EXPERIMENT

AIM: Study D.C Position Control

System
OBJECTIVE:

A) Find the Potentiometer Displacement Constant.

B) Position Control Through Control Unit Using Continuous Command.
C) Position Control Through Step Command.
D) Observation of Dynamic Response.
 APPARATUS
• DC Motor Position Control Experimental Kit
• Dual Trace CRO
• Connecting leads
• CRO probes.
SYSTEM REPRESENTATION IN BLOCK DIAGRAM :
REPRESENTATION OF MOTOR TRANSFER FUNCTION
DC Position Control Experiment Kit:
 Theory
In the simplest form the output position is measured and compared
with the reference position by a potentiometer pair whose output
voltage is proportional to error in the angular position.
 The error voltage is amplified and applied to servomotor which
positions the load and the output potentiometer such that the error is
reduced to zero.
 
PROCEDURE:
PART-A : Find the Potentiometer Displacement Constant
1) Connect motor unit and control unit.
2) Set Tacho feedback gain=0.
3) Set forward path gain KA = 4
4) Starting from one end, say 30 degree, move command
potentiometer in steps of 10 degree approximately up to 120
degree and note down the (command potentiometer) and the
output reference voltage from the socket given.
5) Plot a curve between the displacement and output voltage.
6) Find the slope of curve and compute the sensitivity as
Slope of curve= =
OBSERVATION TABLE: (Part A)

S. No. (Degree) V (Volts)

1 30 0.36
2 40 0.40
3 50 0.64
4 60 0.76
5 70 0.97
6 80 1.04
7 90 1.17
8 100 1.3
9 110 1.44
 Graph between Angular Displacement Vs Voltage
1.6

1.4

1.2

1
Voltage (Volts)
0.8

0.6

0.4

0.2

0
20 30 40 50 60 70 80 90 100 110 120

Angular Displacement (Degree)

 
CALCULATIONS:

Slope of the curve, = = = 0.013 V/deg.

 PROCEDURE:

PART-B: Position Control Through Control Unit Using Continuously Command

1) Connect Motor with the Control unit.

2) Switch on power, set gain KA =4
3) Starting from one end, say 30 degree (of command potentiometer), move
potentiometer slowly and note down the reference degree, from command
potentiometer where the motor starts to move(as indicated by its dial).
4) Continue moving command potentiometer slowly in steps of 30° upto 180° and note
down the corresponding values of potentiometer of the motor unit.
5) Now, set gain KA =8, repeat the same steps (3) & (4) and note the reference degree
where the motor move.
6) Stop the increment of command potentiometer up to 180 degree or above and
observe the motor movement carefully.
OBSERVATION TABLE: (Part B)

At K=4 At K=8
S. No. (deg) (deg) (deg) (deg)

1. 0 0 0 0
2 30 20 30 27
3. 60 50 60 56
4. 90 80 90 85
5. 120 110 120 115
6. 150 140 150 145
7. 180 170 180 175
200

180

160

140

120

θR
100
θ0, KA=4
θ0, KA=8
80

60

40

20

0
0 20 40 60 80 100 120 140 160 180 200
 
Observations:
From these observations, it is shown that with low
gain, the motor position does not follow quickly the
command signal which means there is greater steady
state error,
When the gain is set to 8 or 9, the motor position
follow the command signal more quickly as compared
to the previous case (gain=4) and motor does not
exhibit oscillations but there is a slight steady state
error as shown in the graph

Result: It is verified that when K=8, error is

lesser than when K=4
 
PROCEDURE:
PART-C : Position Control Through Step Command
1) Connect motor unit and control unit.
2) Set K=3
3) Set tacho- feedback=0 and command dial to 90 degree.
4) Connect the voltmeter across and note the reading as 1.17 volts.
5) Connect voltmeter across socket. Note the voltmeter reading as
6) Connect voltmeter at socket and apply step input by briefly push up step key. Note,
the DC steady state Voltage.
7) After a lapse of 11 seconds the motor will be back to its previous position.
7) Connect voltmeter across socket and re apply the step signal, Note the voltmeter
reading as .
8) Calculate the step change as =+ and find out the =, where, =.
9) Now, set K=8, the voltmeter is still connected with socket and apply step signal and
note down the steady state voltages . Find out the .
 
CALCULATIONS:
At K=3
=1.18 V
across socket =1V
Now, on applying step input
=2.19 V
== 2.19-1.18 =1.01 V
=+=1.17+1=2.17 V (As =1.17 V)

==2.17-1.01=1.16 V

At K=8
=1.23 V
across socket =1V
Now, on applying step input
=2.26 V
== 2.26-1.23 =1.03 V
=+=1.17+1=2.17 V (As =1.17 V)
==2.17-1.03=1.14 V
 
RESULT:
At K=3, =1.16V
At K=8, =1.14V

CONCLUSION:

From this experiment, it is observed that steady state

error for a step input response is reduced for a higher
value of gain.
 
PROCEDURE: PART-D : Observation of dynamic response

1) Set K=8, keep command potentiometer at 90 degree. Connect CRO at X-Y output sockets
with reference to ground in X-Y made. Set Y=0.2 V/div. and X at 0.5 V/div. A zig zag curve
will be appear upon CRO. If a dot appear upon CRO, then switch ON the system.
2) Press capture key briefly a spot will be appear upon screen. Press step key briefly, the
motor will run. Wait till capture time LED is OFF and display LED is ON. Captured waveform
will be displayed upon screen.
3) The waveform look like the response of a second order system to a unit step input. Find
out the values of , , and from curve.
Waveform obtained in Expt. Part D
( Dynamic Response)
 
CALCULATIONS:
Maximum Overshoot,
Peak time,
Time taken to be steady,
Rise Time,
Steady state error, =1

RESULTS: The time domain analysis of position control DC

motor is studied and important time domain parameters are
computed.
VIVA QUESTIONS:
1. What is meant by Control System?
Any set of mechanical or electronic devices that manages, regulates or commands the
behavior of the system using control loop is called the Control System. It can range from a
small controlling device to a large industrial controlling device which is used for controlling
processes or machines.

2. What are the types of control system?

There are two types of Control System-
Open loop control system.
Closed loop control system

3. What is Servomechanism?
When a specific type of motor known as servomotor is combined with a rotary encoder or a
potentiometer, to form a Servomechanism. In this setup, a potentiometer provides an analog
signal to indicate the position and an encoder provide position and speed feedback.
4. Where is Servomechanism used?
Servomechanism is used in the control system so that the mechanical position of a device can be varied
with the help of output.

5. Which device is used to compare the reference angle and actual angle position of DC motor ?
Potentiometer is used to compare the reference angle position and actual angle of DC motor.

6. Which device is used to measure actual angle position of DC motor ?

Techo-generator is used to measure actual angle position of DC motor.

7. What is steady state error?

If the actual output of a control system deviates from the reference input. Initially the error is increasing
and decreasing and after a long time it settles in a tolerance band of ±2% to ±5% of the reference signal.
This error is the steady state error.

8. What is the effect of increasing controller gain on the steady state?

With the increase of gain the steady state error decreases.