PHILADELPHIA UNIVERSITY

Faculty of Engineering
and Technology
Department of Mechatronics
Engineering

Lab Name:
( Control Lab )

Experiment Name:
Acceleration and Deceleration Control

Experiment # ( 2 )

Submitted by:

Students name ID number

Nouraldin bin khadra 201620446

Submitted to :
Eng. Wala Araydah
Objective

 To remove the Jerky Motion.

 To learn more about the Oscilloscope.

Theory

We use RC Circuit to generate Ramp wave, So the ramp will remove the
Jerky motion.

Smooth variation is achieved by using a ramp generatorthat converts the

rapid transitions in the valve control voltage into ramps with slopesm1
and m2.
Equipment

1- Ramp generator.
2- Oscilloscope.
3- SETPOINT potentiometers.
4- DMM
5- Compressor.
6- Servo control valves.

Data & Analysis

We control two main parts with acceleration and deceleration

1- Positive area (10 V – 0 V)

2- Negative area (0 V – (-10) V)

Controlled the rate of change of positive ( + ) voltages :

 FIGURE 1: POSITIVE AREA IN MINIMUM TIME

∆ T = 0.5 s

∆y
If ∆ y = 10V slope = ∆ x

FIGURE 2 :POSITIVE AREA IN MAXUMIM TIME

∆ T = 3.1 s

∆y
If ∆ y = 10V slope = ∆ x

Controlled the rate of change of positive ( - ) voltages :

FIGURE 3 : NEGATIVE PART IN MINIMUM TIME

∆ T = 0.5 s

∆y
If ∆ y = 10V slope = ∆ x
 FIGURE 4 : NEGATIVE PART IN MAXUMIM TIME

∆ T = 3.1 s

∆y
If ∆ y = 10V slope = ∆ x

cylinder with spring working in the experiment :

 When spring on minimum >> was very fast

because the time was very small.

 When spring on maximum >> was very slow because the

time was very high.

 We connected RC circuit and put the value of R smallthe

step input was very fast. And when we put the value of R
high the step input was very slow.
 Discussion
 Part (1):

 Q1. While monitoring the RAMP GENERATOR output

voltage, select the SETPOINT potentiometer 1. Does it
take about 3 s for the voltage to reach 10.0 V? Explain.

 - Yes it did, because of the ramp was set at maximum and
the slope was low which gives the definition of
acceleration.

 Q2. While monitoring the RAMP GENERATOR output

voltage, select the SETPOINT potentiometer 2. Does it
take about 3 s for the voltage to return to 0.0 V? Explain.

-Yes it did, because of the deceleration effect which goes

from maximum to minimum slowly until it reach 0v.

 Q3. Set the RAMP GENERATOR potentiometer 1 to

MIN. Alternately select the SETPOINT potentiometers 1
and 2 to observe the effect of decreasing the ramp time on
the RAMP GENERATOR output voltage. Record your
observations.

- The change is instant between the 2 SET POINTS.

 Q4. Alternately select the SETPOINT potentiometers 1

and 2 and observe what happens to the RAMP
GENERATOR output voltage. Try various settings for the
RAMP GENERATOR potentiometer 2 and record your
observations.
 - The change in SET POINT between 1 and 2 we see in
part (1) figure4,5,6, when the negative ramp generator
decreases from maximum to minimum, the rise of voltage
from 0 V to 10 V or vice versa becomes faster.
 Part (2):

 Q1. Why do conventional on/off switching directional

control valves often result in a jerky motion of the
actuator and load?

 - Because it happen instantaneous which give indicate of

step response.

 Q2. How is smooth shifting of a valve achieved?

 - When the ramp generator at minimum, the piston moves

faster and moves much smoother.

 Q3. What happens to the acceleration and deceleration

rates of a pneumatic actuator when the slope of the control
voltage applied to a servo control valve is increased?

- When the slope increases when it at maximum, the rate

at which the servo control valve moves the piston
decreases.
Conclusion
At first part the ramp generator help to control the voltage to change more
smoothly and less rapidly.

Control in voltage depend on the setting of the Ramp potentiometer (Min

or Max).

At second part the effect of the ramp generator was show as a force
generated by a pneumatic cylinder is applied to a load at two different
part when the potentiometer was in (Min and Max), it effect the speed of
the actuator.