FACULTY OF ENGINEEERING

SCHOOL OF ELECTRICAL ENGINEERING

SEEE3732-04
SESSION 2022/2023-1
SHORT REPORT:
ANGULAR SPEED CONTROL
LECTURER: DR HERMAN BIN WAHID

Group: 408

Group members:
No Name No. Matric
.
1. Alexander Wong Heng Yii A20EE0009
2. Fong Jun Xian A20EE0053
3. Mohammed A.M. Abujarad A19EE4071
4. Teo Jun Long A20EE0215
Objectives:

1. To calibrate the circuit of the Servomotor, namely the input actuator (the motor
circuit).
2. To calibrate the circuit of the Servomotor, namely the output sensor (the speed
sensors).
3. To determine the time constant, T of the Servomotor transfer function with differing
load.
4. To implement a proportional controller of the Servomotor speed and investigate the
steady state errors.

Introduction:
A servo control system is one of the most important and widely used forms of control system.
Any machine or piece of equipment that has rotating parts will contain one or more servo
control systems. The job of the control system may include:

 Maintaining the speed of a motor within certain limits, even when the load on the
output of the motor might vary. This is called regulation.
 Varying the speed of a motor and load according to an externally set programmed of
values. This is called set point (or reference) tracking.

The primary object of the servomotor training equipment is to provide a practical

environment in which to study and understand the control of a servo-system. These systems
are used widely throughout all branches of industry to such an extent that a ground in servo
mechanism control forms a basic component of a control engineer’s training. A simple but
widespread industrial application of servo control is the regulation at a constant speed of an
industrial manufacturing drive system. For example, in the production of strip plastic, a
continuous strip of material is fed through a series of work stations. The speed at which the
strip is fed through must be precisely controlled at each stage.

The full servomotor block connection for this experiment is shown in Figure 1.1. It is
important that this block connection is maintained throughout this experiment. The ED-
4400B DC Servo Trainer, which is used in this experiment is depicted in Figure 1.2.
Experiment A: Motor Calibration Characteristics
Before starting, all supplies were made sure to be switched off.
Procedures:
1. The equipment was connected to give the equivalent block diagram as shown in
Figure A.1. The polarity signal was connected to the input voltage by referring Figure
1.1 for the full servomotor block connection.
2. The input potentiometer was set so that the initial reading was 0V. (The angle scale
should be at the 180° mark)
3. The input potentiometer was increased until the motor started to move and the input
voltage was recorded in Table A.1 together with the corresponding motor speed.
(Note that maximum motor drive voltage is 10V).
4. Input potentiometer voltage was further increased to all available scale and the
corresponding input voltage and motor speed were recorded in Table A.1.
5. The procedure was repeated with negative voltages.
6. The above procedure was repeated with a load attached to the servomotor and Table
A.2 was completed. (Use the magnetic break as the load with scale 10).

Table A.1: Motor Drive Calibration (no load)

Motor Drive Voltage Motor Speed Motor Drive Voltage Motor Speed
(V) (Positive) (rpm) (V) (Negative) (rpm)
0 0 0 0
 Table A.2: Motor Drive Calibration (with load)
Motor Drive Voltage Motor Speed Motor Drive Voltage Motor Speed
(V) (Positive) (rpm) (V) (Negative) (rpm)
0 0 0 0

Discussion and General Conclusion:

a) Why does the different polarity of input voltage give different directions of motor
movement?
b) Plot the results obtained from Table A.1 and Table A.2. Identify the dead zones for
both graphs.
c) From the graphs, describe the relationship between the input motor drive voltage and
the motor speed reading.
d) Explain why does motor drive calibration with and without load give different results.

Experiment B: Speed Sensor Calibration

Procedure:

1. The same connection as in Part A was used, which has the equivalent block diagram
as shown in Figure A.1.
2. The input potentiometer was set so that the initial reading was 0V. (The angle scale
should be at the 180° mark)
3. The input potentiometer was increased to the next scale.
4. The corresponding tachometer voltage and the motor speed were recorded. The
readings were recorded in Table B.1, accordingly.
5. The process was repeated for all input potentiometer scales for positive and negative
speed sensor readings.

Table B.1: Speed Sensor Calibration (without load)

 Motor Speed Speed Sensor Output Motor Speed Speed Sensor Output
(rpm) (V) (rpm) (V)
(Positive) (Negative)
400 -1.08 400 1.10
800 -2.13 800 2.15
1200 -3.21 1200 3.18
1600 -4.36 1600 4.25
2000 -5.31 2000 5.3
2400 -6.31 2400 6.35
2800 -7.38 2800 7.40
3200 -8.40 3200 8.42
3600 -9.44 3600 9.45
4000 -10.45 4000 10.5

Discussion and General Conclusion:

a) Explain the concept of angular speed measurement

- Angular speed (ω) which specified on the object moving in rotational motion is
defined as the rate of change of angular displacement. The angular speed of a
spinning body increases as the central angle of the body varies more quickly over
DistanceTravelled
time. From the general formula of speed measurement, speed = ,
time taken
the angular speed measurement formula is created by changing the original distance
travelled to the distance of body covers in terms of rotation, which is similar to the
change of central angle of an object. Since the angular distance travelled is estimated
using angle and may be measured using radians, radians are utilised as the unit of
Ɵ, rad
measurement. Finally, Angular Speed , ω= is obtained. Mathematically,
time taken, t
180° is equal to π which means that one full revolution (360°) completed by an object
is equal to 2π. Therefore, formula of angular speed for a single complete rotation
2π
could be ω= .
time taken , t
 b) Plot your results using the data from Table B.1.

RPM against Voltage

5000
4000
3000
Motor Speed (rpm)

2000
1000
0
-15 -10 -5 0 5 10 15
-1000
-2000
-3000
-4000
-5000
Speed Sensor Output (V)
Positive RPM Negative RPM

c) Obtain the speed sensor constant (i.e Δrpm / ΔV).

From the graph shown in b, “RPM against Voltage”

Δ rpm
Speed sensor constant =
ΔV

y 2− y 1
=
x 2−x 1

−3800−3800
=
10−(−10)

= −380 rpm/V

Experiment C: Measurement of Gain and Time Constant

Procedure:

1. The equipment was connected to give the equivalent block diagram as shown in
Figure C.1.
2. The function generator was set to a square wave with a frequency of 0.1Hz and the
attenuator to scale 9.
3. Using an oscilloscope, the result was observed and recorded that the square wave
input signal to the servomotor. (Use Channel 1 of the oscilloscope).
 4. The output response of the tachometer will therefore be a series of step responses. The
output response was observed and recorded using the other channel of the
oscilloscope. The ratio between output voltage and the input voltage, A was
calculated.
5. The time constant TC was found from the output responses without load and with
load, respectively.
6. The output responses were recorded and drawn for conditions (with and without
load), respectively.
7. The servomotor transfer function was given by:

Discussion and General Conclusion:

a) Comment on the output shape of the motor drive voltage to speed sensor output
voltage characteristics.
b) From the time constant obtained and assuming that the system can be approximated
as a first order system, determine the servo motor transfer function.
c) Discuss the differences (if any) between the time constants obtained from applying
and not applying the load.

Experiment D: Proportional Control of Servo Trainer Speed

Procedures:
1. The equipment was connected to give the equivalent block diagram as shown in
Figure D.1 with no load attached.
2. The attenuator was used as the controller and the gain was set, KP = 1. (To make use
of the increasing scale of the attenuator correctly, reverse the ground connection at the
attenuator).
3. The attenuator was set for the feedback gain to scale 5.
4. The reference speed voltage was increased according to the scale on the
potentiometer. The input potentiometer voltage yr and the corresponding errors signals
in Table D.1.
5. Equation (1) was used. The value of KP = 1 and G1 = ATC (where A and TC were
found in part C previously) were used to calculate the theoretical values of e ss for
various values of yr and the results were entered in Table D.1 in the column provided.

6. The input potentiometer was set such that it gave a reading of 5V.
7. The controller gain KP was varied from 1 to 10 and the corresponding error signal was
recorded in Table D.2.
8. Equation (1) was used to calculate the theoretical values of the error for each KP value
and the results were entered in Table D.2.

Table D.1: Steady State Error for Various Reference Speeds

Potentiometer Setting Measured Steady State Theoretical Steady State

(+ve only) Error Signal, (V) Error Signal, (V)
(Reference speed, yr)

Table D.2: Steady State Error for Various Controller Gains

Potentiometer Controller Measured Steady State Theoretical Steady State

 Gains, (KP) Error Signal, (V) Error Signal, (V)
1
2
3
4
5
6
7
8
9
10

Discussion and General Conclusion

a) Discuss the change in steady state error based on various values of yr and KP.