Control Engineering Laboratory (ELP225)

Experiment-2
11/10/2022

Chandrakant Rajput
ENTRY NO.- 2020EE10485
 Cycle-2 | Experiment- 2
AC Control Position System

 Objective-
(i) To understand the working principle of a two phase AC servomotor.
(ii) To familiarize with the AC position control system.
(iii) To understand the effects of position and velocity feedback on system dynamics.
(iv) To understand the use of synchro as a position sensor in servo systems

 Group Members-
1. Chandrakant Rajput | 2020EE10485
2. Ashish Jagrawal | 2020EE30585
3. Rishu Raj | 2020EE10541
4. Samiksha Sagar | 2020EE10545
5. Tripti Jain | 2020EE10561
6. Dhruv Nagpal | 2020EE11013

 Experiments to be done-
1. Setting up a Position Control
2. Responses of the Control System
3. Applying Velocity Feedback
4. To observe the Steady Following Error

 Theory-
 An AC servomotor is a two phase AC motor. It consists of a reference winding and
control winding which are placed 90 degree mechanically in space, and supplied with
voltages phase shifted by 90 degree. We can control the torque produced in the motor
by adjusting the control winding voltage.
 In AC position control system, AC servomotor is controlled in closed loop mode, by using
either position feedback or velocity feedback or the combination of both.
 Corresponding to the change in reference position (position of synchro transmitter
rotor), an error voltage with amplitude ‘e’ is produced at control transformer rotor.
  In position feedback this error voltage is amplified and given to control winding.
vc = k1 e
 In position plus velocity feedback the error voltage, and it’s derivative is used for
feedback.
de
v c =k 1 e+ k 2 ( )
dt
 Torque produced by AC servomotor is directly proportional to control winding voltage.
Hence, the rotor of the servomotor starts to move towards the reference position.

 Apparatus used-

S.No. Designation Description Quantity

1. PS150E Power supply 1
2. ST150T Synchro Transmitter 1
3. ST150R Synchro Transformer 1
4. AU150B Attenuator Unit 1
 5. SA150D Servo Amplifier 1
6. LU150L Loading Unit 1
7. ACM150U AC Motor 1
8. PA150V PA Pre-Amplifier Unit 1
9. GT150X Reduction Gear Tacho unit 1
10. - Digital Storage Oscilloscope 1

 Connection Diagram-

 Setting up a position control-

1. Procedure-
Set both the potentiometer to zero and apply the brake fully(at position 10).
Remove the connection to the motor.
Switch ON the power and adjust the shafts of ST150T and ST150R such that they are 20 degrees
apart.
Set the upper potentiometer gain to 2.5
2. Observations-
 After adjusting the phase difference roughly to 90 degrees using PA150V Phase control,the display
observed is-

 Response of the Control System-

1. Procedure-
We keep the circuit the same as initial
Reduce the brake settings to 0.
Give a shift on synchro transmitter ST150T.
We observe that the system has become unstable and the synchro transmitter ST150R oscillates
continuously ,which can be stopped by applying brakes.
Also, gain change reduces the oscillation amplitude
2. Effect of control application in three different ways-
Varying I, P Constant
Varying P, I constant
P, I constant and applying brakes

In the following figures,

I- Integrator control,
II- P- Proportional gain(Gain Potentiometer),
III- Differentiator control(brakes)(Tacho Potentiometer)

(a) Varying I with P fixed at 1-

I1 P1
 I3 P1

I5 P1

I9 P1

Analysis-
1. You can look at the graphs varying in the Frequency as the number of lobes getting increased,
the frequency is getting increased.
2. And also the amplitude is getting decreased as the Integrator control is increased
(b) Varying P with I constant-

I2 P3

I2 P9

Analysis
1. We can see that the Error in the signal has amplified as the amplitude gets amplified.
2. We can also see that oscillations have gone down as P increased

(c) I, P constant and applying brakes-

I2 P2 D2

I2 P2 D4

I2 P2 D7
 I2 P2 D9

Analysis-
1. Amplitude is increased as D is increased and you can also see the graph sharpening.
2. The oscillations were reduced with Brakes application

Target Controls-
In the process of acquiring the target the stage at which we got phase error to be zero .

Error phase 0

Min speed with phase difference with min amp

 Finally after seeing many variations in PID controllers we got the control requirements to be-

Target

Conclusion-
1. The error becomes zero after settling time
2. No oscillations seen after the first oscillation or overshoot
3. No amplitude, No lobes after settling time.

Control Applications-
(i) AC position control is more precise and has more control than other similar systems, like DC
control.
(ii) AC position control system can be used to design motor systems that allow different degrees of
rotation and resistance to opposing force.
(iii) Therefore, they are used in automated industries, spacecrafts, missiles, robotic limbs, etc.

Key Takeaways-
We have learned a lot from the experiment. Here are a few key takeaways :
(i) We observed the effect of loop gain and velocity feedback changes on the dynamic characteristics
of the system.
(ii) We observed that when the break setting is reduced and the demand shaft STT is given a small
displacement then the system becomes unstable and oscillates continuously.
(iii) We learnt that reasonably good step and following performance can be achieved using only
position and feedback.
(iv) We observe that for a given gain and break position, tachometer gain does not affect the
amplitude of the wave but as the tacho setting is increased, the error signal increases.

Possible Errors-

In this experiment, we are using practical instruments, so errors are common to come but we should be
careful about some errors which has resulted in some deviation of our results from expected :

(i) External Noise - Sources of noise can be noise generated by the circuit itself, an imperfect design
or layout, faulty components, loose connections, or the associated circuit or switches in the SMPS
that power the circuit.
(ii) Poor oscilloscope resolution can lead to inaccurate readings and errors in subsequent
calculations. Manual error on sync transmitter knob due to minimum count on scale.
 (iii) Friction: Ideally, the ST150R dial should be frictionless. In practice, however, the dial has some
amount of friction that can prevent it from coming exactly to the balance point after shifting. This
may be the cause of your error.
(iv) The contacts become loose and eventually short.

 Beyond the manual-

(i) Although reasonably good steps and following performance can be achieved using only position
and velocity feedback, further improvements are possible by the use of special compensating
networks. These perform the same function for the A C servo that simple D C networks perform
for a D C servo, but they are much more complex.
(ii) AC Position Control can be used as servo potentiometer type error detector.
(iii) Speed or position configuration may be built.
(iv) Power Amplifier for driving can be thought as application of AC Position Control.