Control system Lab (EE491) Benghazi University

Faculty of Engineering
Electrical & Electronic department

University of Benghazi
Faculty of Engineering
Electrical and Electronic Engineering Department

CONTROL
SYSTEMS LAB.

EE491

Experiment No.2
Closed –Loop Position Control Systems
Student Name: ‫مبروكة احمد مفتاح بن عتيقه‬

ST Number: 25570

Day: Thursday

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

Date: 12/12/2019

Objective
When you have completed this experiment you will:

• Have established the operating characteristic of the

preAmplifier

• Have observed the action of a simple motor driven

closedloop position control system

Equipment Required
- Op Amp Unit - Attenuator Unit - Pre-Amp Unit - Servo
(OA150A) (AU150B) (PA150C) Amplifier
(SA150D)
- Power Supply - DC Motor - Input
(PS150E) (DCM150F) - Output
Potentiometer
Potentiometer(IP150H)
(OP150K)
- Reduction Gear - DC Voltmeter 30-0-30V Tacho
Unit (GT150X) (or voltmeter in GT150X)

Introduction
In this experiment we will look at the pre-Amplifier, PA150C,
which has two signal inputs and two outputs. If there is a positive
voltage on either of its inputs then one of its outputs becomes positive;
whilst if one of its outputs becomes negative then the other output
becomes positive.

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

Before we use the PA150C to control the motor, we will carry out a
practical to find its characteristics.

Practical 1: (Characteristics of the Pr-Amplifier PA150C)

• Set up as following and switch on power

• On the upper potentiometer of AU150B, using the voltmeter, set the

output between terminal 2 and 0V(ground) to +1V.

• To be able to obtain accurate readings we need a fine control and so

we are going to use the lower potentiometer to give us fractions of the
one volt that we have selected.

Connect terminal 6 of the lower potentiometer to terminal 2 of the upper

potentiometer. This means that the scale positions 1 to 10 give us input
values in tenths of a volt.

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

• We are now in a position to measure output values of the PA150C

[Vo(3) and Vo(4)] for different values of inputs to see how the
amplifier behaves.

• For each scale position on the lower potentiometer take readings with
the voltmeter of each of the PA150C outputs with respect to 0V. After
you have done this repeat for the different outputs with the voltmeter
across both outputs.

 Record your results in your report

Power Input Vo3(volts) Vo4 Vo4-

Supply Signal (v) (volts) Vo3(volts)
+15 0.2 1.78 0.97 -0.81
0.4 3.08 0.97 - 2.11
0.6 5.45 0.97 - 4.48
0.8 7.96 0.97 - 6.99
1 10.90 0.97 - 9.93
1.2 13.59 0.97 - 12.62
1.5 13.59 0.97 - 12.62
-15 -0.2 0.97 6.37 5.4
-0.4 0.97 8.36 7.39
-0.6 0.97 10.42 9.45
-0.8 0.97 12.54 11.57
-1 0.97 13.71 12.74
-1.2 0.97 13.71 12.74
-1.5 0.97 13.71 12.74

Table (1)

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 Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

 Now connect terminal 3 of the upper potentiometer to the -15V supply

and repeat your readings.

 Plot graphs of the input volts against the output volts for both different
connection of terminal 3 of the upper potentiometer to the supply.

V3 V4
16

14

12

10
V3 0r V4

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

Graph (1)

Comment :

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

In this graph we established the operating characteristic of the pre –

Amplifier , and this graph show three rigons of transistor ( cut off
rigon –normal rigon – saturation rigon )

Using the straight part of the curves find the gain of the pre-Amplifier.

15

10

5
V(4-3)

0
2.5 2 1.5 1 0.5 0 -0.5 -1 -1.5 -2 -2.5
-5

-10

-15
Vi

For a Positive Input Voltage:

Vo4-Vo3 is negative because Vo3 is normal active within the range of 0.1v to 2v and
Vo4 is constant with 0.97v for all positive values, so the gain will be negative.
(−12.1 ) −0
Gain = = - 10.52
0−(−1.15)

For a negative Input Voltage:

Vo4-Vo3 is positive because Vo3 is constant with 0.97 and Vo4 is normal active
within the range of -0.1v to -2v for all negative values, so the gain will be positive.
11−8
Gain = = 10.52
0.8−0.5

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 Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

 Why you should measure the gain on the straight part of the curve?
The gain we should measure on the straight path, because it is the region of the
output voltage and it is normal active.

Practical 2: (A simple Motor Driven Closed-loop position

Control System)
• Retain the units of the first practical and also attach the OA150A,
DCM150F and IP150H and OP150K to the Baseplate by means of the
magnetic fixings.

• Connect the servo Amplifier connector plug into the power supply.
• Connect the Motor Unit connector plug into the Servo Amplifier.

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

• We are now in a position to use the outputs of the PA150C to control

the motor rotation and provide to it an error signal from the OA150A
 Set up as following:

This time we shall utilize the error signal output Vo of the operation
amplifier to drive the output potentiometer via the pre-amplifier and
motor.

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

• On the OA150A set the 'feedback selector' switch to 100kΩ resistor.

• The upper potentiometer on the AU150B can now be used as a gain
control and should initially be set to zero before switching on the
power. Adjust the PA150C 'zero set' so that the motor dose not rotate.

• Now set the IP150H to some arbitrary angle and increase the gain
control setting. The output potentiometer cursor should rotate to an
angle nearly equal to that of the input potentiometer cursor.

 For several setting of the input shaft angle, fill in the following
table in your report

Output Cursor Position in Degrees

Required Actual Misalignment
0̊ 40 ̊ 40 ̊
20 ̊ -20 ̊ 40 ̊
40 ̊ 0̊ 40 ̊
60 ̊ 20 ̊ 40 ̊
- 30 ̊ -60 ̊ 30 ̊
-60 ̊ -95 ̊ 35 ̊
-90 ̊ -195 ̊ 35 ̊
-120 ̊ -155 ̊ 35 ̊
Table(2)

 For several setting of the gain on the AU150B, change the input
shaft angle and Observe the response of the system (output )

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Control system Lab (EE491) Benghazi University
Faculty of Engineering
Electrical & Electronic department

 write down your comment

 comment:
In this part we catch value of the gain equal zero , we can be easily
noticed there is phase shift=40 ̊ between the output and the input , but when
we increase the value of the gain we noticed increase over shoat and
when we increase the gain very high it makes oscillation so the system
become unstable .

Conclusion:
 In this experiment we known pre-Amplifier
and it is like the mind of controller.
 We used the pre-amplifier to drive a closed
loop position system.
 Increasing the gain value makes the system
faster and increase over shoat on the
output potentiometer .
 increasing the gain to have high values ,

makes the system oscillates ,and gives an

unstable output.

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