Objectives

1. To study position controller with speed feedback.

2. To stabilize an unstable position controller

Introduction

Part 1: Position Controller with Speed Feedback

Hypothesis

1. A speed control negative feedback loop can stabilize a system by preventing overshoot.
2. The combination of system gain and speed control negative feedback can increase system
responsiveness without overshoot.
3. The effect of combining system gain and speed control negative feedback is more pronounced
on high-load systems.

Procedure

1. AATT-1 and ATT-2 of U-151 were set to “10”, and U-152 switch was set to “b”.
2. The power of U-156 was turned on. By using U-153 zero adjust, the output of U-153 was set
to “0”. The X input and Y input of the oscilloscope was connected to measure the output of
function generator and potentiometer U-158 respectively. Function generator was set to 0.2 Hz.
The oscilloscope X and Y inputs were adjusted for best display.
3. The system gain was increased by changing ATT-1 from “10” toward “0” until oscillation is
observed. ATT-1 was placed right before where oscillation takes place.
4. ATT-2 was changed from “10” to “0”. The pattern on the oscilloscope was observed and
sketched on a piece of paper.
5. ATT-1 was set to half the gain setting in step 4, and step 5 was repeated.
6. U-153 output switch was set to “a”, and steps 4 and 5 were repeated. The difference in servo
time delay was compared.
Experimental setup

Figure 1 Setup for experiment 1

Setup (Part 2)
Results (Part 1)

Attenuation Value 1: 10 Attenuation Value 1: 8

Attenuation Value 2: 10 Attenuation Value 2: 10
Response: Response:

Attenuation Value 1: 6 Attenuation Value 1: 4

Attenuation Value 2: 10 Attenuation Value 2: 10
Response: Response:

Attenuation Value 1: 4 Attenuation Value 1: 4

Attenuation Value 2: 8 Attenuation Value 2: 6
Response: Response:
Attenuation Value 1: 2 Attenuation Value 1: 2
Attenuation Value 2: 10 Attenuation Value 2: 8
Response: Response:

Attenuation Value 1: 2 Attenuation Value 1: 0

Attenuation Value 2: 6 Attenuation Value 2: 10
Response: Response:

Attenuation Value 1: 0 Attenuation Value 1: 0

Attenuation Value 2: 8 Attenuation Value 2: 6
Response: Response:
Attenuation Value 1: 0 Attenuation Value 1: 0
Attenuation Value 2: 4 Attenuation Value 2: 2
Response: Response:

Attenuation Value 1: 0
Attenuation Value 2: 0
Response:
Results (Part 2) (Without Load)

Attenuation Value 1 Attenuation Value 2 Response

10 10 Stable
8 10 Stable
6 10 Stable
4 10 Unstable (Oscillating)
8 Unstable (Slow Oscillating)
6 Stable
2 10 Unstable (Fast Oscillating)
8 Unstable (Oscillating)
6 Unstable (Slow Oscillating)
4 Stable
0 10 Unstable (Fastest Oscillating)
8 Unstable (Fast Oscillating)
6 Unstable (Oscillating)
4 Unstable (Slow Oscillating)
2 Unstable (Slower Oscillating)
0 Unstable (Slowest Oscillating)
Results (Part 2) (With Load)

Attenuation Value 1 Attenuation Value 2 Response

10 10 Stable
8 10 Unstable (Oscillating)
8 Stable
6 10 Unstable (Oscillating)
8 Unstable (Oscillating with Short Break)
6 Unstable (Oscillating with Break)
4 Stable
4 10 Unstable (Oscillating)
8 Unstable (Slow Oscillating)
6 Unstable (Oscillating with Short Break)
4 Unstable (Oscillating with Break)
3 Stable
2 10 Unstable (Fast Oscillating)
8 Unstable (Oscillating)
6 Unstable (Slow Oscillating)
4 Unstable (Oscillating with Short Break)
2 Unstable (Oscillating with Break)
1 Stable
0 10 Unstable (Fast Oscillating)
8 Unstable (Oscillating)
6 Unstable (Slow Oscillating)
4 Unstable (Slower Oscillating)
2 Unstable (Slower Oscillating with Break)
0 Stable