This servo trainer is designed

specifically for the theoretical study

and practical investigation of basic
and advanced control engineering
principles.

It consists of…
CE110 Servo Trainer

+ CE2000 software
(Oscilloscope for CE110)

CE120 Controller (Multi-purposes)

 Electrical clutch –
*** Avoid running the Servo
Trainer at high speed for
prolonged periods
with the clutch engaged, as
this may cause excessive wear
of the gearbox.

CE 110 Servo Trainer

 Motor speed (RPM)

Motor sensor output (V)

Motor drive speed (V)

Load (V) Angle sensor output ( V )

Indicated angle ( º )
All volt readings are obtained from the Voltmeter on CE120
 Digital voltmeter

Function generator

Potentiometer
(Motor drive)
Summing block
(Error signal)
LABORATORY 2
 Experiment 2: Disturbance Cancellation

Disturbance Rejection Properties of Proportional plus Integral

Controllers

 Investigate the effect of the disturbance applied by the load

 generator on a proportional speed controller.
 Investigate the effect of the load generator upon a proportional
plus integral controller.
 Investigate the effect of without feed forward controller gain
upon the load disturbance rejection properties of the speed
control system.
Initial Controller Settings
CE110
- Clutch Disengaged
- Rear Access door firmly closed
- Largest Inertial load Installed (all discs)

CE120
- Potentiometer set to 6V
- PID Controller: Proportional Gain kp=1,
integral action switched out and
differential action switched out
-Function generator set to square wave,
freq=0.05Hz, offset=0V, level 1V DC
 Table for various Kp

With a proportional gain of kp=1 measure the error signal. Now

apply a 10V load demand on the generator input (do this by
making the dotted connection in Figure E5.3) and note the
new error signal. Record your results in Table T5.1.

Investigate the effect of the disturbance applied by the load generator on a

proportional speed controller.
 Table for various Kp and Ki. Kp=Ki

Kp=
Ki

and Ki

With a proportional gain of Kp=1 and Ki=1, measure the error

signal. Now apply a 10V load demand on the generator input (do
this by making the dotted connection in Figure E5.3) and
note the new error signal. Record your results in Table T5.1.
Repeat for Kp=Ki=4, 7 and 10

Investigate and observe the effect of the disturbance applied by the load generator
on a proportional speed controller from a chart recorder
Guidelines how to use Tecquipment
CE2000 Software:
1) Check the availability of the USB device
> Options > CE2000 > Make sure it ‘mark’ at USB device
2) Make sure the condition is Automatic mode
> Options > circuit > recording > automatic
3) On the window screen, connect the figure of process with
chart recorder (set the time base = 2 mm/base for chart
recorder) .
4) Then, you can record the data by click the record button.
* make sure you click the pause button on the screen after
you done for each value of Kp=Ki. Click the Stop button after
all values for Kp=Ki are done.
 Lab 2 Report
• Includes
-Procedure, findings and analysis

• Example for analysis:-

-Investigate the relationship between, ess and reference signal, yr and
proportional controller gain, Kp.
-Difference between theoretical and measured steady state error as yr
and Kp increased.
-IEEE format

• Attach together at the end of Lab report:-

-Lab Rubric Report evaluation

• Each student must submit one report independently, use standard Lab
report cover page and standard IEEE format.