Goal:

The purpose of this manipulation is to Position a mechanical load with a given

precision in the same angular position as that defined in the command
instruction

As a Description of the model:

we have
the comparator ( OU 150 A) = an electronic device that compares an input
voltage to a known reference voltage and changes its output state depending
on whether the input is above or below the reference.
an attenuator ( AU 150 B) = a two-port electronic device It is designed using
resistors to weaken or attenuate a signal.
preamplifier ( PA 150 C) : allowing us to control the direction of rotation of the
motor according to the sign of the input signal
power amplifier : which plays the role of a pre-actuator allowing the control of
the energy between the power source and the actuator (motor)
Main power supply of the whole model
A direct current motor equipped with a tachometric dynamo (D.T.) : which
plays the role of an angular speed sensor “MT 150F”
An "IP 150H" potentiometer which plays the role of a control set point device
An “OP 150K” potentiometer which acts as an angular position sensor

1) Modeling of the preactuator + motor + D.T assembly

To start with the wiring:

first of all we connect the power supply with the amplifier meanwhile we connect the
mass of the power supply to the ground , finally we connect it the oscilloscope
All this work is due to realize the functional diagram of an open circuit of the formula:
K∗Kt
VDT= 1+τ p *Ve
For a Step Response: we find this curve :
E = 6.6 V et VS (∞) =5.37 / b = Kt
Or VS (∞) = E*b*K
VS(∞ ) 5.37
K= = = 32.54
E∗b 6.6∗0.025

τ = ?
0.63* VS (∞) = 0.63*5.37 = 3.383
τ = 2.83 – 2.47 = 0.36 S

2) Modeling position sensors

Moving on to studying the sensors We have to first recall that these
sensors convert a mechanical quantity (angle) into an electrical
quantity (voltage)
FYI: We adjust the sensor in such a way that for an angle 0 we have Vp= 0)
Wiring:

As for the wiring first of all we connect the power supply with the sensor  θc
and the terminal of 15 V (vcc) and -15 v in the sensor terminals we also
connect the mass of the alimentation in the ground then we connect the
oscilloscope with a motor terminal and ground
a): Set point potentiometer:
After analyzing the oscilloscope we can be able to get this table here for the
angular position censor

Θe 0 20 40 60 80 100 120 140 160 180

Ve(V) 0.056 2.021 3.66 5.74 7.64 9.48 11.54 13.52 13.79 13.79
  Relation between input Θe and output Ve :

Ve = 0.094 Θe + 0.21

b) Angular position sensor:

We do the same experiment we did before but this time using θs

Θs 0 20 40 60 80 100 120 140 160 180

Vs(V) 0.176 1.087 3.76 5.65 7.6 9.38 11.38 13.17 13.73 0

Relation between input Θs and output Ve :

Vs = 0.093 Θs + 0.12

4) Study of the preamplifier:

The error signal delivered by the comparator can be positive or negative, but
the motor only works when the signal is positive (at B1 or B2), hence the
usefulness of the preamplifier.
Closed Loop System Performance Analysis
❐ Behavior in the presence of a Proportional controller

 Transfer function:
Kp∗K
∗1
1+τp
θs p
Hbf = θe = αe * kp∗K
∗1
1+ τp
1+ ∗αs
p
αe∗k
τ
Finalement : Hbf = 1 αs∗k
p 2+ ∗p+
τ τ

Avec :

W0 =
√ αs∗K
τ
1
2*m*w0 = 1/τ donc m =
2 √ τ∗αs∗k
αe
K1 = αs

Wiring:
first we start with connection both sensor’s vcc with + 15v , and the -15 v to
the - 15 v , we call it “ the polarization of the sensor “

we connect then the Ve from the θc which is equal to Ke*θe , we connect it

to the comparator , and for the exit to the proportional regulator (that works
as a resistance) taking different values of Ka , we connect the mass of the
regulator to the ground , and now we’re left with the variable which we are
connecting to the regulator into the preactuator and for the exit we connect to
both terminals B1 or B2 of the amplifier , in order to avoid confusion between
negative and positive direction of the circuit , it’s called subdividing the wire to
explain further “ we go from the open loop comparator and we take 2
directions, for the direction to preactuator into B1 and B2 negative direction”
finally we connect Ks ( the return) in to the comparator we find that for 0
degree we have 0 degree , we say that the magnitude of the outputs follows
the set point magnitude

Interpretations;
There is an Influence of the attenuator on the performance of the system:

when Kp decreases we will have more precision and stability but the system will become
slightly slower also we also We find that m<= 1 since it admits several oscillations and with
the help of the oscilloscope it allows us to visualize the response of θs depending on θc (for K=1)

D (%)(graphic) = 17.82
D (%)(calcul) = 18.07
εp = 0 (car α = 1)

❐ Behavior with tachometric feedback

 Transfer function :
K
∗αe
p
θs 1+ τp+k∗b
Hbf = θe = αe * K
∗αs
p
1+
1+τp+ k∗b
k∗αe
τ
Finalement : Hbf = 1 αs∗k
p 2+( ( k∗b+1 ) )∗p+
τ τ

Avec :

√
W0 = αs∗K
τ

1 1+k∗b
2*m*w0 = τ ( k∗b +1) donc m =
2 √ τ∗αs∗k

αe
K1 = αs

wiring :
we connect the motor to the comparator and it’s mass to the ground ,
we are comparing two positions ( by connecting KT to the comparator) we are
giving it two reports which are the position and the speed , and of course the
response read on the oscilloscope is way different than the previous one ,

Interpretation:
the first experience ( without the tachometer feedback) , we got an image of
the position and the speed , and in order to maximize the reduction of the
oscillations we added the position and the speed to the comparator)
Conclusion
When we hear the tachymetric contraction we realize that the system has a
precision which tends towards infinity (it oscillates so the static error is not
constant), we use an index response (position scale) this is why we speak of the
error static, without tachymetric reaction (pseudo periodic response) (m>1)
good speed but poor precision and with the addition of the reaction for
K= 0.9,we get a bad speed + good precision ( gets better with decreasing level
of Kp) , (periodic response) (m<1)