DEPARTMENT OF MECHANICAL

ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY

ROPAR
IIT Ropar
RUPNAGAR-140001, INDIA

DESIGN LABORATORY-II (ME) REPORT

For

Experiment: Analog And Digital Controls

Submitted by

Mahir Neema (2020MEB1293)

Manashvi Hare Krishna (2020MEB1294)

Nitin(2020MEB1297)

Pentakota Lakshamana Chandra (2020MEB1298)

Supervised by

Dr. Jitendra Prasad/ Dr. Srikant Sekhar Padhee/ Dr. Rajendra Muniyan

Second Semester, 2022-2023

 ME306: Design Lab II Report 4

1. Title:
● Analog and Digital Motor Control
2. Objectives:
● To get the desired output for a given input.
● Maintaining its output under changing loading conditions
● To reduce the transient time to as short as possible.
● Studying and analyzing the transient and steady-state response of step input.
3. Experimental setup:

Figure showing the connections of electric gadgets in our experiment

● MS15 DC Motor Module:

➔ Used for giving the rotation for the wheel.
➔ Its maximum input is 5v.
➔ Brakes
● AS3 Command Potentiometer.
➔ Used to calculate the output Voltage.
➔ It features a 360 degree precision, rotary potentiometer with a large
calibrated protractor disc mounted on its shaft.
● CLIO Interface Module with PC Connection Lead:
➔ Its highly flexible modules can be placed both local and remote to the
control processor.
 ➔ The additional benefits of using Series C include: Greater I/O channel
density and efficient cabinet heat dissipation and management Lower
installed cost Easier maintenance Enhanced robustness and security.
● System Power 90 Power Supply:
➔ Used to supply the power to experimental Set Up.
● 4mm Connecting Leads.
● Digital Control for input and output.
● PC running VCL Virtual Control Laboratory Software:
➔ The Virtual control laboratory is a teaching package that includes
computer software and an interface for use with the 207-15 DC motor
control trainer and the command potentiometer board.

4. Theory:
There are two parts to any output time response when there is a change in input:
1)A Transient period which occurs immediately when the input changes and
during which the system seems to be dominated by something other than the
input.
2)A Steady State condition which is reached after the transient has died out. The
system seems to have settled down to the influence of the input.
Gain of a plant is calculated to characterize the steady-state of the response and
time constant is calculated to characterize the transient state of the response.
The transient situation is produced by elements within the plant which cannot
respond instantly. Mass in a mechanical system and capacitance in an electrical
system both store energy so it takes time to change the velocity of a mass or to
change the voltage across a capacitor.
In the DC motor, it is the mass of the motor armature and all the disks and dials
connected to the motor shaft which require energy to get them moving or stop
them moving. Actually it is the inertia of these elements, not mass, since we are
dealing with rotating bodies.
The time constant can be defined as the time it takes for the step response to rise
up to 63% of its final value.
In the Position Response,to be able to model the plant it is necessary to know the
relationship between the velocity measured by the tachometer voltage and rate of
change of position measured by the potentiometer voltage This relationship is
called the Integral Gain Ki .
5. Experimental Procedure:
● Connect the CLIO Interface Module, the AS3 Command Potentiometer, and the
MS15 DC Motor Module.
● Open the Virtual Control Laboratory software.
● From the menu in the toolbar open the “CA06E01.ini” setup file.
● Select the display then graph in the toolbar.
● By clicking in the Diable Box, turn on the motor and set reference input to
internal.
● Select DC level signal and increase offset to 50% .
● After a complete cycle click on the Freeze option.
● Measure the input voltage on channel 1 then tachometer voltage(channel 4) over
various values of Offsets.
● Plot the results on a graph.
● Then we have to open a file again but this time we will open "CA06PE03.ini”
from the file option in the toolbar.
● Enable the Motor and Select channel 1.
● Choose line A by clicking inside the box and position the line.
● Then do the same with line B.
● Calculate the difference between A and B which will be the input span.
● Change to channel 4 (Velocity) And again measure the difference between A and
B(output span)
● And Gain will be Output Span/Input Span..
● We will measure the time constant t1 using the initial slope method.
● Similarly we will measure time constant t2 using the settling time method.
● The time it takes for the transient to change by 63% will then be measured using
the 63% method.
● Then we will enter the model gain and time constant readings in the observation
table after measuring the time constants.
● We'll switch the loads to zero, half, and full loads and record the measurements.
● After that similar procedure was followed for position response.
6. Results and calculations:
PART1: INPUT VS OUTPUT VOLTAGE
Offset Input Voltage Tacho Output Voltage

0 0 0

10 0.50 0.180

20 1 0.60

30 1.5 1.005
 40 2 1.410

50 2.5 1.82

60 3 2.23

70 3.5 2.63

80 4 3.055

90 4.5 3.472

100 5 3.870
PART 2: OUTPUT VOLTAGE AT DIFFERENT LOADING CONDITIONS
OFFSET LEVEL:50%(2.5 input Voltage)

Loading Condition Output Voltage(V)

No Load 1.825

Half Load 1.412

Full Load 1.070

We also observed that to get an output of 2.5 V , the input required is between 60% - 70% offset,
i.e., between 3.0V and 3.35 V.
Plots

We are going to measure the Gain and Time Constant which characterize the motor
Steady State Response
Input Span: Input span is the amount by which the input changes.
Input Span = A1 - B1
Output Span Output span is the amount by which the output changes in response to the input
changes.
Output Span = A4 - B4
Gain :Gain, or Magnitude Ratio or Amplitude Ratio, is the ratio between input and output when
they have reached a steady state.
For a particular plant, the value of gain is fixed.
𝐺𝑎𝑖𝑛 = (𝑂𝑢𝑡𝑝𝑢𝑡 𝑆𝑝𝑎𝑛)/(I𝑛𝑝𝑢𝑡 𝑆𝑝𝑎𝑛) = (𝐴4 − 𝐵4)/ (𝐴1 − 𝐵1 )= (2.25 − (−2.25))/(3 − (−3)) = 4.5/6 =
0.75 So, the gain for our plant is 0.75.
The steady state relationship between input and output is characterized by the Gain of the plant.
Transient Response

We will measure three different times then we will see how these are related.
INITIAL SLOPE METHOD
Time corresponding to the intersection of the initial slope line of the output curve with the line
representing steady state value.
Time Constant (t1)= 0.260 secs
Settling Time Method
The time constant can also be calculated from the time it takes the transient to reach the final
value.
The time needed to settle the output signal is estimated using this method, and the time is then
divided by 5 to obtain the time constant.
T=1.32 secs
Tconstant= 1.32/5=0.264 secs
63% Method
Another time measurement is the time it takes for the transient to change by 63%.
Output span = A4 - B4.
The 63% level is then: B4 + 0.63 (A4 - B4) = -2,25+0.63*(2.25-(-2.25))=-2.25+0.63*4.5=0.585
V.
Time corresponding to this voltage gives the time constant for the first order system, which is
found as , Tconstant = 0.180 sec.

Plant Gain kp 0.75

Time constant τ 0.180

ERROR CALCULATION
Error is now calculated.We will take 63% as reference value in error calculation.
INITIAL SLOPE METHOD
Error=[(T63% − Initial slope)/(T63%)] × 100= [(|0.180-0.260|)/(0.180)]*100=44.44%
SETTLING TIME METHOD
Error=[(T63% − Tsettling)/(T63%)] × 100= [(|0.180-0.264|)/(0.180)]*100=46.66%
 POSITION RESPONSE
V value=1.865
Velocity= 145 RPM

A(Volts) B(Volts) T1(secs) T2(secs) Slope(Volt V Ki

s/secs) vel(Volts)

4 -4 0.360 0.050 25.80 1.865 13.837

Slope= 8/(0.360-0.050)=25.80
Integrator gain (Ki)= Slope/Vvel volts per second per volt. = 25.80/1.865=13.837

7. Conclusions and Discussions:

★ Mahir: In this experiment, we learned about the study of DC motors and their
control systems. We learned about the components and calibration of DC motors,
as well as how to use the Virtual Control Laboratory software to understand their
operations. We also measured the velocity of the DC motor under full and half
load conditions, compared the results and gained an understanding of energy loss
that will occur due to inertia and loading conditions. We were taught about open
loop and closed loop systems and the importance of controllers in ensuring
precise information. We covered the calculation of time response using different
methods and determined the time constant for a specific plant. The experiment
concluded with our observation of the output tachometer voltage readings and our
understanding of the reasons for the difference between the input and output
voltages.

★ Manashvi:
We used a first Order Control System.We came to know that gain is the property
of plant and once calculated, it will be fixed for a given plant.We majorly had
three objectives to do in this experiment.Step Input was given to the system and
then the output was analyzed.Relationship between input and output voltage was
not linear.Causes of error may be:Frictional losses,Copper losses due to windings
due to formation of eddy currents,Structural damping of the system.
In the next objective at 50% offset,we studied different type of loading conditions:
No Load,Half Load,Full Load.Maximum Output achieved corresponding to each
conditions are 1.825V,1.412V,1.070 V.If we see the trend it is decreasing which
was expected also due to the resistive force by braking system.
Next objective was to decrease the time to achieve the desired output.Now this
can be done when we will decrease the time of transient state.So in order to
decrease it we studied about the time constant in transient state using three
methods.’Initial Slope Method’,‘Settling time method’, and ‘63% method’.In all
 the methods used,63% method is most accurate as the scope of human error is less
compared to other two methods.When employing the first slope approach, it can
be difficult to pinpoint the exact spot where we should measure the slope, which
can result in mistakes. The settling point is a possible source of error in the
settling time technique because it can only be identified by observation.
Next we studied the position response and calculated slope and then Ki.
★ Nitin:
In this experiment, we learned about Analog and Digital control, its function and
importance.We learned about the difference between open loop and closed loop
system. We have given different inputs under different loading conditions and
studied their output. The aim of controlling is to get desired output and minimize
settling time. Then we calculated the system's gain, which is the ratio of output
and input. Then , we discussed three different methods of calculating time
constant: slope method, settling time method and 63% method. Out of these three,
the 63 % method is more accurate as in this method, we get the exact
point(voltage) where we have to find out the value of the time constant. In the
other two methods, we cannot get the exact slope and the settling point. There are
chances of human error.
★ Lakshmanachandra:
In this experiment We had learnt about Analog and Digital control introduction
and the importance of controlling.Controlling is important so that we can achieve
the desired output. Controller’s objective is to achieve load independent results
and to decrease the settling time.In this experiment, the apparatus is an open loop
system where there is no feedback.In this experiment we tried to achieve desired
output by using a controller.The settling time is affected by the inertia and load,
where it is directly proportional to inertia and inversely proportional load. In this
we calculated the time constant by using the slope method,settling time method
and 63% method and checking each of the accuracy. Time constant is the time
taken from initial state to the state where the value is 98% of the steady state
value. The system never overshoots before converging, and hence will be useful
in cases where overshoot is highly undesirable and a little delay in response is
acceptable.

8. Precautions:
● We need to make sure that all the Connections were given before starting the
experiment as there are so many connections.
● We need to make sure to Unfreeze the screen or graph after taking the readings.
● We need to make sure that the batteries are connected properly which are the main
components.