Name: Muhammad Usama Roll No: 20013122-032

Experiment No. 7
Title:
Execute the excellent steady state performance and poor transient performance of a proportional
servo position system

Objectives:
i. Examine and execute the excellent steady state performance of a
proportional servo position system
ii. Examine and execute the poor steady state performance of a proportional
servo position system

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 checked that controller gain Kc is set to 0.8 and VFB (Velocity Feedback) is Off.
 After that, I make sure that the output potentiometer is engaged then switch power ON
 To illustrate that this is a position servo, I rotated the Command Potentiometer
between 30° and 300° and watched the output dial follow, albeit rather sluggishly.
 Then I observed the behavior of the system on the screen. Trace 1 (dark blue)
was the input position and trace 2 (blue) was the output position.
 Then I changed the Reference Input to Internal. The signal generator should be
set to Step 20%.
Steady State Behavior
 I set Kc = 2.5 and compared the input and output traces once the transient has died away.
 The steady state transfer function for a unity feedback system would be:

 A high gain is required to give a closed loop transfer function of 1. But,

from the observations just made, it would appear that C/R = 1 with a low
value of gain Kc.
 This can be explained diagrammatically. When the error, and hence velocity, is a
steady value the position will be a ramp.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

 When the step is applied, there is a large error so the motor runs at high speed and
the position ramps up quickly. At the end of the first period, the output has moved
towards the input so the error is reduced and the motor now runs more slowly.
(Fig: 6.2)

 I set Kc = 0.8 and saw the position (channel 2) and error (channel 3) behave in
the way described although the traces are much smoother.
Transient Behavior
 I increased Kc to 3 and saw the problem. Although the steady state value is
reached, eventually, there is a lot of trouble getting there.
 Including the lag effect gives signals as in Fig: 6.3.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

 When the step is applied, there is a delay before the motor reaches the speed
demanded. This causes the position to lag behind the ideal signal. The response
shown in Fig 6.4 results.

 Within each time slice, the change in position is lagging behind the signal
driving the velocity.

Sensitivity to Load Disturbances

 After that, I set Kc to 2.0. The steady state position is at its demanded level.
 I applied the brake, setting it to position 2.
 With the brake at position 2, I adjusted Kc to give a response that just does not
oscillate when the step is applied.
 After that, I took the brake off and observed what happens to the transient. The
output overshoots before coming to the steady value. The load has an effect on
the transient response.

Conclusion & Discussion:

From the above experiment, I learnt how to observe the excellent and poor steady state
performance of a servo position control system. Position control adds an integration effect into
the system. Depending on the load, this gives excellent steady state performance but the gain
setting can give a variety of transient responses - ranging from the sluggish to the oscillatory.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar