Control Lab

CONTROL ENGINEERING
CLOSED LOOP POSITION CONTROL SYSTEM

1. OBJECTIVES
 To find the characteristics of pre amplifier
 To demonstrate a simple motor driven closed loop position control system.
2. INTRODUCTION
The input signal which varies from negative to positive can be used to determine the direction
of motor rotation, the magnitude of the signal controlling the speed of rotation. The mimic on
the Servo amplifier shows that the base of each switching transistor requires a positive input
for that transistor to conduct. The collectors being each connected to one of the ends of the split
winding will each cause current to flow through half the total winding in opposition to the way
it would flow in the other half winding. This means that one transistor on being switched on
then the motor would rotate in the reverse direction.
To be able to make the motor bidirectional ,a device that has two outputs each connected to
one of the transistors is needed hence if the input is negative the one of the outputs is positive if
the input is positive then it is the other output that becomes positive. The pre amplifier is able
to provide this type of control because if there is a positive voltage in either of its input then
one of its input becomes positive while if one of the inputs become negative then the other
output becomes positive.
The characteristics of the amplifier must be known in order to control the motor.
3. APPARATUS
a) Power Supply Unit 150E
This unit supplies unregulated 24 V DC

2A to the motor through the octal
connection to the Servo Amplifier as it is
the unit that controls the motor. On the
front panel there are two sets of 4 mm
sockets that provide stabilized ± 15V to
operate smaller amplifiers and provide
reference voltages. When showing the
schematics for the connections of
different blocks, that connection for the
octal plug that is located in the top part
of the power supply is not shown to
simplify the schematic.
1
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b) Motor Unit 150F
a 30:1 reduction gearbox. A special

push-on coupling can link the output
potentiometer to this shaft. We will
connect the output potentiometer to this
low-speed shaft. The power to the motor
is attained from the Servo Amplifier unit
by means of the octal plug. Again, this
plug will not be shown on schematic
diagrams.
The important thing for us about
this unit is its low-speed shaft driven by
c) Attenuator Unit 150B
potentiometers used to attenuate signals

flowing between different modules. The
proportion of resistance being selected is
indicated by a dial graduated from 0 to
10. This unit can be used to either
provide a reference voltage when it is
This connected to a DC voltage source, or as
unit contains two variable 10k a gain control when connected to an
amplifier.
d) Servo Amplifier 150D
2
different modes of control armature. The
power to the servo amplifier is supplied
by the octal connector at the lower end
of the unit.
This unit contains the transistors to

drive the motor in both directions. The
connectors in the front panel allow for
e) Operational Amplifier Unit 150A
This unit provides inverting voltage

gain and a means of summing two or
more signals as well as the circuitry for
introducing compensation networks.
f) Input and Output potentiometers 150H and 150K
generates the command signal. In this

experiment, the goal of the control
system was for the output potentiometer
to replicate the position of the input
potentiometer as accurately as possible,
without overshoots and without
becoming unstable. The output
potentiometer was connected to the low-
speed shaft of the motor using the push-
on coupling. In a real control system, the
input and output units will generally be
These are rotary potentiometers different. For example, the output unit
used in experiments on position control. may be a parabolic antenna whose
The 150H input potentiometer has ± position is controlled by the input
150° of motion while the 150K unit has potentiometer that generates the control
no mechanical stops and consequently signal.
cannot be damaged by continuous
rotation. The input potentiometer
3
g) Pre-amplifier 150C
This unit is used to provide the correct signals to drive the servo amplifiers. The two inputs can be
summed, allowing two signals to be applied simultaneously, for example in the need of a reference
voltage. A positive signal applied to either input causes the upper output (3) to go positive while the other
output (4) will stay near zero. A negative input will cause the lower output (4) to go positive and the upper
output (3) to stay near zero. This way, bi-directional control drive can be achieved. A toggle switch allows
use with either of two internal compensation networks or in the “normal”
4. CIRCUIT DIAGRAMS
Fig a fig b
5. PROCEDURE 1: To find the characteristics of the Pre-Amplifier
a) The Attenuator Unit 150A, Pre Amplifier Unit 150C and Power Supply Unit 150E were
attached to the Base plate by means of the magnetic fixings.
b) The Power Supply was connected to the mains supply line but not switched on
immediately.
c) On the upper potentiometer (1), with the voltmeter, the output between terminal (2) and
0V was set to +1V.NB: To be able to obtain accurate readings, a fine control was needed
and so Potentiometer (2) was used to give fractions of one volt selected.
d) Terminal 6 of Potentiometer 2 was connected to the slider of Potentiometer 1. This meant
that the positions 1 to 10 gave input values in tenths of a volt.
e) For each slider position on Potentiometer 2, readings were taken with the voltmeter of
each of the Pre-Amplifier outputs and 0V.
f) Step 5 was repeated for the different inputs with the voltmeter across both inputs.
g) Terminal 3 of Potentiometer 1 was connected to the -15 supply and the readings repeated.
h) Graphs of the input volts against the output volts were plotted. The gain K was given by
the ratio of the output voltage Vo to the input voltage Vi.
i) The straight part of the curves was used to find the gain of the Pre-Amplifier
6. RESULTS
Input voltage (Vin) Output Output Output
voltage (Vo3) voltage (VL) voltage (VL-3)
0.37 0.97 1.64 0.67

1.00 1.10 0.99 -0.16
2.00 90.90 0.96 -8.90
3.00 13.52 0.97 -12.56
4.00 13.53 0.97 -12.56
5.00 13.53 0.97 -12.56
6.00 13.52 0.97 -12.56
7.00 13.53 0.97 -12.56
8.00 13.52 0.97 -12.56
9.00 13.52 0.96 -12.56
10.00 13.52 0.96 -12.55
Table 1a: Output Data for Amplifier
Input voltage (Vin) Output Output Output
voltage (Vo3) voltage (VL) voltage (VL-3)
0.00 -0.67 0.67 1.34

1.00 -0.83 2.17 3.00
2.00 -12.56 10.80 19.65
3.00 -12.56 12.55 25.11
4.00 -12.56 12.55 25.11
5.00 -12.56 12.55 25.11
6.00 -12.55 12.55 25.11
7.00 -12.55 12.55 25.10
8.00 -12.55 12.55 25.09
9.00 -12.55 12.55 25.10
10.00 -12.55 12.55 25.10
Table 1b: Output Data for Amplifier
7. DICUSSION
Characteristics of the Pre-Amplifier PA150C :
Plot graphs of the input voltage against the output voltage (V03) and output voltage (VOL).
Using the straight part of the curves find the gain of the Pre-Amplifier
ΔOutput voltage
Voltage gain=
Δinput voltage
8.6−0.0
Gain for voltage at terminal 3 [volt ]= =−86
−0.2−−0.1
K=−86
10.0−0.0
Gain for voltage at terminal 4 [volt ]= =100
0.2−0.1
K=100
8. QUESTIONS
State why you should measure the gain on the straight part of the curve.
Because the gain is assumed to be proportional to the gradient of the curve.
Explain the reasons for the non-linear portions of the curves.
The nonlinearity may be caused by heat due to power dissipation, or by overdriving the active device
beyond its linear region.
State the range of signals that you think the input should be kept to.
The input signal should be kept between -0.4V to 0.4V.Beyond these points any increase in output
signal does not change the output signal.
PART 2
1) TO DEMONSTRATE A SIMPLE MOTOR DRIVEN CLOSED-LOOP POSITION

CONTROL SYSTEM.
The outputs of the pre-amplifier may be used to control the motor rotation and provide to it an error signal
from the Operation Amplifier.
The error signal output V o of the Operation Amplifier will be used to drive the output potentiometer via
the Pre-Amp and the motor. The attenuator will be used as a gain control and should be initially set to zero
before switching on power.
2) PROCEDURE
We retained the units for the first experiment, then the operational unit 150A, Motor unit 150F, and Input
and Output potentiometer150H and 150K was attached to the Baseplate of Magnetic fixings.
The servo Amplifier was connected to the Power Supply.
The Motor unit was connected into the servo amplifier.
The slider was connected to the input of the Pre-Amplifier.
With the gain set to zero, the Pre-Amplifier was adjusted to zero so that the motor doesn’t rotate.
The input potentiometer 150H was set to some angle and the attenuator setting increased.
We noted the different values of results.
3) RESULTS
Output Cursor Position in Degrees

Required Actual Misalignment
152 138 14
110 180 -70
130 170 -40
145 150 -5
150 152 -2
4) DISCUSSION
In a position control system it is of great importance that there should be a smooth stop at any required
position. If there is an overshoot then there must be a reverse movement to compensate. If movement is
rapid where the system gain is high, it becomes very difficult to get smooth, accurate arrest. Indeed, the
correcting movement might also produce an overshoot that will again need correction and in an extreme
case as system could be moving to and from across the required position in a state of instability.
There are problems of high gain causing fast movement resulting in overshoot and even instability,
how can these be dealt with?
The speed/torque characteristics of a motor may not produce a suitable response under load. To overcome
this problem, gear boxes are very often used .However, they then introduce the further problem of free
play in the gears of backlash.
5) CONCLUSION
From the experiment we observe that the two Pre-amplifier PA150C input signals are summed allowing
two signals to be applied (a reference voltage and the tachogenerator voltage).A positive signal applied to
either input causes the upper output terminal to go positive, the other terminal staying near zero. A
negative input causes the lower output to go positive, the upper one staying near zero. Therefore, the Pre-
amplifier PA150C can be used to obtain a bi-directional motor drive when the two outputs are linked.
6) SOURCES OF ERROR AND REMEDY
Parallax error- this might have occurred due to improper posture while taking the readings of the
voltmeter and potentiometer.
Remedy-care was taken while reading the values to ensure that the eyes were perpendicular to the
pointers.
Faulty apparatus-due to wearing out of the potentiometers and other equipment leading to inaccuracy
of the value recorded.
Remedy-New apparatus to be bought and frequent maintenance to be carried out.
Zero error of the apparatus- the pre amplifier unit did not rest at zero mark at the beginning hence this
could have led to inaccuracy of the values recorded.
Remedy-proper compensation of the errors and regular servicing was recommended.
7) REFERENCES
a) -N.S. Nice, “Control system engineering”, Third Edition. Wiley, USA, 2000.
b) -K. Ogata, “Modern Control Engineering”, 3rd ed. Upper saddle River, NJ: Prentice Hall
1997.
c) -Lecture Notes on Control engineering, EEE2411
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CONTROL ENGINEERING

CLOSED LOOP POSITION CONTROL SYSTEM

This unit supplies unregulated 24 V DC

a 30:1 reduction gearbox. A special

c) Attenuator Unit 150B

potentiometers used to attenuate signals

d) Servo Amplifier 150D

This unit contains the transistors to

e) Operational Amplifier Unit 150A

This unit provides inverting voltage

f) Input and Output potentiometers 150H and 150K

generates the command signal. In this

0.37 0.97 1.64 0.67

0.00 -0.67 0.67 1.34

Table 1b: Output Data for Amplifier

Characteristics of the Pre-Amplifier PA150C :

Because the gain is assumed to be proportional to the gradient of the curve.

Explain the reasons for the non-linear portions of the curves.

1) TO DEMONSTRATE A SIMPLE MOTOR DRIVEN CLOSED-LOOP POSITION

Output Cursor Position in Degrees

6) SOURCES OF ERROR AND REMEDY

Remedy-New apparatus to be bought and frequent maintenance to be carried out.

Remedy-proper compensation of the errors and regular servicing was recommended.

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