EE 414/614 Control Systems I Lab Lab 2 Equipment Familiarization/Amplifier and Attenuator Characteristics

Department of Electrical Engineering Wright State University

1 Objective
The objective of this lab is to introduce and demonstrate the basic operation of the equipment provided by Feedback Instruments Limited.

2 Introduction
Feedback Instruments Limited provides the MS150 modular servo system for introduction to closed-loop systems. These systems use a DC motor, transducers, a loading unit, and various amplifiers to construct position and velocity control systems.

3 Equipment Descriptions 3.1 Op-Amp Unit (OA150A)

An amplifier providing both an inverting voltage gain as well as allowing for summation of multiple input signals. Terminals 1-3 provide the inputs while terminal 6 provides the output. A feedback selector dial on the unit provides the options for unity gain, a defined time constant, or external feedback through a secondary electronic network (terminals 4 and 5).

Figure 1 Op-Amp Unit (OA150A). Source: Feedback Instruments Limited1

Disclaimer: This manual is compiled with the permission of Feedback Instruments Limited . All equipment images and descriptions are property of Feedback Instruments Limited and subject to United States and international copyright laws. Reproduction, re-publication, distribution, modification, and transmission without consent is strictly prohibited.

3.2 Pre-Amplifier Unit (AU150B)

This unit provides a push-pull output (terminals 3 and 4) to drive the servo amplifier. The two inputs (terminals 1and 2) are summed together similar to the op amp unit. A positive signal results in a positive output on terminal 3 while the output on terminal 4 remains near zero. Likewise, a negative signal results in near zero output on terminal 3 while the output on terminal 4 is positive.

Figure 2 Pre-Amplifier Unit (AU150B). Source: Feedback Instruments Limited1

3.3 Servo Amplifier (SA150D)

The servo amplifier is a power amplifier that provides the necessary current to drive the motor. The servo is connected to the motor via 12-way socket, and is powered directly by the power supply. The output of the servo is proportional to the difference in voltages between terminals 1 and 2. In addition, the terminals 3 and 4 can be used to monitor the voltage across the motor, while terminal 5 can be used to monitor the current through the motor.

Figure 3 Servo Amplifier (SA150D). Source: Feedback Instruments Limited1

3.4 Power Supply (PS150E)

The power supply provides a 24 V, 2 A unregulated output to power the servo amplifier. This is connected via 8way socket. In addition, it contains 2 sets of +15 V, 0 V, and -15 V supplies to power the smaller amplifiers. The power supply also contains various AC outputs not used within this lab.

Figure 4 Power Supply (PS150E). Source: Feedback Instruments Limited1

3.5 DC Motor (DCM150F)

A permanent magnet brushed DC motor.

Figure 5 DC Motor (DCM150F). Source: Feedback Instruments Limited1

3.6 Input and Output Potentiometers (IP150H & OP150K)

These are one-turn rotary potentiometers. The output (terminal 3) is proportional to the location of the dial on the front of the potentiometer, and the voltage supplied to the inputs (terminals 1and 2). Terminal 4 (Input pot only) provides a ground for the unit-step and 0V inversion operations associated with the toggle switch on the device. Each potentiometer also contains a buffer circuit to prevent overloading. The input potentiometer has 150 usable range of motion and can be used to supply a reference voltage. The output potentiometer is coupled to the output shaft of the Tacho Gear Box.

3.7 Attenuator Unit (AU150B)

This unit contains a set of two variable 10k potentiometers. The output voltage (terminals 2 or 5) is linearly proportional to the placement of the dial, which varies from 0 to 10. Placement of the dial at 0 will result in an output voltage that corresponds to the voltage at terminals 1 or 4, while placement of the dial at 10 will result in an output voltage that corresponds to the voltage at terminals 3 or 6. These units are used set a reference voltage or to supply a less than unity gain.

Figure 6 Attenuator Unit (AU150B). Source: Feedback Instruments Limited1

3.8 Loading Unit (LU150L)

A permanent magnet placed around flywheel of the motor. The magnet provides a varying loading which can be set by the scale that ranges from 0 (minimum load) to 10 (maximum load).

Figure 7 Loading Unit (LU150L). Source: Feedback Instruments Limited1

3.9 Reduction Gear Tacho Unit (GT150X)

A speed reduction gearbox with a ratio of 30/1 from the motor shaft to the output shaft. The gearbox also contains a tachometer, which measures the velocity of the motor shaft speed, and a voltmeter to measure tachometer outputs in either volts or revolutions per minute (RPMs).

4 Assignment 4.1 Attenuator Operation

The attenuator can be used to set a reference voltage or gain. Demonstrate these characteristics by connecting the input voltage VI to terminal 3 and 0 V to terminal 1. Adjust the selector dial to the setting in Table 1 and record the output. Calculate the gain for each setting. Plot the Gain vs. Dial Setting.
Table 1 Attenuator I/O Characteristics

Input Voltage (V) 15 V 15 V 15 V 15 V 15 V 15 V 15 V 15 V 15 V 15 V 15 V

Dial Setting 0 1 2 3 4 5 6 7 8 9 10

Output (V)

Gain

4.2 Op-Amp Operation

The Op-Amp unit provides both a summing and inverting function. The output of the op-amp can be described by

where V1 is the voltage at terminal 1, V2 is the voltage at terminal 2, R1 = 100 k and R2 is the resistance of the feedback network. Set the unit to external feedback and insert 200 k between terminals 4 and 5. Apply the voltages as described in Table 2 and measure the output. Calculate the gain.
Table 2 Op-Amp I/O Characteristics

Input Voltage Terminal 1 V1 (V) 2V 2V -2 V 2V

Input Voltage Terminal 2 V2 (V) 0V 1V 1V -4 V

V1 + V2

Output (V)

Gain

4.3 Pre-Amplifier Operation

The push-pull operation of the pre-amplifier is outlined in section 3.3. Connect the input voltage to either terminal 1 or 2 and confirm this operation by taking the measurements in Table 3. Plot the output voltage from each output terminal vs. input voltage on the same graph. Measure the gain of the pre-amplifier, KPA, by determining the slope of each line.
Table 3 Pre-Amplifier I/O Characteristics

Input Voltage (V) -0.5 V -0.4 V -0.3 V -0.2 V -0.1 V 0V 0.1 V 0.2 V 0.3 V 0.4 V 0.5 V

Terminal 3 Output (V)

Terminal 4 Output (V)

4.4 Open-Loop and Closed- Loop System Operation

The MS150 modular servo system can be configured to demonstrate several different systems. Connect the system in Figure 8 to construct a reversible speed control system in closed-loop operation. Set the attenuator unit to apply a 0V reference voltage. The motor should not move. If the motor is moving, adjust the zero-set on the pre-amplifier until the motion ceases. Adjust the attenuator to set the reference voltage according to Table 4. Record the tachometer voltage and direction of motor rotation.

Figure 8 Reversible Speed Control System. Source: Feedback Instruments Limited1

Table 4 Closed-Loop Reversible Speed Control System Tach Voltage and Motor Rotation Direction

Reference Voltage (V) -2 V -1 V 0V 1V 2V

Tach Voltage (V)

Motor Rotation Direction

Now, remove the connection between the Reduction Gear Tacho Box and the Pre-amplifier unit. The system will now be in open-loop operation. Adjust the attenuator to set the reference voltage according to Table 5. Record the tachometer voltage and direction of motor rotation. Compare the results from Table 4 and Table 5. How has the operation of the system changed? What impact does feedback have on the system?
Table 5 Open-Loop Reversible Speed Control System Tach Voltage and Motor Rotation Direction

Reference Voltage (V) -2 V -1 V 0V 1V 2V

Tach Voltage (V)

Motor Rotation Direction

5 Report
Include the following in the report: All tables and calculations All questions presented within the Section 4 Plot of the of the gain vs. dial setting for the attenuator Plot of the output voltages vs. input voltage for the pre-amplifier, and the measurement of the pre-amplifier gain, KPA.

References
1) Modular Servo System MS150 DC, Synchro, & AC Basic Assignments . Crowborough, England: Feedback.