Experiment No: 6

AIM OF THE EXPERIMENT: D.C. Motor position control system

OBJECTIVE OF THE EXPERIMENT : To study the effect of proportional and derivative feedback
on a D.C. Motor position control system.

EQUIPMENTS REQUIRED : Position Control Unit, D.C. Motor Unit, CRO, Probes.

PREREQUISITES : Knowledge of transfer function, time response specifications, effect of

derivative action Theory.

CIRCUIT DIAGRAM :

Figure: Experimental Schematic Diagram

THEORY :

Figure: Block Diagram of D.C. Motor Position control system

The input of the system is the desired angular position of the D.C. Motor which may be continuous or a
step signal. The output angular position is sensed with the help of a potentiometer. A tacho generator
attached to the motor shaft in a sense provides a voltage proportional to the speed in a sense here is a
derivative feedback. The error detector is a 4 input single output block. Two of the inputs are for reference
inputs and the other two are meant for position and velocity feedback signals with inputs 180 degrees out
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of phase. Forward path gain is adjustable from 0 to 10 and tacho generator gain may be varied from 0 to 1.
The driver circuit is a power amplifier in complimentary symmetry configuration that can drive the motor
in both the directions in full power. Since the response of the mechanical system is too slow for real-time
viewing one needs to use the storage oscilloscope. This is a microprocessor based capture system that can
store the response and plot it in X-Y mode later on.

The D.C. Motor with position output is typically described by

KM
G (s )  (1)
s ( s  1)

Transfer function of closed loop system with feedback H(s) can be generalized as, G(s) H(s)/1+G(s)H(s).
Therefore, in the presence of a proportional feedback the closed loop transfer function is given as

K AG ( s )
T (s)  (2)
1  K AG ( s )

Position Set Point

 
(VR) + KM
KA 1
_ 1 s s
Error
Motor
Amplifier

KDs

Figure: Block Diagram of D.C. Motor Position control system with Derivative Feedback

In the presence of Tacho (derivative) feedback the closed loop system for above block diagram is given by

K AG ( s )
T (s)  (3)
1  K A (1  K D s)G ( s)

By comparing above derived closed loop transfer function with generalized second order system which can
be given as follows,

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 n2
G (s)  (4)
s 2  2 ns  n2

Figure: Typical step response of a second order system

The time response specifications are as follows:

1. Delay Time (td) - It is the time required for the response to reach 50% of the steady state value for
the first time.

1  0.7
td  (5)
n

2. Rise time (tr) - It is the time required for the response to reach 100% of the steady state value for
under damped systems. However, for over damped systems, it is taken as the time required for the
response to rise from 10% to 90% of the steady state value.

  1  2
tr  ,   tan 1 ( ) (6)
n 1   2 

3. Peak Time (tp) - It is the time required for the response to reach the maximum or Peak value of the
response.


tp  (7)
n 1   2

4. Maximum Peak Overshoot (Mp) - It is defined as the difference between the peak value of the
response and the steady state value. It is usually expressed in percent of the steady state value. If the
time for the peak tp is percent peak overshoot is given by,

c (t p )  c () 
(1 2 )
Mp   100  e  100 (8)
c ( )

CONTROL SYSTEM LABORATORY 67 SOEE

 5. Settling Time (ts) - It is the time required for the response to reach and remain within a specified
tolerance limits (usually ± 2% or ± 5%) around the steady state value.

4
ts  (9)
n

6. Steady state error (Ess) - It is the error between the desired output and the actual output as or under
steady state conditions. The desired output is given by the reference input r (t) and the steady state
error:

sR( s)
Ess  lim (10)
s 0 1  G ( s )

PROCEDURE :

Step Response:

1. Set the tacho generator feedback in the motor unit in ‘NEGATIVE’ mode.
2. Set K A to 2, K D  0 .
3. Compute the time response specifications.
4. Repeat for K A  3, 4, .
5. Now set K A  6 , and choose various values of KD  0.1,0.2 and repeat the above observations.
6. Tabulate the results as shown.
7. Compare the results with theoretical predictions.
8. A set of observations is to be taken in positive feedback.

TABULATION :

CASE A: Proportional Feedback

n ( rad / s )
SL.NO KA Mp tp (ms) tr (ms) ξ Ess

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SIMULATION MODEL(for KA=3 and KD=0.1)

RESPONSE(for KA=3 and KD=0.1)

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CASE B: Derivative Feedback

tp (ms) tr (ms) n ( rad / s )

SL.NO KA kd Mp ξ Ess

RESULT: (State all the obtained values like rise time etc here for various cases separately).

CALCULATION:

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CONCLUSIONS:

DISCUSSION QUESTIONS:

1. What is a tachogenerator ?

2. What is the significance of position control system?

3. What is the effect of proportional and derivative feedback on the response of the system?

4. What is proportional and derivative feedback?

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 5. Find the transfer function of a armature controlled DC motor and draw its block diagram

NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

Signature of the faculty

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