--------- -----------------:‫ التاريخ‬: -------------------------------------------:‫ االسم‬: ------------------‫رقم الطالب‬

University of Tripoli
Faculty of Engineering
Mechanical and Industrial Department
Department
Mechatronics Laboratory
Experiment sheet No (1)
Date:
SPEED CONTROL SYSTEM

Objectives:

To understand the difference between the open loop and closed loop system.

Equipment layout: Process diagram :

System Setup :
- Connect the model to the mains using the connecting socket on the rear.
- using the USB port on the rear of the model, connect it to an external controller ( e.g PC ).
- Switch on the model at the master switch (8) .
- Switch on the motor switch (9) .
Experiments:

1 - System linearity (Open Loop) :

Check the linearity relation for the system using different sets of input (i/p) and output (o/p).
Input Y : The percentage of power given to the motor .
Output X : The actual rotor speed (RPM) .
Load Z : The ( Disturbance) Percentage of load either 33%, 66% or 100%
- Procedure:
- Select Manual mode .
- Vary the (i/p Y) to get a specific (o/p) rpm .
- Record the (i/p Y ) and the (o/p X) when there is no disturbance .
 --------- -----------------:‫ التاريخ‬: -------------------------------------------:‫ االسم‬: ------------------‫رقم الطالب‬

Required: In your report plot the curve and examine the linearity of the system and discuss the
cause of nonlinearity if exists.

2- Effect of load/disturbance on the system (open loop):

- Select Manual Mode .

- Set the (i/p Y) on a specific value.
- Change the load value Z form no load to 33% , 66% the 100%
- Record Y , X and Z for each case .

Required : In your report plot the percentage of change in the out versus load change and discuss the result.

3- Effect of load/Disturbance (closed loop system) :

In this experiment we shall study the effect of disturbance on closed loop system .

Under fixed values of controller gains :

KP = 0.012 , KI=1.33 , KD= 0.33 ,
Input (W) : desired motor speed RPM.
Output (X) :. the actual rotor speed obtained from the PID controller .
Z : Disturbance variable.
Y : correcting variable .

- Select continuous control mode

- Set the reference input (W) any value from 2000 to 3000 , disturbance =0% , wait for steady state
- Record the ouput X.
- After the output settles increase the percentage of load .
- Let the output settles and record W, Z, X, Y.
- Repeat the experiment for different load Z, ( don’t change W).

NOTE : take measurements when the system stabilizes, not before that .

Required : In your report plot the percentage of change in the output X and actuation Y versus load change
and discuss the result.

Report Summary:-
Write your conclusion about:
- the linearity of the system.
- The difference between open loop and closed loop in structure and disturbance rejection .
 --------- -----------------:‫ التاريخ‬: -------------------------------------------:‫ االسم‬: ------------------‫رقم الطالب‬

‫معمل الميكاترونكس‬

Speed Control System ( ME330)

Purpose of Experiment:

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Results:

1) Linearity

Y ( %) X (rpm) Z (%)

No load

No load

No load

No load

Discussion:
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2) Effect of Disturbance on Open Loop system :

at : Y ( )% at : Y ( )%

Disturbance X rpm Disturbance X rpm

Z% Z%

0 0

33 33

66 66

100 100

Discussion:
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 --------- -----------------:‫ التاريخ‬: -------------------------------------------:‫ االسم‬: ------------------‫رقم الطالب‬

Effect of Disturbance on Closed Loop System

W (RPM) Z ( %) Y (%) X (rpm)

33

66

100

Discussion:
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Report Summary:
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