 60 degrees:

    Gain setting =

    Dead band (estimate) = 5 degrees

    Overshoot (estimate) = 30%

    Given that the output settled ~ 2.5 s after application of the step input, sketch the system step-

    response below. Choose suitable ranges for time and angular position for the axes of your graph.

    Marks will be given for neat waveforms that include good attention to detail on axes markers, etc.

    ϕc, o

    time, s

    Figure 3 Step response with proportional control

    EE Dept., NUI Galway 2 Third Year Laboratories


    25.2 Proportional with Tachometric Feedback
    The following results were obtained for a step input of ϕc = 60 degrees with the gain and
    velocity feedback settings adjusted to give fast response with minimal overshoot.

    Gain setting =

    Velocity feedback =

    Dead band = 2.5 degrees

    Overshoot = 15%

    Given that the output settled approximately 1 s after application of the step, sketch the
    step response below. Use hte same range of values as used in Figure 3 so that the
    waveforms can be easily compared.

    ϕc, o

    time, s
    Figure 4 Step response with tachometric feedback

    Explain your understanding of how tachometric/derivative feedback works in terms of the


    mathematical definition of derivative action. Include a diagram/figure to help your
    explanation.

    EE Dept., NUI Galway 3 Third Year Laboratories


    25.3 Bandwidth
    Explain how to measure the bandwidth of a system using sinusoidal test signals:

    EE Dept., NUI Galway 4 Third Year Laboratories


    Retaining the settings of part 2 the manual input was replaced with a sinusoidal
    reference input from a low-frequency signal generator and the bandwidth of the servo
    was measured as:

    Bandwidth = Hz

    25.4 Use as Scanner


    Retaining previous controller settings, the signal generator was used to command
    repeated forward and backward linear scans between ±30° at a rate of one cycle per
    second.

    Add a sketch to the plot in Figure 25.5 below showing the nature of the response
    waveshape relative to the command signal. Mark values of angular position and time
    on the axes:

    Figure 5. Expected scanner response

    Explain the differences between the command and response waveshapes in Figure
    25.5:

    EE Dept., NUI Galway 5 Third Year Laboratories


    Explain why the waveshape of the response signal changes so much when the repetition

    rate of scanning increases:

    EE Dept., NUI Galway 6 Third Year Laboratories

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