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Experiment No 9
Experiment No 9
Experiment No 9
Experiment No. 9
Title:
Position Control on different inputs with Velocity Feedback control.
Objectives:
i. Conduct a servo system to respond to step inputs using proportional gain
and velocity feedback.
ii. Execute a servo system to respond to ramp inputs using proportional gain
and transient velocity feedback
Apparatus Required:
MS-15 DC Motor Module
AS-3 Command Potentiometer
CLIO Interface Module with PC connection leads
System Power supply
4mm Connection Leads
PC running VCL (Visual Control Laboratory) Software
Procedure:
I started VCL and loaded CA06PE08.
Then I switched on the system, set Kv to 0 , gain Kc to 2.5 and velocity feedback
to 0. The system was very underdamped.
I observed that the drive signal (brown) and added Velocity Feedback by setting
Kv to 1.00
After that, I increased Kv to 2.00.
I adjusted Kv until there is just a small overshoot
Velocity Feedback for optimum setting Kv = 2.5
Gain Kc 2.5 5 10
VFB Kv 2.5 3.9 5.6
Rise Time Tr seconds 0.3 0.163 0.095
Expected Rise Time 0.29 0.159 0.092
With Kc = 10 and Kv at the setting to give optimum response, I set the eddy
current brake to position 2.
By calculating Kc & Kv from Rise Time and Overshoot Specification
Rise Time:
Damping Factor can be obtained from overshoot by the formula: