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Name Matric no. Section:
1.
Instructors’ name:
2.
3.
Title Time/ Date
Experiment 2
1. Performance of Closed Loop Position Control System
FOR INSTRUCTORS USE ONLY
Domain Item Subtotal Total
C Question /20 /20
P Lab activities /30
/60 Results and analysis /25
Conclusion /05
A Demonstration (understanding) /10
/20 Ethics /10
TOTAL MARKS /100
BEE20901 - Electronic Engineering Laboratory II
Instruction Sheet
Control Laboratory
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FKEE, SEM2 Session 2017/18
Experiment 2
Performance of Closed Loop Position Control System
Table of Content
Table of Content ii
Instruction 1
1.0 Title –Experiment 2 2
2.0 Outcomes 2
3.0 Overview 3
4.0 List of Equipment 6
5.0 Experiment Procedures 7
6.0 Results and Analysis 11
7.0 Questions 14
8.0 Conclusions 15
9.0 Related course(s) 16
10.0 References 16
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
1
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
Instruction
1. Grouping: Lab group is not predetermined and consists of 3 members (maximum).
2. Pre-Lab Assignment (if any): Must be submitted to the instructor at the beginning of lab
sessions. Verified by the instructor and returned to the students at the end of lab session. The
verified pre-lab must be attached with the final report for submission.
3. Lab Activities: All laboratory activities must be carried out in this laboratory and to be
completed within the given times.
4. Demonstration: Student must demonstrate the experiment to the respective instructor.
5. Report Submission: Report must be submitted to the respective instructor upon
COMPLETION of lab session.
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
2
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
1.0 Title –Experiment 2
Performance of Closed Loop Position Control System
2.0 Outcomes
After completing this laboratory, student should be able to:
2.1 Analyze the characteristic of an open-loop and closed loop servo motor position control
system.( PLO2-PS-C4)
2.2 Organize time management in group effectively according task given. (PLO5-TS-P5)
2.3 Demonstrate good leadership skill during laboratory experiment. (PLO9-LS-A3)
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
3
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
3.0 Overview
EXPERIMENT 2 (a):
In specifying the transient response characteristic of a control system to a unit step input, it is
common to specify the following:
i. Delay time, td
ii. Rise time, tr
iii. Peak time, tp
iv. Maximum overshoot, Mp
v. Settling time, ts
These specifications are defined in what follows and are shown graphically in Figure 1.
i. Delay time, td
The time required for the response to reach half of the final value the very first time.
ii. Rise time, tr
The time required for the response to rise from 10% to 90%, 5% to 95% or 0% to
100%.
iii. Peak time, tp
The time required for the response to reach the first peak of the overshoot.
iv. Maximum overshoot, Mp
The maximum overshoot is the maximum peak value of the response curve measured
from unity. If the final steady state value of the response differs from unity, then it is
common use the maximum percent overshoot. It is defined by:
𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑝𝑒𝑟𝑐𝑒𝑛𝑡 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 =𝑐(𝑡𝑝)−𝑐(∞)
𝑐(∞)× 100%
The amount of the maximum (percent) overshoot directly indicates the relative
stability of the system.
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
4
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
Figure 1: Transient response characteristic of a control system to a unit step input
EXPERIMENT 2 (b) & (c)
In the EXPERIMENT 2 (a), when the gain is large the response contains overshoot and sometimes
the response is always oscillatory. In certain applications, this type of response is no acceptable.
Method of reducing overshoot
i. Loading the motor.
This can be achieved by applying a magnetic brake to the motor output shaft. This brake
consists of an eddy current disc rotating between the poles of a magnet, for any position
of which the induced eddy current will produce an opposing torque proportional to the
speed. The brake therefore has the effect of applying proportional to the speed.
ii. Velocity feedback.
By using feedback from the Tachometer as shown in Figure 2 where the signal from
the Tachometer is proportional to the motor speed. The tachometer measures the output
shaft speed which may be greater when the system is approaching the point of
alignment. If this signal has a negative polarity when added to the error signal, the
output of the operational amplifier will be zero and reversed before alignment and this
will reduce overshoot. However, if too much velocity is applied, the response becomes
very slow.
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
5
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
Figure 2: Block diagram of the closed loop position control system
Output
shaft, θo
Input
shaft, θi + + Amplifier Motor Load
Input
potentiometer - -
Output
potentiometer
Amplifier
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
6
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
4.0 List of Equipment
4.1 Power Supply Power Supply Module PS150E
4.2 Servo Amplifier Module SA150D
4.3 Direct Current Motor Module DCM150F
4.4 Attenuator Unit Module AU150B
4.5 Output Potentiometer Module IP150K
4.6 Tacho Unit Module GT150X
4.7 Input Potentiometer Module IP150H
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
7
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
5.0 Experiment Procedures
5.1 EXPERIMENT 2 (a): POSITION FEEDBACK ONLY
5.1.1 Connect the circuit as shown in Figure 3.
5.1.2 Remove the link between the Input Potentiometer and the Operational Amplifier Unit.
5.1.3 By using a Signal Generator, apply 5 V/0.1 Hz square wave to terminal 1 of the Operational
Amplifier Unit.
5.1.4 Switch “ON” the Power Supply.
5.1.5 Set the scale on the attenuator unit in steps from minimum to the maximum values.
5.1.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp)
maximum overshoot (Mp), delay time (td) and setting time (ts). If the value set on the
Attenuator Unit in section 5.1.3 produce underdamped response. Tabulate your result as
shown in Table 1.
5.1.7 Switch “OFF” the Power Supply.
5.2 EXPERIMENT 2 (b): REDUCING THE OVERSHOOT BY LOADING THE
MOTOR
5.2.1 Connect the circuit as in Experiment 2 (a).
5.2.2 By using a Signal Generator, apply 5 V/0.1 Hz square wave to terminal 1 of the Operational
Amplifier Unit.
5.2.3 Switch “ON” the Power Supply.
5.2.4 Set the scale on the Attenuator Unit to 10
5.2.5 Apply the magnetic brake in steps from minimum to the maximum values.
5.2.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp) maximum
overshoot (Mp), delay time (td) and setting time (ts). If the value set on the Magnetic Brake
in Section 5.2.5 produce underdamped response. Tabulate your result as shown in Table 2.
5.2.7 Switch “OFF” the Power Supply.
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
8
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
5.3 EXPERIMENT 2 (c): REDUCING THE OVERSHOOT BY USING VELOCITY
FEEDBACK
5.3.1 Make up additional connections as shown in Figure 4 to the circuit in Experiment 2 (a).
5.3.2 By using a Signal Generator, apply 5 V/0.1 Hz square wave to terminal 1 of the Operational
Amplifier Unit.
5.3.3 Set the position feedback scale on the Attenuator to 10.
5.3.4 Switch “ON” the Power Supply.
5.3.5 Set the scale on the velocity feedback unit in steps from minimum to the maximum values.
5.3.6 By using a storage oscilloscope, obtain the rise time (tr) time to the first peak (tp) maximum
overshoot (Mp), delay time (td) and setting time (ts). If the value set on the Velocity feedback
unit in section 5.3.5 produce underdamped response. Tabulate your results as shown in
Table 3.
5.3.7 Switch “OFF” the Power Supply.
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
9
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
Figure 3: Circuit for the closed loop position control system
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
10
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
Figure 4: Additional connection
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
11
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
6.0 Results and Analysis
6.1 Results for Experiment 2 (a)
Attenuator Scale
Delay time (td)
Rise time (tr)
Peak time (tp)
Maximum overshoot (Mp)
Setting time (ts)
6.2 Result analysis for Experiment 2 (a)
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
_____________________________________________________________________________
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
12
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
6.3 Result for Experiment 2 (b)
Magnetic Brake Scale
Delay time (td)
Rise time (tr)
Peak time (tp)
Maximum overshoot (Mp)
Setting time (ts)
6.4 Result analysis for Experiment 2 (b)
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
_____________________________________________________________________________
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
13
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
6.5 Results for Experiment 2 (c)
Velocity feedback unit scale
Delay time (td)
Rise time (tr)
Peak time (tp)
Maximum overshoot (Mp)
Setting time (ts)
6.6 Result analysis for Experiment 2 (c)
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
_____________________________________________________________________________
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
14
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
7.0 Questions
Explain from practical point of view, why the response for maximum value on the Attenuator
Unit is always oscillatory.
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
15
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Jan. 2018
FKEE, SEM2 Session 2017/18
8.0 Conclusions
Experiment 2 (a)
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
_____________________________________________________________________________
Experiment 2 (b)
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
______________________________________________________________________________
Fakulti/Pusat Pengajian (Faculty/Centre) :
Faculty of Electrical and Electronic Engineering
Mukasurat (Page):
16
Kod Kursus (Course Code):
BEE 20901
Nama Kursus (Name of Course) :
Electronic Engineering Laboratory II
Kursus Pra Syarat (Prerequisite Courses) :
None
Kredit
(Credit):
2
Kuliah
(Lecture):
0
Tutorial :
0
Amali
(Practical):
2
Edisi (Edition) : 2 Tarikh Keluaran (Published date) : Sept 2017
FKEE, SEM2 Session 2017/18
9.0 Related course(s)
BEH22003 - Instrumentation and Control
10.0 References
1. C. A. Smith, and A. B. Corripio. Principles and Practice of Automatic Process Control, 3rd Ed.
John Wiley, 2006. Call Number: TP155.75 .S58 2006.
2. K. Ogata. Modern Control Engineering, 5th Ed.; Prentice Hall, 2010. Call Number: TJ213 .O32
2010.
Disediakan oleh (Prepared by):
Tandatangan (Signature):
Nama (Name): Dr Hisyam Bin Abdul Rahman
Jawatan (Post): Pensyarah
Tarikh (Date): Januari 2018
Disemak oleh (Checked by) :
Tandatangan (Signature):
Nama (Name): Dr. Wan Nurshazwani Wan Zakaria
Jawatan (Post): Head of Department
Tarikh (Date): Januari 2018
FKEE, SEM2 Session 2017/18
Grading Rubric for Written Report
Criteria Scale
5 4 3 2 1
Lab activities Varies, depending on activity assigned
Conclusion Accurate statement of
the results of lab
indicates whether
results support
hypothesis. Possible
sources of error and
what was learned from
the lab is discussed.
Accurate statement of
the results of the lab
indicates whether
results support the
hypothesis. Possible
sources of error
identified.
A statement of the
results of the lab
indicates whether
results support the
hypothesis
A statement of the
results in incomplete
with little reflection
on the lab
No conclusion was
included or shows
little effort and
reflection on the lab
Demonstration Demonstration with
clear understanding of
principle or concept
involved; accurately
relates concept to
demonstration
Exhibits limited
understanding or
principle
demonstrated; minor
inaccuracies in
relating
demonstration.
Demonstration
without understanding
the principle; cannot
relate concept to
demonstration
Ethics - Self generated
solution ideas.
- Student dress
properly according
to laboratory
regulations.
- Solution ideas are
adopted from
others.
- Student dress
properly according
to laboratory
regulations.
- Copied ideas
solution from others.
- Student do not dress
properly according
to laboratory
regulations