OCTOBER 20, 23

AARISH TICKOO 2021EE30706

ABHINAV ANWESHA MOHANTY 2021EE10136

AMAN YADAV 2021EE30734

ANIRBAN SINGHA 2021EE30712

BHAVIK GARG 2021EE10657

TARUSH RAJAWAT 2021EE30708

 DC modular servo system
AIM
• To study the closed loop position and speed control of DC motor.
• To study the effects of gain and loading on closed loop speed control of DC motor.

MATERIALS REQUIRED
OP Amp Unit, Attenuator Unit, Pre-Amp Unit, Servo Amplifier, Power supply, DC Motor,
Input Potentiometer and Output Potentiometer (Part 6), Loading Unit (Part 7), Inertia
Disc (Part 8), Reduction Gear Tacho unit, DC Voltmeter

APPLICATIONS
Various applications of control of DC motors includes conveyor belts, driving propellers in
aircrafts, electric traction etc.

BLOCK DIAGRAM
OBSERVATIONS
Part 6 –
Characteristics of Pre-Amplifier
Input signal (Vi) Vo (3) Vo(4) Vo(4-3)
1 11.37 0.95 -10.42
0.8 9.3 0.95 -8.35
0.6 7.2 0.95 -6.25
0.5 6.15 0.95 -5.2
0.4 5.11 0.95 -4.16
0.3 4.045 0.95 -3.095
0.2 3.02 0.95 -2.07
0.1 1.972 0.95 -1.022
0.08 1.801 0.95 -0.851
0.05 1.511 0.95 -0.561
0 0.982 0.981 -0.001
-0.05 0.95 1.481 0.531
-0.08 0.95 1.812 0.862
-0.1 0.95 2.028 1.078
-0.2 0.95 3.075 2.125
-0.3 0.95 4.045 3.095
-0.4 0.95 5.11 4.16
-0.5 0.95 6.15 5.2
-0.6 0.95 7.2 6.25
-0.8 0.952 9.32 8.368
-1 0.952 11.37 10.418
Gain = Ratio of Output Voltage to Input Voltage = (0.531)/(-0.05) = -10.62
Input Shaft Angle
GAIN = 1
Required angle Actual angle Misalignment
0 9 9
20 30 10
40 49 9
60 67 7
80 90 10
100 109 9
120 129 9
140 150 10
150 unstable
GAIN = 2
Required angle Actual angle Misalignment
0 10 10
20 30 10
40 50 10
60 70 10
80 90 10
100 108 8
120 130 10
140 unstable
Part 7
Simple closed-loop speed control system
Reference voltage Tachogenerator voltage Error voltage Speed (r/min)
0 0 0 0
-0.723 0.55 0.152 200
-1.392 1.11 0.274 400
-2.056 1.64 0.418 600
-2.767 2.2 0.566 800
-3.443 2.74 0.72 1000
-4.18 3.3 0.885 1200
-4.73 3.63 1.03 1400
-5.59 4.35 1.212 1600
-6.27 4.9 1.383 1800
-6.95 5.45 1.524 2000
Effect of Gain on Speed Change for Load Change
Brake position Reference volts (Vin) Error Volts (V) Tachogenerator volts
0 -3.392 0.696 2.69
1 -3.393 0.751 2.65
2 -3.391 0.842 2.52
3 -3.393 0.925 2.51
4 -3.403 0.999 2.45
5 -3.399 1.05 2.38
6 -3.398 1.088 2.34
7 -3.397 1.157 2.28
8 -3.399 1.265 2.2
9 -3.398 1.484 1.96
10 -3.395 1.608 1.82
Reversible Speed Control System
FORWARD BACKWARD
Brake Tacho- Tacho-
Position generator Reference Error generator Reference Error
Volts Volts Volts Speed Volts Volts Volts Speed
0 2.73 -2.77 0.952 1000 -2.71 2.758 1.664 990
1 2.73 -2.76 0.952 1000 -2.71 2.758 1.702 990
2 2.72 -2.76 0.952 990 -2.7 2.759 1.841 990
3 2.7 -2.76 0.952 990 -2.68 2.759 1.912 980
4 2.69 -2.76 0.952 980 -2.67 2.759 2.091 980
5 2.68 -2.768 0.952 980 -2.66 2.759 2.123 970
6 2.67 -2.76 0.953 970 -2.65 2.76 2.286 960
7 2.66 -2.768 0.953 970 -2.64 2.76 2.4 960
8 2.45 -2.76 0.952 900 -2.1 2.762 7.77 770
9 2.06 -2.768 0.953 760 -1.95 2.762 9.49 710
10 1.92 -2.767 0.953 700 -1.81 2.763 10.86 660

Inference
In this experiment , we studied the closed loop position and speed control of the DC
Servo motor. We also observed the effects of gain and loading on closed loop speed
control of the DC Servo motor.

• In experiment 6 , we established the operating characteristics of the Pre-

Amplifier and observed the action of a simple motor driven closed loop position
control system.
• In experiment 7 , we got to know how a simple speed control system is
constructed and operated . We also got to know the importance of a
tachogenerator in a closed speed control Equipment . We observed the effect of
gain on speed change for a load change.
Sources of Error
• External noise - The causes of noise can be from the circuit itself, or due to
imperfect design or faulty components or loose connections, or due to fault in
switching power supplies that feed the circuit.

• Not changing specified parameters or circuit connection when switching from

speed control to position control.

• Apparatus may not be working fine or there are issues while applying inertia
disc.