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Actuator
K
Controlled
Variable
G(s)
Output O/P
The output magnitude depends on the magnitude of the reference input signal but the actual output
magnitude for a particular input may not remain constant but may vary due to changes within or
exterior to the system.
For example, in a simple room heating application, a heater set for a certain output will result in a
certain room temperature. The actual temperature will depend on the ambient temperature outside
the room and also whether the doors and windows are open or closed.
The accuracy of open loop system depends on calibration. In the presence of disturbances, an openloop system will not perform the desired task. Open-loop can be used, in practice, only if the
relationship between the input and output is well known and if there are neither internal nor external
disturbances.
Generally actuator and controlled variable given in Figure 1 have gains. To achieve desired
behaviour, a controller with a dynamic Gc(s) needs to be designed to achieve the desired output.
Figure 2 shows the open loop system block diagram when a controller needs to be designed where
G p (s) KG(s )
(1)
Exp.5:1
R(s)
Gc(s)
Reference
U(s)
Controller
Y(s)
Gp(s)
Output
Plant
Error
Detector
Actuator
K
Feedback signal
Controlled
Variable
G(s)
Output O/P
Sensor
H(s)
The system thus tends to maintain a constant output magnitude for a fixed magnitude input reference
signal. The feedback signal is effectively subtracted from the reference signal input to obtain the
error signal and hence the system is referred to as a negative feedback system. Figure 4 shows the
closed system block diagram when a controller needs to be designed to minimize the error signal
E(s) to have desired output.
R(s)
E(s)
U(s)
Gc(s)
Controller
Gp(s)
Y(s)
Plant
H(s)
Sensor (Measurement)
Figure 4: Closed loop control system.
Exp.5:2
The closed loop control system in Figure 4 has following transfer function, T(s), and output, Y(s);
Gc ( s )G p ( s)
Y ( s)
(6)
T (s)
R ( s) 1 Gc ( s )G p ( s) H ( s)
Gc ( s)G p ( s)
(7)
R( s)
1 Gc ( s)G p ( s ) H ( s )
One of the advantage of the closed loop control system is to make the system response relatively
insensitive to external disturbances and internal variations in system parameters, Gp(s). Assume
controller and sensor in Figure 4 have Gc(s) = H(s) = 1 and assume the change in the system Gp(s)
has Gp(s)>> Gp(s) then the system output of the closed loop control system is:
G p ( s ) G p ( s )
(8)
Y ( s ) Y ( s )
R(s )
1 G p ( s ) G p ( s)
where Gp(s)>> Gp(s). The change appears in closed loop system is
G p ( s)
(9)
Y ( s )
R(s )
1 G p ( s ) G p ( s )
Comparing the change appears in open loop system given in (5) is relatively small.
Y (s)
Another advantage of closed loop system is the time constant of the system can be changed by the
gain of feedback. Consider closed loop system shown in Figure 5 where K is the gain of the
controller and is the gain of the feedback sensor and both are positive constants. Assume the plant
transfer function has
1
(10)
G p ( s)
Ts 1
where T is the time constant.
R(s)
E(s)
U(s)
K
P Controller
Gp(s)
Y(s)
Plant
1 K
1
T
R ( s ) 1 K G p ( s )
1 K
1
s 1
Ts 1
1 K
(11)
The system transfer function of closed loop control system given in Figure 4 is
Gc ( s )G p ( s)
Y ( s)
T (s)
R ( s) 1 Gc ( s )G p ( s) H ( s )
and its sensitivity to the plant, Gp(s) parameter variation is
T ( s ) / T ( s )
S GT
G ( s ) / G p ( s )
In the limit, for small incremental change, Equation (13) becomes
T ( s ) / T ( s )
T ( s ) G p ( s )
ln T ( s)
S GT
G ( s ) / G p ( s ) G p ( s ) T ( s )
ln G p ( s)
(12)
(13)
(14)
R ( s) 1 Gc ( s )G p ( s) H ( s ) ( s 1)(s 2)(s 3) K
The characteristic equation of closed loop system in Figures 4 is
K
(19-a)
P( s ) 1 Gc ( s )G ( s) H ( s ) 1
0
( s 1)( s 2)( s 3)
or
P ( s ) ( s 1)( s 2)( s 3) K 0
(19-b)
Exp.5:4
Since the root of the characteristic equation is function of K and the closed loop system stability is
depend on K.
The root locus of the characteristic equation is depicted in Figure 6 where arrow indicates the
direction of the root loci when the gain K is increased from K=0. The roots start at s1=-1, s2=-2 and
s3=-3 for K=0. Thus the root locus of the characteristic equation of the closed loop system is a
function of K in the complex s = j plane. The system transfer function poles (the roots of the
characteristic equation) are indicted with bold lines. Two roots move toward each other between
s1=-1 and s2=-2 for 0 <K K1 and beak away and move to cross imaginary exes of the complex s at
K=Kc.
j
Locus of s1
Kc
K=0
K
Locus of s3
K1
s3=-3
s2=-2
s1=-1
Locus of s2
Kc
K
Figure 6: Root locus of the characteristic equation of the closed loop system.
Since the all poles of the closed loop are located in the left half s plane for 0<K<Kc the system is stable and it
is unstable for Kc K . However Kc cannot be observed experimentally since system output or system
states practically saturated before K reach K c. The closed loop behaviour of the system is also depended to the
values of K such that:
For 0 K K1 closed loop system is stable and exhibits first order behaviour.
For K 1 K K c closed loop system is stable and exhibits second order behaviour.
2.7. Pre-Lab Questions to be solved and submitted BEFORE the lab:
Q. 2.3: Consider closed loop system given in Figure 4 with the blocks given in (16). Find K1 and Kc
depicted in Figure 6.
3. Experimental Setting
In order to see characteristics and properties of open and closed loop control systems here a DC
motor position control is experimentally studied.
3.1 Open Loop Control of DC Motor Position
The block diagram of the experiment setup and the experiment setup are respectively given in
Figure 7 (a) and (b). Before connecting the experiment circuit shown in Figure 7 adjust off-set of
Exp.5:5
both amp #1 and amp #2 of DIGIAC 1750 set and set it to zero.
R(s)
Gc(s)
Reference
U(s)
Y(s)
Gp(s)
Output
Plant
Controller
(a)
+5V
+5V
Y(s)
U(s)
Amp #1
Plant
Pow. Amp.
DC Motor
-5V
-5V
r
Reference
Gc(s)=Kc
Controller
Gp(s), Plant
y, Output
(b)
Figure 7: (a) Block diagram and (b) the experiment setup for open loop control of DC motor position.
Connect the circuit as shown in Figure 7 (b). Connect a voltmeter to output reference r and another
voltmeter to the potentiometer output to set 0 Volts (R(s) = 0 and Y(s) = 0)
Do the following for values of amp #1 fine gain 1, 10 and finally 100.
Put your finger on the HALL EFFECT sensor to move motor mill to have clockwise +60 position
and counter clockwise -60position and read Y(s) from the voltmeter.
While realising your finger from HALL EFFECT sensor observe the potentiometer movements. Read
both voltages from the voltmeters connected R(s) and Y(s).
Answer the following equations for each case when amp #1 fine gain set at 1, 10 and at 100.
EQ. 3.1: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 1?
If not, read Y(s) from the voltmeter.
EQ. 3.2: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 10?
If not, read Y(s) from the voltmeter.
EQ. 3.3: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 100?
If not, read Y(s) from the voltmeter.
EQ. 3.4: Compare the results of EQ. 3.1, EQ. 3.2, and EQ. 3.3.
Do the results matched with your pre expectations? Write your contribution.
3.2 Closed Loop Control of DC Motor Position
The block diagram of the experiment setup and the experiment setup are respectively given in
Figure 8 (a) and (b). Connect the experiment circuit shown in Figure 8. Again connect a voltmeter to
output reference r and a voltmeter to the potentiometer output.
Exp.5:6
R(s)
E(s)
Gc(s)
Controller
U(s)
Gp(s)
Y(s)
Plant
H(s)
Sensor (Measurement)
(a)
+5V
+5V
Y(s)
U(s)
Plant
B
-5V
Int.
Amp.
r
Reference
Amp #1
Gc(s)=Kc
Controller
Pow.
Amp.
DC Motor
Gp(s), Plant
-5V
y, Output
(b)
Figure 8: (a) Block diagram and (b) the experiment setup for closed loop control of DC motor
position.
Do the following step (that just done for open loop system) for the amp #1 fine gain set at 1, 10 and
finally set at 100.
Put your finger on the HALL EFFECT sensor to move motor mill to have clockwise +600 positions
and counter clockwise -600 positions and read Y(s) from the voltmeter.
While realising your finger from HALL EFFECT sensor observe the potentiometer movements.
Read R(s) and Y(s) from the voltmeters.
Answer the following equations for each case (amp #1 fine gain set 1, 10 and 100)
EQ. 3.5: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 1?
If not, read Y(s) from the voltmeter.
EQ. 3.6: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 10?
If not, read Y(s) from the voltmeter.
EQ. 3.7: Does the motor position finally move back to =0/3600 position (Y(s) = 0) for amp #1 fine
gain at 100?
If not, read Y(s) from the voltmeter.
EQ. 3.8: Compare the results of EQ. 3.5, EQ. 3.6, and EQ. 3.7.
Do the results matched with your pre expectations? Write your contribution.
EQ. 3.9: Compare the results of EQ. 3.4 with EQ. 3.8.
Write your contribution and explain the differences explicitly.
Exp.5:7
x1
x
2
1 x
0
1 1 0u , y K Tm
0 T x2 1
Tm
m
x
0 1
x2
(20)
where the motor constant gain constant is KTm=3.5 Ncm/A and motor time constant is Tm=19.6 ms.
Obtain the transfer function of the motor. Study how the system time constant changed with root
locus curve of the system for amp #1 amplitudes set at K=20, 50, 80, and 100. Discuss to experiment
results accordingly for Figures 7 and 8. What do you expect?
EQ. 3.10: Obtain the transfer function of the DC motor model given in (20).
EQ. 3.9: Consider the unit feedback system given in Figure 8 with the transfer function obtained in
EQ.3.10. Sketch the root locus of the system Gc(s)=K.
4. Lab report
The report should log the results from the experiment with your own interpretations, observations
and conclusions.
Your report should contain:
The answers all questions in the manual.
Model both system given in Figures 7 and 8 with MATLAB and plot the root locus of their
characteristic equation. Compare the results with experimental results obtained. Write your
contribution.
The report must be type-written. Unless otherwise stated, no question should require more than one
page to answer.
Exp.5:8