EXPERIMENT

AIM: Study A.C Position Control

System
OBJECTIVE:

A) Position Control Through Continuous Command.

B) Study of Error Detector. Position Control through Step Command.
C) Observation of Dynamic response.
 APPARATUS
• AC Motor Experimental Kit
• Dual Trace CRO
• Graph Paper
BLOCK DIAGRAM OF EXPERIMENT:
AC Position Control Experiment Kit:
Theory
A pair of precision servo potentiometers is working as an error detector. The potentiometer marked
as INPUT POTENTIOMETER translates information regarding the desired angular position into a
proportional A.C voltage. The potentiometer marked OUTPUT POTENTIOMETER converts the
information regarding the present position of mechanical load into a proportional A.C voltage.

Note that this pair of input and output potentiometers is excited by a 6 volts 50 Hz supply V(t). Any
difference of potential between the wiper contacts of servo potentiometer is amplified by means of
A.C power amplifier. The power amplifier output activates the control winding of the A.C
servomotor.

The reference winding is activated by means of fixed AC voltage. The load to be positioned is
coupled to the output shaft of the output servomotor and gear train combination. The same shaft is
also coupled to the output potentiometer.
Procedure Part A
• Connect motor unit with control unit
• Switch on power set Ka=4
• Connect CRO with the Vr socket starting from one end say 30 degree measure the
volatge amplitude A.
• Move reference voltage to 90 degree and measure the output volatge magnitude
as B.
• Calculate the constant c related to command signal as ; c = B-A/Δθ. ( about 13-15
mVpp/θ°)
• Connect CRO other channel with socket Vo. Keep command potentiometer at 30°.
Note θr =30 and θo from feedback potentiometer.
• Measure Vr and Vo from CRO
• Now advance the θr to next 30°. Measure Vr, Vo and θo.
• Now set Ka=7 and advance the θr to next 30°. Measure Vr, Vo and θo.
• Calculate the errors from the results as ( Δθr – Δθo ).
• Calculate ess = { ( ΔVr – Δvo)/c} for each step for each set of KA .
• From the steps it is found that the steady state error is function of motor voltage Vc. Since
Vc = Ks(KA .ET ), therefore ess can be reduced by forward path gain K.
• Now slowly bring command potentiometer dial at same degree as motor dial, set Ka=4.
Note the position θo of the feedback potentiometer say it is 100°.
• Advance θr upto 30° and note θr at which position the motor follows the command. Note
the new position of θo.
• Repeat all above steps for Ka=8. The motor start position is quicker than Ka =4. Final
position approach is slightly late.
From the observations it is found that at low gain K =4x20 = 80, the
system exists some delay ( the motor follows the command position
after some displacement) and larger steady state error may be +ve or
–ve, whereas at K =160 the system produce low error with small dalay
hence faster response with slight more settle time
OBSERVATION TABLE: (Part A)
Procedure Part B
• Connect motor unit with control unit
• Switch on power set Ka=4 and position ref potentiometer to 120°
• Connect CRO with the Vr socket measure the voltage amplitude.
• Connect CRO other channel with socket Vo measure the ac voltage Vo
• Now apply step signal and note the rms value at Vr socket. After elapse of time when the
motor come to original position (11 second later), move the reference dial for same
reading obtained with step signal. Note the dial position and find out the step signal
actuation in degree.
• For example start degree is 120 and newer is 200 then step signal actuation is equal to
200-120 = 80°
• Now remove CRO one channel connected with feedback socket and connect with error
output socket E(T).
• Apply step command and note down error output ess θ° = error
output / constant c in deg.
• Now set Ka=7 and apply same step and find out ess. Connect CRO
back with Vo socket and note Vo at 120°as initial value and Vo’ after
applying step signal in steady state as final value.
OBSERVATION TABLE: (Part B)
OBSERVATION TABLE: (Part B)
Procedure Part C : Observation of Dynamic
Response.
Transient Response
Error Detector Response
Calculations