ME 413: System Dynamics & Control

Servo Trainer
Trainer (2
(2 )
Response Calculating and
Measurements

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Due Date:

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Instructor

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ME 413: System Dynamics and Control Lab Manual

SERVO TRAINER (2)

RESPONSE CALCULATING AND
MEASUREMENTS
OBJECTIVES
The objective of this experiment is to determine the gain,

G1

and time constant,

, of

the servo-motor transfer function with differing inertial loads where the servo motor
transfer function is given by

Y (s )
G1
=
V (s ) s + 1
where

Y (s ) =

the speed sensor output voltage and

(1)

V (s ) =

the motor drive input

voltage.

THEORY
Figure 1 shows the servo-control system where the clutch is disengaged. When the
servo-control system is used as a feedback control system the motor speed, , is
controlled (or actuated) by adjusting the applied voltage to the motor drive amplifier,
V . Likewise, the shaft speed is sensed by a transducer, which produces output voltage,
y , which is proportional to the shaft angular velocity, . The overall system may be
represented schematically as shown in Figure 2.

Shaft
Bearings

Flywheel with inertia, I

Load
Generator

Angular
Velocity,

Speed sensor
(volts)

Motor

Figure 1

Vl (t)

R
V (t )

Servo control system: Clutch disengaged.

Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

(s )

ki
s + 1

V (s)

Y (s)

Figure 2

The transfer function representing the above system is

Y (s ) =

ki kw
s + 1

V (s ) =

G1
V (s )
s + 1

(2)

G1 = kik is the steady state gain of the transfer function from the input drive
voltage, V (s ) , to the sensed shaft position, Y (s ) . In equation (2), ki and k are
the motor and the velocity sensor gain constants respectively, while represents the
where

time constant of the first order system.

For a step input signal of magnitude U , the output shaft position Y (s ) would be

Y (s ) =

U

s

G1
s + 1

(3)

Step Input

and the response of the system is obtained by taking the inverse Laplace transform
of equation (3), that is
t
y (t ) = UG1 1 e
(4)

where the response is shown in Figure (3), where it can be seen that:

y (t )
slope of the tangent at origin

UG1

y (t ) = UG1 1 e

0.632 UG1

Figure 3

4
5
2
3
Step response of a first order system.

Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

the steady state value, would reach the steady state gain time the
magnitude of the input signal voltage, in other words, y ,ss = UG1 .

The time constant, is defined as the time required for the step response
of the system to reach 0.632 of its final value.(i.e. 0.632 UG1 ).

APPARATUS

CE110 Servo Trainer

CE120 Controller
Chart Recorder

PROCEDURE
Part 1:

Motor Drive Input to Speed Sensor Output Gain

Characteristics

The steady state gain relating the motor drive input voltage to the speed sensor
output voltage may be calculated by combining the results of Part 1 and 2 of
Experiment 1. Alternatively, the characteristic may be measured directly as detailed
in the following procedure.

Connections
Connect the equipment as shown in Figure 5(E2.1) (Do not make the dotted
connection).

Initial Control settings:

CE 110 Servo Trainer

Clutch disengaged.
Rear access panel firmly closed.
Smallest inertial load mounted. (No additional discs).

CE 120 Controller

Potentiometer in the center position and reading 0V.

Increase the potentiometer voltage in steps of 1V to 9V,

recording the corresponding speed sensor output (to do this
disconnect the potentiometer/voltmeter connection and make
the dotted connection), in Table E2.1.

Steps

Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

Repeat the process for voltages

1 to 9V.

Figure 5(E2.1)

Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

Table E2.1

Motor drive voltage/Speed sensor characteristics

(Clutch disengaged)

Motor Drive
Voltage (V)
(Positive)
1
2
3
4
5
6
7
8
9

Motor Drive
Voltage (V)
(Negative)
1
2
3
4
5
6
7
8
9

Speed Sensor
Output
(V)

Repeat the procedure with the clutch engaged and enter the
results in Table E2.2.

Table E2.2

Motor drive voltage/Speed sensor characteristics

(Clutch engaged)

Motor Drive
Voltage (V)
(Positive)
Dead-Zone
Size=
2
3
4
5
6
7
8
9
10

Part 2:

Speed Sensor
Output
(V)

Speed Sensor
Output
(V)
0

Motor Drive
Voltage (V)
(Negative)
Dead-Zone
Size=
2
3
4
5
6
7
8
9
10

Speed Sensor
Output
(V)
0

Measurement of Time Constant

Connections
Connect the equipment as shown in Figure 6(E2.2).

Initial Control settings:

CE 110 Servo-Trainer

Clutch disengaged.
Rear access panel firmly closed.
No additional inertial loads mounted.

Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

CE 120 Controller

Potentiometer output: 5V.

Function Generator: square wave.
Frequency 0.05 Hz and level 1V

Steps
The square wave from function generator applies to a step change of 1V in either
direction about the operating input of 5V. The transitions in the square wave signal
provide step changes in the input. The output of the speed sensor will therefore be a
series of step responses.

Connect the output of the speed sensor to a chart recorder and

plot the step response (suggested chart speed 10 mm/sec
or faster).

Repeat the above procedure with each of the inertial loads

installed. i.e.,
i)
Small inertial load: one inertial load.
ii) Medium inertial load: two inertial loads.
iii) Large inertial load: three inertial loads.

Figure 6(E2.2)
Servo Trainer (2): Response Calculating and Measurements

ME 413: System Dynamics and Control Lab Manual

REQUIREMENTS

1. For Part 1: Plot the results (motor drive voltage in the x-axis and the speed
sensor output in y-axis) to obtain the required characteristics and measure
the slope in order to obtain the steady state gain G1 .
2. For Part 2: From the step responses calculate the time constant
servo-motor transfer function.

and the

3. Comment on the shape of the motor drive voltage to speed sensor output
voltage characteristic.
4. Discuss why the time constant for various inertial loads increases as the size
of the load increases.

References
[1]

CE110 Servo Trainer Manual, TQ Education and Training Ltd

Servo Trainer (2): Response Calculating and Measurements