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Analog and Digital Motor Control
CA06 Curriculum Manual

2007 LJ Create. This publication is copyright and no part of it may be adapted or reproduced in any material form except with the prior written permission of LJ Create.

Issue: ME1219/C Lesson Module: 17.07 Version 0

CA06 Curriculum Manual

Analog and Digital Motor Control Contents

Chapter
Introductio n Chapte 1 r Chapte 2 r Chapte 3 r Chapte 4 r Chapte 5 r Chapte 6 r Chapte 7 r Chapte 8 r Chapte 9 r Chapte 10 r Chapte 11 r Chapte 12 r Chapte 13 r Chapte 14 r

Contents______________________________Pages
..............................................................................................................i - iv

Analog Control - Equipment Overview............................... 1-18 Introduction to Control Systems........................................19 - 30 Time Response ..................................................................31 -50 Frequency Response .........................................................51 -62 Principles of Feedback......................................................63 - 78 Proportional Position Control............................................79 - 88 Behavior of Second Order Systems.................................89- 104 Position Control with Velocity Feedback......................105 - 114 Three-Term or PID Control...........................................115- 128 Stability..........................................................................129 - 136 The Use of Computers for Control................................ 137- 144 Analog Interfacing......................................................... 145- 160 Direct Digital Control.................................................... 161 - 174 Digital Interfacing......................................................... 175 - 196

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CA06 Curriculum Manual

Analog and Digital Motor Control Introduction

Introduction

Introduction
This curriculum text is designed to introduce analog and digital control methods used to control the MS 15 DC Motor Control Module. The work is presented in a largely non-mathematical form with the aim of clearly establishing the principles involved prior to the mathematical approach that has to be accepted beyond this level. This curriculum makes use of Real-time Windows based Virtual Control Laboratory software and a Control Laboratory Input/Output (CLIO) interface module which enables the student PC workstation to:

perform as a function generator to supply (if required) the command (reference) input signal in various forms, for example, step or sinewave inputs. supply a wide range of different adjustable controller configurations, for example, open-loop or PID. perform as an eight-channel oscilloscope or voltmeter to display various control signals, for example, command input, position output.

Because this curriculum is concerned with the control of a servomechanism (the MS 15 DC Motor Module) the terminology used is that related to servo systems rather than to process systems but the basic concepts are of course applicable to all types of control. Throughout industry today, microcomputers are increasingly being used to control electromechanical servomechanisms with applications that can vary from the driving and controlling of elevators to robotic drive and control systems. This text looks at this important area of systems control and explains in detail the techniques employed when using a microcomputer to carry out these various control tasks.

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Analog and Digital Motor Control Introduction

CA06 Curriculum Manual

The digital control material presented in the later chapters of this curriculum text is split into two sections in order to cover this subject in its broadest possible context. The first explains the techniques associated with analog interfacing and the second with digital interfacing. Numerous hands-on exercises are included covering both approaches.

WARNING
All DC motors have a limited life. When not performing an experiment, switch the unit off or remove the signal applied to the motor input (click disable on the control software). The motor should be prevented from entering a state of high frequency oscillation for more than a few seconds. This manifests itself as either an audible 'buzz' or rough running of the motor. If this condition is not removed the motor may fail. The experiments in this manual ensure that this condition should not arise. If it does, remove the input to stop the oscillation and check that the instructions have been followed correctly.

The Module Power Supplies

The System Power 90 Power Supply (or equivalent) contains all of the power supplies needed to make all the modules operate. You can switch these power supplies ON and OFF with the switch located on the front panel.

Making Circuit Connections

During each Practical Exercise in this manual, you will be asked to make circuit connections using the 4 mm Patching Cords. Whenever you make (or change) circuit connections, it is good practice to always do so with the Power Supplies switch in the OFF position. You should switch the Power Supplies ON only after you have made, and checked, your connections. Remember that the Power Supplies switch must be ON in order for you to be able to make the observations and measurements required in the Exercise. At the end of each Exercise, you should return the Power Supply switch to the 'OFF' position before you dismantle your circuit connections. ii LJ Technical Systems

CA06 Curriculum Manual

Analog and Digital Motor Control Introduction

Your Workstation
Depending on the laboratory environment in which you are working, your workstation may, or may not, be computer managed. This will affect the way that you use this curriculum manual. If you are in any doubt about whether your workstation is computer managed, you should consult your instructor.

Using this Manual at a Computer Managed Workstation

In order to use this curriculum manual at a computer managed workstation you will require a personal computer (PC) that has been installed with computer managed student workstation software. If you are working in a computer managed environment for the first time, you should first read the operating information that has been provided with your computer managed workstation. This tell you how to: Log onto the management system and request work. Make responses to questions in a computer managed environment. Hand in your work when completed. Log off at the end of your work session.

Whenever you see the symbol \fyr in the left-hand margin of this Curriculum Manual, you are required to respond to questions using your computer managed workstation. You should also record your responses in your student workbook so that you can review them at any time in the future. The following D3000 Lesson Module is available for use with this Curriculum Manual: D3000 Lesson Module 17.06

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Analog and Digital Motor Control Introduction

CA06 Curriculum Manual

Using this Manual at a Workstation that is not Computer Managed

Whenever you see the symbol <^^/ in the left-hand margin of this Curriculum Manual, you are required to answer a question. If your workstation is not computer managed, you should record your answer in your student workbook so that it can be subsequently marked by your instructor.

Good luck with your Studies.

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