Name: Muhammad Usama Roll No: 20013122-032

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 velocityfeedback.
ii. Execute a servo system to respond to ramp inputs using proportional gain
and transientvelocity 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 to1.00
• 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

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

Optimizing the Setting:

• I set the gain to each of the values shown, and noted the output.

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
currentbrake 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:

• Controller proportional gain, Kc

• The velocity feedback required is given by:

Conclusion & Discussion:

From the above experiment, I learnt how to control the position of servo motor with velocity
Feedback, that is an effective way of stabilizing servo systems which have to respond to step
inputs. Increasing gain gives better response times and increases the stiffness. Increasing Velocity
Feedback increases the damping thus reducing the oscillations.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar