Pec - 01

DC POSITION CONTROL SYSTEM
(Model No : PEC - 01)
User Manual
Version 1.0
Technical Clarification /Suggestion :

N/F
Technical Support Division,
Vi Microsystems Pvt. Ltd.,
Plot No :75,Electronics Estate,
Perungudi,Chennai - 600 096,INDIA.
Ph: 91- 44-4204 8142, 91-44-4204 8152
Mail : service@vimicrosystems.com,
Web : www.vimicrosystems.com
CONTENTS
CHAPTER - 1 INTRODUCTION 1
1.1 Introduction 2
CHAPTER - 2 ABOUT OUR TRAINER 3
2.0 DC Position Control System Trainer (PEC-01) 4

2.1 Hardware Description 5
2.1.1 Block Diagram 5
2.1.2 Block Diagram Description 5
2.2 Circuit Diagram 7
2.3 Component List 10
2.4 Front Panel View 12
2.5 Data Sheets 13
2.6 Front Panel Description 18
2.7 Specifications 19
2.8 Protection and Precaution 20
CHAPTER - 3 EXPERIMENT SECTION 21
3.1 Experiments 22
Expt - 1 : Study the Position Sensor 22

Expt - 2 : Study the DC Servo Motor Position Control with P Controller 23
Expt - 3 : Study the DC Servo Motor Position Control with PI Controller 27
Expt - 4 : Study the DC Servo Motor Position Control with Speed 31
Feedback Loop
Expt - 5 : Study of PC based DC servo motor position controller with PID 35
Controller using PEC-01 & VAD-104 unit
Expt - 6 : Study of DC servo motor position controller with PID 44
Controller using PEC-01 & 841 based controller
Expt - 7 : Study of DC servo motor position controller with MATLAB 46
Based PID controller using PEC-01 & 841 based controller
3.2 Model Readings 48

3.3 Service Tips and Maintenance 52
CHAPTER - 4 THEORETICAL CONCEPT 53
4.1 Automatic Control System 54
4.2 Position Control with Speed Feedback 56
4.3 Transient Response Analysis 57
4.4 Chopper Circuit 59

DC POSITION CONTROL SYSTEM PEC-01
Chapter-1
Introduction
Vi Microsystems Pvt. Ltd., [1]

1.1 Introduction
The motors that are used in automatic control systems are called Servomotors. When the
objective of the system is to control the position of an object then the system is called servo
mechanism. The servomechanism is a feedback control system in which the output is mechanical
position.
The feedback system samples the output to produce a feedback signal which is proportional to
current output. Usually the feedback system consists of sensors and associated circuit or devices.
Transducers, Tachogenerators, etc., are used as feedback systems.
Vi Microsystems has designed PEC-01 trainer module to perform DC position control. This
module consists of a high performance Permanent Magnet DC Motor, often with an integral
tachogenerator and a chopper based power circuit.
Aim
This manual is intended to give you a description of DC POSITION CONTROL SYSTEM

(PEC-01) module and also the working procedure involved with our trainer module
Objective
On successful completion of this manual you should be able to:
* Describe the operation of DC Servo motor position controller
* Work with our module by yourself
Features
* Test points are provided to check the signals at each stage of the power circuit.
* Various types of DC servomotor position controller can be studied.
* Adjustment knobs are provided to vary P and I gain control values and set position value.
* Firing circuit and power circuit are in the same module with proper isolation.
* Necessary terminations are provided to connect the feedback loop circuits.

Chapter-2
About Our Trainer

2.0 DC Position Control System Trainer (PEC-01)
Figure 1. Pictorial View
Specification
MOSFET - IRF540
Snubber - R = 500 S /5w, C = 0.1:F
Op-Amp - IC TL084, TL082
Logic Gate - CD4011, 4081, 4082
Monoshot - 4098
Transformer rating - 230V / 18 - 0 - 18V, 0 - 9V, 3A

2.1 Hardware Description
2.1.1 Block Diagram
Figure 2. Block Diagram
The block diagram consists of
1. Comparator
2. Driver
3. Power circuit
4. Motor setup
5. Position feedback loop
6. Speed feedback loop
2.1.2 Block Diagram Description
1. Comparator
A comparator is a circuit which compares two signals and determines which one is greater. The
result of this comparison is indicated by the output voltage. In our module a comparator
compares the carrier signal with position feedback loop signal or speed feedback signal. The
output of comparator is given as input to the delay circuit. Delay circuit is used to avoid the short
circuit problems when the two MOSFETs operate at the same time.

2. Driver
Delay circuit output is given to the driver circuit. The driver circuit amplifies this signal and
converts it into the desired output level. The driver circuit output is in the form of PWM pulses.
This pulses are given to the gate of the power circuit MOSFET devices.
3. Power Circuit
The power circuit consists of MOSFET based Four quadrant bipolar chopper circuit. The PWM
pulses are obtained from the firing circuit. The output of power circuit is connected to motor
load.
4. Motor setup
Motor setup consists of PMDC motor, Position sensor and Tachogenerator. The position sensor
sense the motor position and the tachogenerator sense the motor speed. This position and speed
values are given to position feedback loop and speed feedback loop for motor control.
5. Position Feedback Loop
Position Feedback Loop consists of error detector, P and I gain control knobs. The output
position and the input position of the motor is given to error detector provided in the position
feedback loop. The error detector compares these two signals and produce the error signal. The
error signal will be a weak signal and so it has to be amplified and integrated or differentiated
to produce a control signal using P and I controller. The output of the position feedback loop is
given to the comparator.
6. Speed Feedback Loop
Speed Feedback Loop consists of error detector and P gain control knobs. The output speed and
the input speed of the motor is given to error detector provided on the speed feedback loop. The
error detector compares these two signals and produce the error signal. The error signal will be
a weak signal and so it has to be amplified and differentiated to produce a control signal using
P controller. The output of the speed feedback loop is given to the comparator.

2.2 Circuit Diagram



2.3 Component List
Vi Microsystems Pvt. Ltd., [ 10 ]


2.4 Front Panel View
Figure 3. Front Panel View

2.5 Data Sheets
1. CD4001BM

2. CD4071BM

3. HEF4082B

4. TL084

5. IRF540 MOSFET switch

2.6 Front Panel Description
DC Position Control system Trainer consists of the following sections.
* Position Feedback Loop Circuit

* Speed Feedback Loop Circuit
* Chopper Power Circuit
Power ON switch - To switch ON power supply to the module
Switch SW1 - To activate digital display of the position values
Upward position - Displays input position value

Downward position - Displays output position value
Switch SW2 - To switch ON pulse to the power circuit devices
Comparator - To compare the carrier signal with position feedback loop

signal or speed feedback loop signal.
Delay - To produce particular time delay
Driver - To drive the MOSFET switches
Test Point Details
P30 - Test Point to view carrier signal.
P29A - Test Point to view comparator output signal.
P26, P27, P28, P29 - Test Points to view PWM signals to the MOSFET switches.
P24, P25 - Test Points to view DC output voltage to the motor.

2.7 Specification
PEC-01
MOSFET - IRF540
Snubber - R = 500 S /5w, C = 0.1:F
Op-Amp - IC TL084, TL082
Logic Gate - CD4011, 4081, 4082
Monoshot - 4098
Transformer rating - 230V / 18 - 0 - 18V, 0 - 9V, 3A
Motor Setup
Volts - 12V DC
Amps - 1.5 A
F.L. RPM - 50
Torque - 20 KG cm

2.8 Protection and Precaution
Protection
* RC snubber circuit is provided to protect the MOSFET.
* Proper isolation is provided between the firing circuit and power circuit.
* Fuse is provided to control the load current.
Precaution
* Before doing the Installation procedure, please check out below mentioned items.
a) PEC-01 Module
b) Motor setup
c) Patch chords - 10 Nos
* Before doing connections, make all switches in OFF position.
* Make connections as per the connection diagram and connection procedure.
* Adjustable knob should be kept in minimum position.
* Don’t short the +ve, -ve power supply terminal.

Chapter-3
Experiment Section
Vi Microsystems Pvt. Ltd., [ 21]

3.1 Experiments
Expt - 1 : Study of Position Sensor
Aim
To study the Position Sensor (Servopot) manually using DC Position Control System Trainer
Module (PEC - 01).
Apparatus Required
1. PEC - 01 module
2. Motor Setup
3. Patch Chords
4. Multimeter
Theory
This experiment is intended to study the operation of Position Sensor. Select the switch SW1 in
downward direction and vary the motor position manually. For each step note down the motor
position in digital display and position feedback voltage in voltmeter and tabulate it.
Procedure
1. Connect one voltmeter across position & ground point.
2. Put the SPDT switch in NC mode (Downward direction) in order to view the PV position of
motor.
3. Now manually vary the motor position step by step.
4. For each step note down the voltmeter and position readings.
5. Tabulate the readings and observe it.
S.No. Motor Position Position feedback voltage
Conclusion
The position sensor gives linear output voltage with respect to the degree range of 5° to 340° and
out of this range it gives non linear output. So we can control the position of the DC motor in
the range of 5° to 340°.

Expt - 2 : Study of DC Servomotor Position Controller with P Controller
Aim
To study the DC Servomotor Position Controller with P Controller using the DC Position Control
System trainer module (PEC-01).
Apparatus Required
1. PEC-01 module
2. Patch Chords
3. Motor setup
4. CRO
Theory
This experiment is intended to study the operation of DC Servomotor Position Control with P
Controller. Vary the set position knob and set any position and also vary the P gain control knob.
Note down and tabulate input and output position and the maximum overshoot.
Connection Procedure
1. Connect the terminal P1 to P6 using patch chord.
2. Connect the motor actual position terminal P2 to P7 using patch chord.
3. Connect the terminal P8 to P10 and P12 to P17 using patch chords.
4. DC output from P24 & P25 is connected to the input of Permanent Magnet DC motor.
Experiment Procedure
1. Verify the connection as per the connection diagram and connection procedure.
2. Set the pulse release switch in OFF position.
3. Switch ON the power supply.
4. Vary the set position knob and set the motor position at any value.
5. Select the SPDT switch in upward direction and note the input position in digital display.
6. Slightly vary the P control knob.

7. Switch ON the pulse release switch S2. Note the maximum overshoot or maximum position
achieved by the motor.
8. Select the SPDT switch in downward direction and note the output position in digital display.
9. Check all the power circuit test point waveforms.
10. View the carrier signal across the terminals P30 and GND.
11. View the comparator output across the terminals P29A and GND.

12. View the MOSFET 1 and 2 trigger pulses across the terminals P26, P27 and GND.
13. View the MOSFET 3 and 4 trigger pulses across the terminals P28, P29 and GND.
14. Tabulate the input and output position and maximum overshoot in the tabular column shown
below.
S.No Input Position in Output Position Maximum Error in (°)

(°) in (°) overshoot in (°)

Connection Diagram
Result
Thus the characteristics of DC Servo motor Position Controller with P Controller was studied
and verified.

Expt - 3 : Study of DC Servomotor Position Controller with PI Controller
Aim
To study the DC Servomotor Position Controller with PI controller using DC Position Control
System Trainer Module (PEC-01).
Apparatus Required
1. PEC-01 module
2. Patch Chords
3. Motor setup
4. CRO
Theory
This experiment is intended to study the operation of DC Servomotor position control system
with PI Controller. Vary the set position knob and set any position and also vary the P and I gain
control knob. Tabulate the input and output position and the maximum overshoot.
5. DC output of P24 & P25 is connected to the input of Permanent Magnet DC (PMDC) motor.
3. Switch ON the power supply.
4. Vary the set position knob and set the motor at any position.
5. Select the SPDT switch in upward direction and note the input position in the digital display.
6. Slightly vary the P and I control knobs.

8. Select the SPDT switch in downward direction and note the output position in the digital
display.
9. Check all the test point waveforms.
10. View the carrier signal across the terminal P30 and GND.
11. View the comparator output across the terminal P29A and GND.

12. View the MOSFET 1 and 2 trigger pulses across the terminal P26, P27 and GND.
14. Tabulate the input and output position and maximum overshoot in the tabular column as
shown below.
S. No. Input Position in Output Position Maximum Error in (°)


Connection Diagram
Result
Thus the characteristics of DC Servo motor Position Controller with PI Controller was studied
and verified.

Expt - 4 : Study of DC Servomotor Position Controller with Speed Feedback Loop
Aim
To study the DC Servomotor Position Controller with Speed Feedback Loop using DC Position
Control System Trainer Module (PEC-01).
Apparatus Required
1. PEC-01 module
2. Patch Chords
3. Motor setup
4. CRO
Theory
This experiment is intended to study the operation of DC Servomotor position control with Speed
Feedback Loop.Vary the set position knob and set at any position and also vary the P gain
control(1) ,(2) knob and I gain control knob. Tabulate the input and output positions and the
maximum overshoot.
6. DC output of P24 & P25 is connected to the input of permanent magnet DC motor.
3. Switch ON the power supply and switch ON the power ON/OFF switch.
4. Vary the set position knob and set the motor at any position.

5. Select the SPDT switch in upward direction and note the input position in digital display.
6. Slightly vary the P gain control (1). I gain control and P gain control (2) knobs.
8. Select the SPDT switch in downward direction and note the output position in digital display.
9. Check all the test point waveforms.
10. View the carrier signal across the terminal P30 and GND.
11. View the comparator output across the terminal P29A and GND.

14. Tabulate the input and output position and maximum overshoot in the tabular column shown
below.
S. No. Input Position in Output Position Maximum Error in (°)


Connection Diagram
Result
Thus the characteristics of DC Servomotor Position Controller with speed feedback loop was
studied and verified.

Expt - 5 : Study of PC Based DC Servomotor Position Controller with PID Controller

using PEC-01 and VAD-104 PC Interface unit.
Aim
To study the PC Based DC Servomotor Position Controller with PID controller using DC
Position Control System Trainer Module (PEC-01) and VAD-104 parallel port interface unit.
Apparatus Required
1. PEC - 01 module
2. VAD - 104 unit
3. Interface card
4. Patch Chords
5. Motor setup
6. CRO
Theory
This experiment is intended to study the operation of PC based DC Servomotor position control
system with PID Controller. In the PC based control, the control gain and the set point values are
entered in the PC and from the PC the control voltage for PWM generation is provided through
the parallel port. An interface unit is used to form an interface between the analog and digital
signals.
1. Connect module to the power supply.

2. Connect the GND terminal of the Module to the Black terminal of the interface unit.
3. Connect control voltage terminal P23 to the terminal next to the black terminal in the
interface unit.
4. Connect the motor actual position terminal, P2, to the third terminal from the GND in the
interface unit.
5. Connect the “LOOP” connector in the VAD-104 unit to the connector provided on the top
of the interface unit.
6. Connect the ‘COMPUTER’ connector of the VAD-104 unit to the Parallel port connector of
the CPU.
7. DC output from P24 & P25 is connected to the input of Permanent Magnet DC (PMDC)
motor.
8. Connect feedback connector of the motor to the 9-pin connector provided on the module.

3. Switch ON the power supply to the module.
4. Click open the process control software from the Desktop or from the target directory. The
window opens as shown below.
5. To start the PC based Control, select the ‘Start’ option from the File menu. “File –> Start”,
the File menu opens as shown below. Now the system is ready for control.

6. To select the PID control, select ‘PID Control’ from the Control menu. “Control –> PID
Control”, the Control menu opens as shown below.
7. To set the parameters, open the parameters in the ‘settings’ menu. “Settings –> Parameters”,
the Settings menu opens as shown below.

8. On selecting the parameters the window opens as shown below.
9. Set the Set Point, Kc, KI and KD gain values in the above shown window and press ‘Accept’
button provided on the front end. Now, PC displays the set position and the actual motor
position. The parameters are Kc = 2; KI = 0.01; KD = 0.01.

10. To save the plotted graph, select the Save option in the File Menu. “File –> Save”, the File
menu opens as shown below.
11. A window opens as shown below to enter the file name. Type a file name and select ‘Save’
button.

12. To Load the saved graph, select the Load option in the File Menu. “File –> Load”, the File
menu opens as shown below.
13. A window opens as shown below to enter the file name. Type a file name and select ‘Load’
button.

14. The loaded Graph will be as shown below.
15. Report will be generated for the saved graph. It can be viewed from the ‘Options’ menu in
the View Graph window as shown below.
16. For various set point values and gain values, observe the setpoint and actual position from
the plot.

VAD-104 Connector Details
1. Computer Connector
2. LOOP Connector

Connection Diagram
Result
Thus the PC based DC Servomotor Position Controller with PID control was studied and
verified.

Expt - 6 : Study of DC Servomotor Position Controller with PID Controller using PEC-01
and 841 based Intelligent Controller
Aim
To study the DC Servomotor Position Controller with PID controller using DC Position Control
System Trainer Module (PEC-01) and 841 based Intelligent Controller.
Apparatus Required
1. PEC-01 module
2. VDC-501 unit
3. Patch Chords
4. Motor setup
5. CRO
Theory
with PID Controller using 841 based controller unit. The controller is programmed for motor
position control. Motor actual position signal is feedback to the controller and the control voltage
for PWM generation is provided by the controller. The controller unit has ADC/DAC unit for
interface between controller and position control power module.
2. Connect the GND terminal of the Module to the GND pin of the controller unit.
3. Connect control voltage terminal P23 to the DAC terminal of the controller unit.
4. Connect the motor actual position terminal, P2, to the ADC terminal of the controller unit.
5. Connect DC output from P24 & P25 terminals to the input of Permanent Magnet DC
(PMDC) motor.
3. Switch ON the power supply and switch ON the power ON/OFF switch in the power module.
4. The digital controller controls the motor position at the pre-programmed set position value
programmed in the controller unit.

Connection Diagram

Expt - 7 : Study of DC Servomotor Position Controller with MATLAB based PID

Controller using PEC-01 and 841 controller module
Aim
To study the DC Servomotor Position Controller with PID controller with MATLAB using DC
Position Control System Trainer Module (PEC-01) and dsPIC controller module.
Apparatus Required
1. PEC-01 module
2. VDC-501 unit
3. Patch Chords
4. Motor setup
5. CRO
Theory
with MATLAB interface using 841 based controller unit. The control is implemented using
MATLAB and the VDC-501 provides an interface between the position control system and the
MATLAB program. The requirements for MATLAB interface are, MATLAB 7.1 version with
virtual DSP Toolset.
2. Connect controller interface board to the PC.
3. Connect the GND terminal of the Module to the GND pin of the controller unit.
4. Connect control voltage terminal P23 to the DAC terminal of the controller unit.
5. Connect the motor actual position terminal, P2, to the ADC terminal of the controller unit.
6. Connect DC output from P24 & P25 terminals to the input of Permanent Magnet DC
(PMDC) motor.
3. Switch ON the power supply and switch ON the power ON/OFF switch in the power module.
4. The digital controller controls the motor position at the pre-programmed set position value
programmed in the controller unit.

Connection Diagram

3.2 Model Readings
Expt - 1 : Study of Position Sensor
S.No. Motor Position Position feedback voltage

1. 225 2.59
2. 226 2.60
3. 227 2.61
4. 228 2.62
5. 229 2.63
6. 230 2.64
7. 231 2.65
Conclusion
The position sensor gives linear output voltage with respect to the degree range of 5° to 340° and
out of this range it gives non linear output. So we can control the position of the DC motor in
the range of 5° to 340°.

Expt - 2 : Study of DC Servomotor Position Controller with P Controller

1. 200 203
2. 205 209
3. 215 219
4. 220 223
5. 225 229
6. 230 232
7. 235 238
Result
Thus the characteristics of DC Servo motor Position Controller with P Controller was studied
and verified.

Expt - 3 : Study of DC Servomotor Position Controller with PI Controller

1. 200 200
2. 210 210
3. 215 215
4. 225 224
5. 250 250
6. 275 274
7. 300 299
Result
Thus the characteristics of DC Servo motor Position Controller with PI Controller was studied
and verified.

Expt - 4 : Study of DC Servomotor Position Controller with Speed Feedback Loop

1. 200 200
2. 210 210
3. 215 214
4. 225 224
5. 250 249
6. 275 275
7. 300 299
Result
Thus the characteristics of DC Servo motor Position Controller with Speed Feedback Loop was
studied and verified.

3.3 Service Tips and Maintenance
Service Tips
* Ensure there are no loose connections
* Ensure the fuses are in good condition
* Ensure the firing circuit waveform at the test points, with respect to GND.
* Ensure the potentiometers are in working condition.
Maintenance
* Ensure the 1N AC Supply, 50 Hz signal.
* Ensure power to the module is switched ON.
* Ensure the input supply 18V, 19V AC, 50Hz signal.
* Do the experiment as per the experimental procedure.

Chapter-4
Theoretical Concept
(This section is solely to explain the theoretical details of DC Position Control System by
considering the ideal conditions which may vary for practical conditions. So some
difference may be seen between the ideal responses and the practical responses of our
trainer.)

4.1 Automatic Control System
In a system when the output quantity is controlled by varying the input quantity, the system is
called control system. The output quantity is called controlled variable or response The input
quantity is called command signal or excitation.
The basic components of an automatic control system are error detector, amplifier and controller,
power actuator, system and sensor (or) feedback system. The block diagram of an automatic
control system is shown below.
Figure 3. Block Diagram of Automatic Control System
Error Amplifier
The error amplifier compares the reference input signal Vref with feedback signal. The output is
a voltage proportional to the difference between the two signals.
Feedback
This constitutes the output sensor and associated amplifier. The feedback signal Vf is the voltage
proportional to the output variable of the system.
Error Detectors
In Position Control System the reference input will be an input signal proportional to desired
output. The feedback signal is a signal proportional to current output of the system. The error
detector compares the reference input and feedback signal and if there is a difference it produces
an error signal. The error signal is used to correct the output if there is a deviation from the
desired value.
Controller
The controller process the error signal and gives an output voltage signal Vc known as the control
voltage. This suggests the necessary corrective measures required in the actuating signal Va to
be applied to the system.

i. Proportional (P) Controller
The Proportional Controller is a device that produces a control signal, u(t) which is proportional
to the input error signal, e(t).
Figure 4. Block Diagram of P Controller
ii. Integral (I) Controller
The integral controller is a device that produces a control signal, u(t) which is proportional to
integral of the input error signal, e(t).
Figure 5. Block Diagram of I Controller
iii. Proportional - Plus - Integral (PI) Controller
The Proportional - Plus - Integral Controller produces an output signal consisting of two terms-
one proportional to error signal and the other proportional to the integral of error signal.
Figure 6. Block Diagram of PI Controller

4.2 Position Control with Speed Feedback
Figure 7. Position Control with Speed Feedback
In the above figure, the angular position of the output shaft is intended to follow the reference
voltage (2 ref) but it should be clear that if the motor drives a toothed belt linear outputs can also
be obtained. The potentiometer is mounted on the output shaft. The voltage from this
potentiometer must be a linear function of angle, and must not vary with temperature, otherwise
the accuracy of the system will be in doubt.
The feedback voltage (representing the actual angle of the shaft) is subtracted from the reference
voltage (representing the desired position) and the resulting position error signal is amplified and
used to drive the motor so as to rotate the output shaft in the desired direction. When the output
shaft reaches the target position, the position error becomes zero, no voltage is applied to the
motor, and the output shaft remains at rest. Any attempt to physically move the output shaft from
its target position immediately creates a position error and a restoring torque is applied by the
motor.

The dynamic performance of a simple scheme described above is very unsatisfactory as it stands.
In order to achieve a fast response and to minimise position errors caused by static friction, the
gain of the amplifier needs to be high, but this inturn leads to a high oscillatory response which
is usually unacceptable. For some fixed - load applications, matters can be improved by adding
a compensating network at the input to the amplifier, but the best solution is to use 'tacho' (speed)
feedback (shown as dotted in the above Figure) in addition to the main position.
Tacho feedback has no effect on the static behaviour, but has the effect of increasing the damping
of the transient response. The gain of the amplifier can therefore be made high in order to give
a fast response, and the degree of tacho feedback can then be adjusted to provide the required
damping. Many servo motors have an integral tachogenerator for this purpose.
The example provided above deals with an analog scheme in the interest of simplicity, but digital
position control schemes are now gradually taking precedence, especially when brushless motors
are used. Complete 'Controllers on a card' are available as off-the-shelf items, and these offer
case of interface to other systems as well as providing improved flexibility in shaping the
dynamic response.
4.3 Transient Response Analysis
In many practical cases the desired performance characteristics of control system are specified
in terms of time domain quantities. Frequently, the performance characteristics of a control
system is specified in terms of the transient response to a unit-step input since it is easy to
generate and is sufficiently drastic. In specifying the transient characteristics of a control system
to a unit-step input, it is common to specify the following.
1. Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time, ts
1. Delay time, td
The delay time is the time required for the response to reach half the final value, for the very first
time.
2. Rise time, tr
The rise time is the time required for the response to rise from 10% to 90%, 5% to 95%, or 0%
to 100% of its final value. For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is commonly used.

3. Peak time, tp
The peak time is the time required for the response to reach the first peak of the overshoot.
4. Maximum overshoot, Mp
The maximum overshoot is the maximum peak value of the response curve measured from
unity. If the final steady - state value of the response differs from unity, then it is common to use
the maximum percent overshoot. The amount of the maximum (Percent) overshoot directly
indicates the relative stability of the system.
5. Settling time, ts
The settling time is the time required for the response curve to reach and stay with in a range
about the final value of size specified by absolute percentage of the final value (usually 2% or
5%). The settling time is related to the largest time constant of the control system.
Figure 8. Transient Response Curve

4.4 Chopper Circuit
Static DC to DC converters, called as choppers, achieve a similar function transformers but in

DC. Choppers are widely used for traction motor control in electric automobiles, trolley cars,
marine hoists, fork lift trucks, and mine haulers. They provide smooth acceleration control. high
efficiency, and fast dynamic response. Choppers are also used in DC voltage regulators.
Four Quadrant Chopper
In four quadrant operation the output current as well as output voltage can take positive or
negative values. The circuit diagram for MOSFET based chopper is shown below.
Figure 9. Four quadrant chopper circuit
In the first quadrant the power flows from the source to the load and is assumed to be (+)ve. In
the second quadrant the voltage is still positive but the current is negative. The power is there-
fore negative. In this case power flows from the load to the source and this can happen if the
load is inductive or back emf source such as a DC motor. In the third quadrant both the voltage
and current are negative, but the power is positive, and the power flows from the source to the
load. In the fourth quadrant voltage is negative but the current is positive. The power is
therefore negative.
The four quadrant chopper is widely used in reversible DC motor drives. The reversible DC
motor drive system requires, power flow in either direction, in order to achieve fast dynamic
response. By employing four quadrant chopper it is possible to implement regeneration and
dynamic braking by means of which fast dynamic response is achieved.

Circuit Operation
Quadrant Conducting Switches Mode Description

I T1 & T4 Forward Motoring/ Load consumes power
Rectifying from the source io & Vo
both are positive.
II T4 & D2 Forward Motoring/ Load current flow is
Free wheeling maintained by inductor
operation and free wheeling diode
.io & Vo both are
positive.
IV D3 & D2 Inverting Load energy is fed to the
supply.
io - positive.
Vo - negative
III T3 & T2 Rectifying, current io & Vo both are
flow is in opposite positive.
direction
III T2 & D4 Free wheeling io & Vo both are
operation positive.
I D1 & D4 Inverting Operation Energy is fed to the
supply.
io - negative
Vo - positive.
Four Quadrant Chopper Operation

Gating Signals for bipolar voltage switching
For bipolar voltage switching the devices (T1 and T4) are switched ON/OFF simultaneously.
When this pair of switches are OFF the other pair of switches T3 and T2 are switched ON and
vice-versa. The gating signals are generated by comparing a switching frequency triangular
waveform Vtri with the control voltage Vc. The pulse generated, when Vc > Vtri are used to turn
ON T1 and T4. The complementary pulses are used to turn ON T3 and T2. The waveforms shows
the generation of the gating signals.
Figure 10. PWM For Chopper with Bipolar Switching
The control voltage Vc is varied from -Vtri to +Vtri. When Vc is (+)ve, the duty cycle ratio for the
switches T1 and T4 is greater than 50% and the average output load voltage will be (+)ve. When
Vc is (-)ve, the duty cycle ratio for T3 and T2 will be more than 50% and the average output
voltage will be (-)ve. When Vc = 0, the switches T1, T4 and T3 and T2 are switched for equal
interval of time. The output voltage will then be zero.

The duty cycle ratio for the switch pair T1 and T4 is
and duty cycle ratio for the switch pair T3 and T2 is
and the average output DC voltage is given by

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DC POSITION CONTROL SYSTEM

(Model No : PEC - 01)

Technical Clarification /Suggestion :

CHAPTER - 2 ABOUT OUR TRAINER 3

2.0 DC Position Control System Trainer (PEC-01) 4

CHAPTER - 3 EXPERIMENT SECTION 21

Expt - 1 : Study the Position Sensor 22

3.2 Model Readings 48

4.1 Automatic Control System 54

4.2 Position Control with Speed Feedback 56

4.3 Transient Response Analysis 57

4.4 Chopper Circuit 59

Vi Microsystems Pvt. Ltd., [1]

This manual is intended to give you a description of DC POSITION CONTROL SYSTEM

On successful completion of this manual you should be able to:

* Describe the operation of DC Servo motor position controller

* Work with our module by yourself

* Various types of DC servomotor position controller can be studied.

* Necessary terminations are provided to connect the feedback loop circuits.

Vi Microsystems Pvt. Ltd., [2]

About Our Trainer

Vi Microsystems Pvt. Ltd., [3]

2.0 DC Position Control System Trainer (PEC-01)

Figure 1. Pictorial View

Snubber - R = 500 S /5w, C = 0.1:F

Op-Amp - IC TL084, TL082

Logic Gate - CD4011, 4081, 4082

Transformer rating - 230V / 18 - 0 - 18V, 0 - 9V, 3A

Vi Microsystems Pvt. Ltd., [4]

2.1 Hardware Description

2.1.1 Block Diagram

Figure 2. Block Diagram

The block diagram consists of

5. Position feedback loop

6. Speed feedback loop

2.1.2 Block Diagram Description

Vi Microsystems Pvt. Ltd., [5]

5. Position Feedback Loop

6. Speed Feedback Loop

Vi Microsystems Pvt. Ltd., [6]

2.2 Circuit Diagram

Vi Microsystems Pvt. Ltd., [7]

Vi Microsystems Pvt. Ltd., [8]

Vi Microsystems Pvt. Ltd., [9]

2.3 Component List

Vi Microsystems Pvt. Ltd., [ 10 ]

Vi Microsystems Pvt. Ltd., [ 11 ]

2.4 Front Panel View

Figure 3. Front Panel View

Vi Microsystems Pvt. Ltd., [ 12 ]

2.5 Data Sheets

Vi Microsystems Pvt. Ltd., [ 13 ]

Vi Microsystems Pvt. Ltd., [ 14 ]

Vi Microsystems Pvt. Ltd., [ 15 ]

Vi Microsystems Pvt. Ltd., [ 16 ]

5. IRF540 MOSFET switch

Vi Microsystems Pvt. Ltd., [ 17 ]

2.6 Front Panel Description