Experiment # 8(b)

Title
Position Response.

Objective
The objective of this experiment is to measure the parameters of a plant using step tests, Observe the
characteristics of a first order lag and State the time model of the DC Motor.

Apparatus required
1. MS-15 DC Motor Module
2. AS-3 Command Potentiometer
3. CLIO Interface Module with PC connection leads
4. System Power supply
5. 4mm Connection Leads
6. PC running VCL(visual control lab) software

Procedure
1. With the motor disabled, I engaged the output potentiometer. Unfreezed then enabled the motor and
clicked channel 2/Position/ON. That showed the position output and did not make much sense.
2. To be able to model the plant it is necessary to know the relationship between the velocity measured
by the tachometer voltage and rate of change of position measured by the potentiometer voltage. This
relationship is called the Integral Gain Ki.
3. With the motor disabled, I changed the settings to those shown below.

4. I Enabled the motor. The motor ran at a constant speed with the potentiometer output ramping up then
returning to the bottom of the screen.
5. Velocity =
6. I Set the time base multiplier to X2, freezed the picture and switched the time markers ON. The rate
of change of position was measured by measuring the time it takes for the position trace (blue) to go
from the bottom of the screen to the top.
7. I Selected channel 2 then set Line A to +4.000 volts and Line B to -4.000 volts. Using the Time line,
measured the times at which the output ramp crosses the two voltage markers.

8. I Selected channel 4 and used a voltage line to measure the tachometer voltage Vvel.
9. I Calculated the integrator gain Ki = Slopse/Vvel volts per second per volt.

Observation and calculations

Comments and conclusion