1/10

American International University Bangladesh (AIUB) EEE 4101: Control Systems Laboratory Experiment # 2: Open-Loop and Closed-Loop Speed Control of a DC Motor. Objectives: 1. To control the speed of a dc motor at no-load. 2. 3. 4. 5. To measure the steady-state open-loop gain of a control system. To observe the dead-band of a control system. To discover the amplifier saturation effects on system gain. To understand the principle of an error detector.

6. To compare the behavior of a dc motor using closed-loop versus open-loop speed control. Open Loop Control of a DC Motor: Consider the simple control system shown in Fig. 1 to vary the speed of a dc motor. It consists of a potentiometer P, a power amplifier A, a dc motor M and a tachometer G. The motor is geared down to drive an output shaft at low speed. The potentiometer connected to the REFERENCE supply enables us to vary voltage V1. This is the input signal to power amplifier A. A change in V1 will produce a change in the armature voltage Va. Our knowledge of dc motors tells us that the speed increases with an increase in armature voltage. Furthermore, the dc tachometer acts as a transducer because it gives a voltage V2 that is directly proportional to speed. Consequently, an increase in V1 produces an increase in V2. The question we now ask is what relationship exists in the ratio V2/V1 as V1 increases from zero to +10V? Does this ratio (called system gain) depend on the value of V1, or is it constant?

Vc

+ 15 V

- 15 V

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

2/10

Let us first set the gain of amplifier A so that it is equal to 1. Consequently, Va will be exactly equal to V1. On the other hand, if the gain of amplifier A is set at 5, then Va will normally be 5 times as large as V1. However, the motor speed, and hence V2, depends on Va. As a result, the ratio V2/V1 (the system gain) will depend upon the gain (1 or 5) of the amplifier. In the system shown in Fig. 1, V1 is the control signal and also called input signal. Voltage V2 is the output signal, which is direct measure of motor speed. It is also a direct measure of the geared-down shaft speed. The ratio between the control signal and the output signal is called the gain of the system. More precisely, it is called the open-loop gain G of the system. It is called open-loop because the output signal V2 does not in any way affect the input signal V1. In the following exercise, we shall determine the system gain when the amplifier gain equals 1. We then determine the system gain when the amplifier gain is 5. In this latter case, the amplifier begins to saturate for rather small values of V1. When this happens, voltage Va reaches a maximum of about 15V and remains there, even for higher values of V1. Because Va reaches the saturation level of 15V, it follows that the motor speed remains the same. Consequently, V2 also remains constant. With an amplifier gain of 5, the expected relationship between V1 and V2 is shown in Fig. 2.

Equipment Required: 1. Enclosure/Power Supply 8846 2. Connections Leads and Accessories 8944 3. 4. 5. 6. Potentiometer 9036 Power Amplifier/Phase Shifter 9039 DC Motor/Generator 9318 Multimeter

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

3/10

Procedure: A. 1. Connect the dc motor, power amplifier and potentiometer as shown in the schematic circuit diagram of Fig. 1. 2. Select the dc amplifier made and set the amplifier gain equal to 1. B. When the control signal V1 is very small, the resulting voltage Va may not be enough to cause the motor to turn, due to the friction of the bearings. In this experiment, we shall determine the range of voltage V1 over which the motor does not turn. a) Set V1=0 so that the motor does not turn. Then gradually increase V1 (positively) and record the critical positive voltage when motor starts turning. The approximate critical positive voltage is V1(crit +)= ______________ V b) Reset V1=0 and gradually increase V1 (negatively) and record the critical negative voltage when the motor starts turning. The approximate critical negative voltage is V1(crit -)= ______________ V The so called dead-band of the control system ranges from the critical negative voltage to the critical positive voltage V. This dead-band is a highly non-linear portion of the control system. If time permits, do parts C and D. C. a) Adjust the amplifier gain to 5. This will increase the overall system gain by a factor of 5. Observe what effect this has on the input-output (V2 V1) characteristics, and upon the width of the dead-band. D. a) Repeat procedure 2 to measure the dead-band, but with the amplifier gain equal to 5. Determine the critical positive and negative voltages that cause the motor to start running. b) Critical positive voltage is V1(crit +) = ______________ V c) Critical negative voltage is V1(crit -) = ______________ V d) The dead-band range is between V1 = ______________V and V2 = ____________ V Note that the dead-band is much smaller than with a gain of 1.

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

4/10

Error Detector: A device that is able to add and subtract signals and give a resulting output signal is called an error detector. The error detector in your servomechanism trainer has four terminals and one (unseen) ground terminal. The ground is common to all four terminals. Consequently, all signals are measured between the respective terminals and ground.

The schematic diagram of the detector is shown in Fig. 3. The input signals are e1, e2, e3 and the resulting output voltage is V1. The positive and negative symbols on the error detector tell us whether the signals are added or subtracted by the detector. Thus, to Fig. 3, the output is given by V1 = +e1 e2 e3. We can get a better idea of how signals add and subtract by referring to Fig. 4. The signals produced from three DC sources. According to their polarities, you can see that e1=+10V, e2=+3V and e3=6V. Therefore, the output voltage is V1 = +e1 e2 e3 = +(+10V) (+3V) (3V) = +13V

Vc V2
+ 15 V

V1
- 15 V

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

5/10

The (+) sign in +13V means that terminal V1 is positive with respect to ground. The error detector can simultaneously accept both ac and dc input signals. This will be discussed in AC Servo. Fig. 5 shows the open-loop circuit to control a dc motor. The error detector uses only one input signal VC, therefore VC = V1. The open-loop gain G=V2/V1 was previously determined for various conditions of no-load, full-load and other disturbances. You will recall that the gain varied from about 2.5 to 1.5 depending upon the nature of the disturbance. The speed changed drastically even when the input control voltage V1 (=VC) was held constant. Fig. 6 is identical to Fig. 5 except that the output signal V2 is fed back to the error detector. The connections are made so that V1= V1 V2. This produces a negative feedback. In order to obtain the same speed in Fig. 6 as in Fig. 5, we must increase the value of V1. For example, in Fig. 5, V1 = 2V and V2 = 6V. Obviously, VC is equal to V1 and so VC = 2V.

Vc
+ 15 V

V2

V1
- 15 V

Because we want the motor to turn at the same speed in Fig. 6 as in Fig. 5, V2 is still 6V. Since the amplifier gain has not been changed, V1 = 2V. Therefore, VC = V1 + V2 = 2 + 6 = 8V. This means that the control signal VC has to be raised to 8V in Fig. 6, as compared to 2V in Fig. 5. In the following experiment you will discover that the closedloop gain V2/V1 is much more constant than the open-loop disturbance is introduced. The closed-loop gain is designated by the symbol H and H = V2/VC. The closed-loop gain H tends to become even more constant (in the face of a disturbance) if we increase the open-loop gain G. In the following experiment you will note the effect of increased open-loop gain on closed-loop performance. A higher open-loop gain will keep the motor speed much more constant (in closed-loop) for a given disturbance.

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

6/10

Equipment Required: 1. Enclosure/Power Supply 8846 2. Connections Leads and Accessories 8944 3. 4. 5. 6. Potentiometer 9036 Power Amplifier/Phase Shifter 9039 DC Motor/Generator 9318 Error Detector 9037

Procedure: A. a) Place the friction lever in the zero position. Make sure the inertia wheel is not mounted on the shaft. Adjust the amplifier gain to 1. b) Adjust the potentiometer so that VC = 0 V initially and then Vc increments by 1 V. Measure the value of V1. V1 = _________ V. Is V1 = VC? c) Measure the value of V2. V2 = __________V. Record values of Vc V1, upper and lower values of V2 (since V2 fluctuates), gain and a percent measure of V2 fluctuation. Take values for both clockwise and counter-clockwise rotation of the motor. Note that, V2 fluctuation = 100* [V2 (upper) V2 (lower)] / V2 (lower). Gain = V2 (average)/ Vc. Also, measure rpm and regulation for one set of data. Note: If V2 fluctuates, indicate its upper and lower values. The speed may vary up and down, because the friction is not constant from one place to another during a complete revolution of the belt.

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

7/10

Complete the following table. TABLE 1 Vc V1 V2 V2 (upper) (lower) V2 (average) Gain V2 fluctuation No-Load Full-Load Speed* Speed* Regulation*

0 0.5 1 1.5 2 2.5 -0.5 -1 -1.5 -2 -2.5

0 0.5 1 1.5 2 2.5 -0.5 -1 -1.5 -2 -2.5 * Measure rpm and regulation for only one set of data. If time is constrained, take data for only the positive values of Vc and V1 (for Table 1). d) Measure the no-load speed of the output shaft for V1 = +2 V by counting the number of turns in one minute. No-load speed = ____________ r/min. e) Without changing the setting of VC, move the friction lever down to the 10 position. Record the new value of V2. If V2 fluctuates, indicate the upper and lower values. V2 = __________ V. f) Measure the full-load speed by counting turns (Friction lever in position 10). Full-load speed = _____________ r/min. g) Calculate the speed regulation in percent using the following equation: Speed Regulation = (no load speed full load speed) 100% / full load speed. Speed regulation = ___________%. h) Plot V2 (average) versus Vc (or V1).

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

8/10

B. (I) a) Connect a wire (feedback loop) from the generator output V2 to the error detector as shown in Fig. 6. This provides the required negative feedback. Place the friction lever in the zero position. Make sure the inertia wheel is not mounted on the shaft. Adjust the amplifier gain to 1. b) Adjust VC so that the speed is the same value as in step A(c). You can easily do this by making V1 or V2 the same as in step A (c). c) Measure VC, V1 and V2. VC = _________ V, V1 = ___________ V, V2 = ___________ V. Complete the following table. TABLE 2 Vc V1 V2 V2 V2 (average) Gain V2 fluctuation No-Load Speed* Full-Load Speed* Regulation* (upper) (lower)

0 0.5 1 1.5 2 2.5 -0.5 -1 -1.5 -2 -2.5 * Measure rpm and regulation for only one set of data. If time is constrained, take data for only the positive values of Vc and V1 (for Table 1). d) Measure the no-load speed of the output shaft for V1 = +2 V by counting turns. Full-load speed = __________ r/min. e) Without making any other change, bring the friction lever down to the 10 mark. Then measure VC, V1 and V2. VC = _________ V, V1 = _________ V, V2 = __________ V. f) Measure the speed by counting turns. Full-load speed = __________ r/min. Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi
8

9/10

g) Calculate the speed regulation in percent using the following equation: Speed Regulation = (no load speed full load speed) 100% / full load speed. Speed regulation = ___________%. h) Plot V2 (average) versus Vc (or V1). Is speed regulation better in part B (I) as compared to part A? Also compare V2 fluctuations and V2 (avg) vs. V1 plots for part A and part B (I). Does the transition from open-loop to closed-loop improve these performance parameters? B. (II) a) Place the friction lever in the zero position. Make sure the inertia wheel is not mounted on the shaft. Keeping the feedback connection, adjust the amplifier gain to 5. b) Complete the steps (b) through (h) just like part B (I). TABLE 3 Vc V1 V2 V2 (upper) (lower) V2 (average) Gain V2 fluctuation No-Load Speed* Full-Load Speed* Regulation*

0 0.5 1 1.5 2 2.5 -0.5 -1 -1.5 -2 -2.5 * Measure rpm and regulation for only one set of data. If time is constrained, take data for only the positive values of Vc and V1 (for Table 1).

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

10/10

c) Measure the no-load speed of the output shaft for V1 = +2 V by counting turns. Full-load speed = __________ r/min. d) Without making any other change, bring the friction lever down to the 10 mark. Then measure VC, V1 and V2. VC = _________ V, V1 = _________ V, V2 = __________ V. e) Measure the speed by counting turns. Full-load speed = __________ r/min. f) Calculate the speed regulation in percent using the following equation: Speed Regulation = (no load speed full load speed) 100% / full load speed. Speed regulation = ___________%. h) Plot V2 (average) versus Vc (or V1). Is speed regulation better in part B (II) as compared to part B (I)? Also compare V2 fluctuations and V2 (avg) vs. V1 plots for part B (I) and part B (II). Does increasing open loop gain improve these performance parameters? C. Note that the speed regulation is now much better than in the open-loop condition. You may also have noticed that V2 does not fluctuate as much as it did before. The speed is therefore more uniform in closed-loop operation. Report: 1. Submit the report with all graphs and questions asked during laboratory experiments. 2. Compare open-loop and closed-loop control systems with respect to your experimental data. 3. Compare closed-loop control systems with Gain = 1 and the same system with Gain = 5 with respect to your experimental data.

Prepared by Rinku Basak Updated by Shahriyar Masud Rizvi

10