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Student Handout
1.0 Introduction
▪ In the forward loop, the actuator must be integrated with the controller.
▪ In the feedback loop, the sensor must be integrated with the controller.
▪ In the closed loop, actuator and sensor, must be fully integrated with the
controller.
Establish the correct working principle and calibration of the hardware components of
the system is essential before embarking further on software development of the
computer control algorithm.
2.0 Objectives
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In this laboratory session, students will become familiar with the integration of
mechatronic control system. At the end of the session, student should know the
following;
▪ How to interface the encoder with the controller
▪ How to interface the DC Motor with the controller
▪ How to calibrate the encoder and DC motor
▪ How to establish the correct working principle of the system interfacing.
3.0 Prerequisites
▪ How many inputs and outputs of the Arduino microcontroller. What are their
respective addresses?
▪ With aid of diagram explain the working principle encoder. What type of
encoder is used in this experiment?
▪ With aid of diagram explain the working principle of DC motor. Plot the graph,
voltage vs no load speed of the DC Motor.
▪ With aid of diagram explain the working principle of PWM amplifier. Plot the
graph digital value to voltage of the PWM (i.e duty cycle vs voltage of the
PWM).
To setup this experiment, the following hardware and software are required;
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● DC motor [3]
● Encoder [4]
Identify all the main components in the test rig of the system
To wire up the system, please follow the default wiring procedure as shown in Figure 2.2.
Verify the connection and when you are confident with your connection, you can power up
the control system.
In order to ensure the control system algorithm is functioning properly, you need first to do
the following;
▪ Using the Arduino menu command, show the serial data and plot data.
Manually, rotate the motor shaft clockwise and counterclockwise, and read the
data from the command window.
▪ Determine the position and the speed of the motor shaft. Plot graph angular
position vs time and speed vs time
▪ Using the computer algorithm, rotate the motor clockwise and counter
clockwise direction. How to change the direction of rotation?
▪ Using the computer algorithm, change the rotational speed of the motor
clockwise and counter clockwise direction. How to change the speed of
rotation?
▪ Calibrate the relationship between the digital values of computer algorithm and
PWM voltage output.
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▪ Using the computer algorithm, rotate the motor shaft clockwise and
counterclockwise, and read the data from the command window.
▪ Calibrate the relationship between the speed of DC motor and the PWM
voltage outputs.
6.4 Method of Approach: Calibration of input voltage and no-load speed of the DC Motor.
▪ Compare the results of the theory graph with experimentally graph. Give
justification for any discrepancy. Discuss the significant of the gradient of the
graph.
▪ In the next laboratory, you will design, develop and implement a computer
algorithm for a motion control system. What are the effects of sampling time to the
control system
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The report is a group report which has the following headings;
i. Introduction
ii. Objectives
iii. Methodology
v. Conclusions
The report shall also include but not limited to the following items; flow chart of the computer
algorithm, and source code of computer algorithm.
Report Submission
Submission date:
Total marks:
LATE Submission: 5 marks per day will be deducted for late submission
Appendices
References
i. Encoder manual
v. Ricrh Dorf
vi. Nise
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