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371 Lab2
371 Lab2
371 Lab2
EXPERIMENT # 2
Participants:
1. Denis Mamudovski
2. Eugene To 9611630
3. Nelson Bi 9607978
The objective of this experiment is to get familiar with the DC Motor Module,
amplifiers and tachometer, which will aid in the calibration of the gain of the pre-amplifier,
The operation of every DC motor has a deadband. This is due to friction between the
commutator brushes and in the bearings. To overcome this friction a preamplifier is used to
provide a deadband compensation voltage, which provides a fixed forward-path gain. The signal
The motor velocity is measured by the tachometer. The tachometer has a digital display
screen that can display the motor rpm or a voltage output. This equipment can be wired to an
Exp #1
1. Balance the preamplifier and determine the preamplifier bias by connection a common
2. Adjust the zero set knob so that both outputs have the same voltage.
5. Disconnect the common signal and make the connection shown in Figure 2-8.
6. Connect input #1 to CH1 and output #3 to CH2 by leaving input #2 and output #4
unconnected.
7. Vary the input signal by turning the bottom knob from 0 to 0.5 Volt and record data.
9. Connect input #1 and output #4 to the PA150C and leave input #2 and output #3
Exp #2
#1 of PreAmp.
values.
5. Continue to increase until an input voltage of 2.5V is obtained and record values again.
6. Apply voltage from 0 to -3V to the input voltage of terminal #1 of the PreAmp by
switching the top attenuator #3 to -15V, and by connecting the terminal #2 of Servo-amp
to CH1.
Exp #3
3. Turn on the power of the motor and fine adjust offset so that the motor run in one
5. Determine the time constant by using the 63.2% of the final value method. This has to be
6. Record the time constant and the values for both CH1 and CH2.
7. Connect CH1 to terminal #2 of Servo-Amp and adjust the Function Generator Offset
down to -0.1 to 0V to make the motor run in reverse direction and to make a periodical
full stop.
Function Generator to 0 to 0.2V and adjust offset to make the motor run and stop
Experiment 1:
Input Output
Input Output
Voltage Voltage
Terminal # Terminal #
CH1 Volt CH2 Volt
1 -0.046 3 0.963 V
1 0.101 3 2.260 V
1 0.202 3 3.180 V
1 0.301 3 4.280 V
1 0.405 3 5.310 V
1 0.482 3 6.090 V
1 -0.034 4 1.060 V
1 -0.102 4 1.790 V
1 -0.201 4 2.780 V
1 -0.300 4 3.730 V
1 -0.400 4 4.850 V
1 -0.502 4 5.840 V
4.0 Terminal 3
3.0 Terminal 4
0.0
-0.5 -0.4 -0.3 -0.2 -0.1 0.0 0.1 0.2 0.3 0.4 0.5
Input Voltage
As in Figure 1 the preamplifier was well balanced. Also from the equation of the trend lines, Kp
Vm n Vt
ω vs Vm
250
y = 126.71x - 111.53
200
150
ω (rads/sec)
100
Input 1
50
0 Input 2
-3.0 V -2.0 V -1.0 V -500.0 V 1.0 V 2.0 V 3.0 V Linear (Input 1)
-100
Linear (Input 2)
-150
-200
-250
y = 131.95x + 126.71
Vm (volts)
The anglular velocity can be calculated from
From plot:
the experimental RPM by:
Input 1 @y=0, x= 0.877223581
1 𝑚𝑖𝑛 𝒓𝒂𝒅
∗ = 𝟕𝟖. 𝟓𝟒
60 𝑠𝑒𝑐 𝒔𝒆𝒄
𝑉𝑡 2.14 𝑽 ∗ 𝒔𝒆𝒄
𝐾𝑡 = = =. 𝟎𝟐𝟕𝟐
𝜔 78.54 𝒓𝒂𝒅
Experiment 3:
Vm Tach. (Vt
Vm Tach. (Vt
Using the value of Kt = 0.027 obtained above, Km is tabulated below for each voltage range.
Km is determined by:
𝑉𝑡 3.76 𝒓𝒂𝒅
𝐾𝑚 = = = 𝟏𝟑𝟑. 𝟗𝟎
𝑉𝑚 ∗ 𝐾𝑡 1.04 ∗ 0.027 𝒔∗𝑽
CONCLUSION
In this laboratory, the preamplifer and the servoamplifier were both introduced into the
In the first one, the preamplifier bias was determined before connecting the rest of the
circuit. Then, a graph of the recorded output values was plotted in which the slope was
For the second experiment, the servoamplifier, the DC motor along with the tachometer
were added to the circuit. Using different input voltages for terminals 1 and 2, the output voltage
and the rpm were recorded from the tachometer. Subsequently, a graph was plotted where Kt
was found as the slope. The servomotor deadband was also found.
Input and tachometer voltages were recorded for different function generator amplitudes. Using
Finally, experimental results were compared with ones simulated in Matlab Simulink