EEE561_C2_rev02 Last Updated: 23/10/2007

FACULTY OF ELECTRICAL ENGINEERING UNIVERSITI TEKNOLOGI MARA

ELECTRICAL ENGINEERING LAB (KJE 591 / EEE 561)

C2: ERROR CHANNEL INVESTIGATION AND SIMPLE POSITION CONTROL SYSTEM

A: ERROR CHANNEL INVESTIGATION OBJECTIVES After completing this experiment, the students will be able to 1. Understand how an error signal can be produced by using an operational amplifier as a comparator 2. Implement the error channel concept. 3. Use two potentiometers to form an error channel. PRE-REQUISITE 1. Familiar with the components of the DC Modular Servo. 2. Understand the operation of an electronic amplifier. EQUIPMENT 1. 2. 3. 4. 5. 6. Op Amp Unit Power Supply Input potentiometer Output potentiometer Baseplate Multimeter OA150A PS150E IP150H OP150K

THEORETICAL BACKGROUND It is possible to use an amplifier of high gain to produce an output Vo that is the (minus) sum of the input voltages (V1 +V2). This can be done by connecting across the amplifier a feedback resistor R2, which then multiplies the output by factor k = -R2/R1 where R1 is the input resistance.

EEE561_C2_rev02 Last Updated: 23/10/2007

Note: Set the amplifier output to as near zero as possible. If V2 in Figure 1 is set to have opposite polarity to V1 the output voltage will be Vo = k (V1 V2)
R1 V1 R2

V2 R1

-A

VO

Figure 1 If the inputs V1 and V2 are supplied from circular potentiometers with their slides coupled to a cursor traversing a dial marked in degrees, the input voltages can be added together to form a simple error channel to represent the difference in angular position of the two cursors. PROCEDURES 1. Assemble and make connections for all equipment shown in Figure 2. 2. Set the feedback selector switch to 100 k resistor. Connect the multimeter to the output of the OA150A, switch on and adjust the zero set to as near zero as possible. Before connecting the two sliders into the operational amplifier inputs, connect the rotary potentiometer polarities in opposition to each other from the +15V output of the PS150E. 3. Measure with the multimeter the potential between each slider and 0V, rotating the cursor till the reading is zero. If this is not corresponding with zero on the angular scale, then loosen the dial and make an adjustment. 4. Reconnect the multimeter to the operational amplifier output and note the value. 5. Rotate the two cursors to five equal values on the angular scales and note the reading on the multimeter in Table 1. Table 1 Amplifier output, Vo (volts)

Scale reading (degrees)

EEE561_C2_rev02 Last Updated: 23/10/2007

Figure 2 6. Set the output of the potentiometer, OP150K to zero and rotate the cursor of the input potentiometer, IP150H, over its range for five different angles and tabulate your results in Table 2 below. Table 2 Input potentiometer (degrees) Amplifier output, Vo (volts)

7. Now, repeat your readings setting the output potentiometer to -60. 8. Plot your results from steps 6 and 7. By calculation and from the slopes of the curves, volts determine the value of Ke ( ). deg rees QUESTIONS 1. 2. 3. 4. What would happen if V2 had the opposite polarity to V1? Are all the output readings in step 5 the same? If not, what could be the reason? After plotting your result in step 8, comment about the two graphs. Discuss about the error channel concept in these experiments from the results.

EEE561_C2_rev02 Last Updated: 23/10/2007

B: POSITION CONTROL SYSTEM INTRODUCTION The use of motor drive in an open loop and closed loop positional system will be investigated. Two rotary potentiometers can be used to generate an error signal to show the misalignment of the output cursor with that of the input cursor. If the output potentiometer is mounted on the shaft of a geared motor, we would have the basis of an automatic position control system where the error signal is used to drive the motor in a direction such as to reduce the misalignment to zero.

THEORETICAL BACKGROUND Figure 3 shows the schematic diagram of an armature controlled dc motor with load J (inertia) and daper D (friction). Find the transfer function of the system (s) where Ea(s) (t) is the angular displacement at the output and ea (t) is the input voltage. Define on the constant used in the equations.

Figure 3

EEE561_C2_rev02 Last Updated: 23/10/2007

OBJECTIVES After completing this experiment, the students will be able to 1. Observe the operation of a basis open-loop position control system. 2. Understand the operating characteristics of the pre-amplifier 3. Understand the concept of closed-loop feedback in a position control system and observe the action of a simple motor driven close-loop position control.

EQUIPMENT REQUIRED QTY 1 1 1 1 1 1 1 1 1 DESIGNATION OA150A AU150B PA150C SA150D DCM150F IP150H OP150K GT150X DESCRIPTION Op Amp Unit Attenuator Unit Pre-Amp Unit Servo Amplifier DC Motor Input Potentiometer Output Potentiometer Reduction Gear Tacho Unit Multimeter SERIAL NO

B1. Knowledge Level Before starting this assignment you should: Be familiar with the components of the DC Modular Servo. Understand the term error channel and understand how two rotary potentiometers can be used to form an error channel. Understand the operation of electronic amplifiers and the operation of a simple position control system. In the previous system at part A, muscle power is the Controller with finger movement being used as the Actuator. There is even a stage of pre-amplification in which our eye observes the meter reading and signals the brain to send message along the nerves to the muscles in our arm and hand. Draw the block diagram of the system described above to run the motor and what sort of control system would this be? Show how the above system can be changed into a closed loop system to implement the position control system by improving the block diagram.

EEE561_C2_rev02 Last Updated: 23/10/2007

B2. Characteristic of the Pre-Amplifier PA150C 1. Set up the connection using equipments shown in Figure 5. On the upper potentiometer of AU150B, using the multimeter, set the output between terminal 2 and 0V to produce +1V.

Figure 5 2. Connect terminal 3 of the upper potentiometer to +15V and terminal 1 and 4 to 0V. 3. Connect terminal 6 of the lower potentiometer to terminal 2 of the upper potentiometer. This means that the scale positions 1 to 10 will gave input values in tenths of a volt. 4. Connect terminal 5 of lower potentiometer to pre-amplifier input. 5. For each scale position on the lower potentiometer, measure the output of the PA150C. Complete Table 3. Table 3 Pre-amplifier output Vo (3) Vo (4) Vo (4-3)

Input Signal Scale Position 0 1 2 3 4 5 6 7 8 9 10 V1 (volt)

EEE561_C2_rev02 Last Updated: 23/10/2007

6. Repeat step 1, 2, and 3 for the potentiometer to produce ve voltages from -15V supply and tabulate your readings in Table 4. Table 4 Input Signal Scale Position 0 1 2 3 4 5 6 7 8 9 10 Plot graphs of the input voltage against the output voltage for both Table 3 and Table 4 Two (2) sets of graphs have to plot for both Tables 3 and Table 4. 1. Pre-amplifier outputs Vo(3) and Vo(4) versus input Vi 2. Pre-amplifier output Vo (4-3) versus input Vi The ratio of the output voltage Vo to the input voltage V1 gives the gain K QUESTION 1. Using the straight part of the curve find the gain of the Pre-Amplifier. Gain of Pre Amplifier = ______________________ 2. State why the gain has to be measured on the straight part of the curve _____________________________________________________________________ _____________________________________________________________________ 3. Explain the reasons for the no-linear portions of the curve _____________________________________________________________________ _____________________________________________________________________ 4. State the range of signals that the inputs should be kept Range of signals = _____________________________ 5. What input value will gave a nil voltage across the outputs? Input value for zero output = ______________________ V1 (volt) Vo (3) Pre-amplifier output Vo (4) Vo (4-3)

EEE561_C2_rev02 Last Updated: 23/10/2007

B3. Closed-Loop Position Control System 1. Connect all the components from previous settings which comprises of the op-amp (OA150A), potentiometer (AU150B), rotary potentiometers, pre-amplifier (PA150C), motor and reduction gear tacho unit. The inputs of PA150C will be provided by the error signal from the OA150A while the outputs will be used to control the motor rotation. Connect the output of PA150C to the servo amplifier. Connect output potentiometer to the reduction gear tacho unit to measure the rotation output. The upper potentiometer on the AU150B can be used as a gain control and should initially set to zero before switching on the power. 2. Adjust the PA150C using the zero set knob until the motor stop rotating. 3. Set the IP150H to some arbitrary angle and increase the gain control setting. The output potentiometer cursor should rotate to and angle nearly equal to that of the input potentiometer cursor. If the input cursor stops before arriving at the set position, one is faced with the fact that the system is tolerant to an error and the motor will not respond till the error exceeds a certain value. Increase the gain so that this tolerant is overcome and you get the right alignment. Figure 6 shown the schematic diagram for the system. Note the different results obtained and complete Table 5. Table 5 Output Cursor Position in Degrees Required Actual Misalignment

DISCUSSION 1. Discuss about your results in Table 5. 2. Describe the differences between an open loop and closed loop position control as seen in the experiments. 3. Draw the block diagram of the open loop position control system and closed loop position control of the system. Identify the controller and transducer (if there is any) in your block diagram.

EEE561_C2_rev02 Last Updated: 23/10/2007

+15V i/p pot. Op-amp Pre-amp

-15V

Verror

Ra

La Motor + tacho

-15V +15V o/p pot.

Figure 6: Schematic diagram for closed-loop position control system