Control Lab Report

Pantheia Dadpou
Student Number: 10327382




















Table of Contents

Stepper Motor ........................................................................................................................................ 3
Introduction ........................................................................................................................................ 3
Theory ................................................................................................................................................. 3
Procedure, Results and Discussion ..................................................................................................... 4
Exercise 1: The stepper motor ........................................................................................................ 4
Exercise 2: The stepper motor controller ....................................................................................... 5
Conclusion ........................................................................................................................................... 6
AC Synchronous motor control ............................................................................................................... 7
Introduction ........................................................................................................................................ 7
Theory ................................................................................................................................................. 7
Procedure, Results and Discussion ..................................................................................................... 8
Experiment 1: Variable frequency Control ..................................................................................... 8
Experiment 2: Tachometer Generator ............................................................................................ 9
Conclusion ......................................................................................................................................... 10
Reference .............................................................................................................................................. 10













Stepper Motor

Introduction
Stepper motor provides precise position control without feedback. it converts electrical
pulses into mechanical movements or steps that are accurate. In this experiment, basic operation of
stepper motor was demonstrated.

Theory
Stepper motor controller is an open loop controller meaning that it does not require any
feedback from output. Another difference between conventional motors and stepper motors is that
stepper motor does not rotate continuously but moves in steps. It moves one step for each input
pulse, making it easy to interface to digital electronics. There are many types of stepper motors
including permanent magnet. In this type, rotor is a permanent magnet located inside two-phase
stator. The motor takes step when the polarity of the stator coils change.




Procedure, Results and Discussion

Exercise 1: The stepper motor

When the start button is pressed and released, a positive signal is generated.
Stepper motor rotor is locked in positions. There are 4 steps between the motors locked
positions.
By manually turning the motor, it moves 4 steps at a time.
The below table shows the phase change in each state when it moves clockwise:




Stepper motor direction depends on the sequence taken. If sequences were taken from
state 1 to 4, the motor moves clockwise. If reverse, the direction is CCW.
A stepper motor is a two phase motor, meaning it has two stator windings.
Only one phase polarity can be changed at a time.
The stepper motor takes precise steps.
The number of steps per revolution is determined by the number of rotor poles pair.
S=P*4
Stepper motor takes 48 steps in 1 revolution. It has 12 pole pairs according to above
formulae.
Output amplifiers are drivers that shift the voltage level and provide the current to stepper
motor and energize the windings.



Exercise 2: The stepper motor controller

The MANUAL/CMPTR switch controls a multiplexer, which selects the input sources.
The manual controller input consists of 7 data switches, direction switch and start switch.
In CMPTR mode, the 32 BIT MICROPROCESSOR generates the controller input
The logic level of CMP/MAN is low.
The logic level of CMPTR is high.
The source of the input data to down counter is selected by the position of
MANUAL/CMPTR. This switch also selects the input source of the direction and start signals.
The LEDs display the binary value of the data switch settings while the start button is
pressed.
The counter circuit is called a down counter because it counts down to zero from its preset
value. Each count is a pulse. Down counter is used to control the number of the steps. The
down counter outputs 48 pulses and stops.
U7 is an oscillator. Oscillator is used to control the step rate. The frequency is adjusted by
SPEED CONTROL. The frequency determines the pulse rate out of the down counter and
controls the stepper motor speed.
It takes 5.76 s for the stepper motor to take one revolution when SPPED CONTROL is
adjusted at 120ms
When SPEED CONTROL was adjusted for a period of 25 ms, the speed increased, taking 1.2
second to take one revolution
When start button is pressed, number of steps is loaded to the counter.
When the start button is released, the counter counts to zero and produces pulses with
counts.
Then the PULSE SHIFTER moves the motor for each pulse received.






Conclusion

A stepper motor is a two phase motor.
Only one phase polarity can be changed at a time.
The stepper motor takes precise steps.
The number of steps per revolution is determined by the number of rotor poles pair.
S=P*4
A down counter can be used to control the number of steps a stepper motor takes.
A variable frequency oscillator can be used to control the step rate.
A multiplexer can be used to select different data sources.



















AC Synchronous motor control

Introduction
AC synchronous motors are motors powered by AC where the average speed is proportional
to the frequency. The electrical and mechanical factors affecting the AC motors and generators will
be demonstrated in this lab. Speed control of a two phase synchronous motor will also be
demonstrated and AC motor will be used as generator. Two-phase refers to two AC waveforms,
having the same amplitude and frequency and separated by a phase angle.
Theory

AC synchronous motors inside out permanent magnet DC motors. The DC motor has
armature surrounded by fixed permanent magnets while the AC motor has a rotating permanent
magnet surrounded by a fixed armature.

Current from the power source magnetizes the stator. Magnetic interactions between stator
poles and rotor cause a torque on rotor. Stator current intensity determines the magnetic field
strength and the rotor torque.
The rotor runs when enough torque is produced to overcome the load. When the AC supply
becomes zero, the stator loses the magnetic field. The rotors momentum carries the rotor poles
past the stator poles. Reverse current reverses the polarity of stator poles.
The motor is synchronous when the rotor rotates with the stators magnetic field. The
motors synchronous speed (rpm) is calculated using the formulae: rpm=120f/P
Induction motors always run below the synchronous speed while the synchronous motors
run at synchronous speed.
Procedure, Results and Discussion
Experiment 1: Variable frequency Control

In this experiment, operation of a two-phase AC synchronous motor is demonstrated. Speed is
control by varying frequency.
AC and DC motors are connected by a belt and the AC motor drives the DC motor.
DC motors rpm=300 DC motor rpm=Ks* Vdcm
The AC motor is running at 1/3

of the speed of DC motor. Therefore, AC motor rpm=100
Fp1=20 HZ. Phase1 is a polar 20HZ square wave with frequency of 20 HZ. These two
waves determine the motors direction.
Phase 2 is at the same frequency as phase 1.
AC motor synchronous speed: 120f/P This motor has 24 poles and 20HZ frequency=> Synch
speed=100 rpm
Decreasing the ac motor drive frequency decreases its synch speed.
When the MOTOR SPEED CONTROL is turned fully CW and the phase shifter is CW, The
motor stalls due to insufficient torque.
Each of the AC motors two phases are run by amplifiers. They change the voltages so that
they will be suitable to drive the motor. The amplifier inverts the 5V logic input and changes
it to +13 and -13 V.
Phase 2 is lagging phase 1 by 90 degrees when the direction is CCW.
When direction is CW, phase 2 leads phase 1by 90 degrees.
The AC MOTOR SPEED CONTROL block contains a variable frequency oscillator. Increasing
the PHASE SHIFTERs frequency input, increases the output frequency and speed.
By slowly increasing the frequency ac synch motor can accelerate an inertial load.






Experiment 2: Tachometer Generator

Resistance of phase 1 and 2 stator winding=200 ohm both have approximately the same
resistance.
Both of them are positioned around a single permanent magnet rotor. Rotating the rotor,
leads to voltage production.
ANALOG SPEED CONTROL is fully CW
Each stator coils produces a sine waves. They are 90 degrees out of phase.
Phase 1 produces a voltage peak when the rotor passes phase 1 stator pole.
Using the oscilloscope provided, Generator s output frequency is measured: 100 HZ
Output peak voltage of phase 1 stator with generator running at 500 rpm: 7 V
Generator s speed constant: 70
Generator s rpm using the speed constant: 200
Rpm using frequency: 200
Generators output is proportional to rpm. Rpm=Vpl * K
Dc motors current: -10 mA. The generator gets connected to ground. Now the resistance of
each stator winding acts as a load for generator. The current increases to -20 mA. this
current represents torque on the Dc motors armature.













Conclusion

The synch speed is determined by the number of poles and frequency.
Synch motors run at synch speed.
The phases in a two-phase AC motor are 90 degrees apart.
Synch motors have difficulty starting initial loads.
The frequency output from a synchronous generator is proportional to rpm.
The voltage output is proportional to speed.
Increasing the current load, increases the torque required.
The output of generator can be used to measure speed.




Reference
Lab Volt Document