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Modular Servo system MS150

ASSIGNMENT 7

Object
Use of the tachogenerator in a speed control
system.

Equipment required
Apparatus

Ouantity

Operational Unit 150A


Attenuator Unit 1508
Pre-Amp Unit 150C
Servo Amplifier 1500
Power Supply ,l 50E
Motor Unit 150F
Voltmeter (30-0<30)
Load Unit 150L

Approximate'time required
One hour

Prerequisites
Assignrrents 1 to 4

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Modular Servo system MS150

PRELIMINARY PROCEOURE
In Practica/ 7. 1:

1.
Attach the Operational Unit 150A, Attenuator Unit 1508, Servo Amplifier 1500, Power
Supply 150E and Motor Unit to the Baseplate
by means of the magnetic fixings.

Servo Amplifier of the required value. As


comparator, we will use an Operotional Amplif1er.
Set upas in fig 7 . 1 and switch on power.

2.
Connect the plug of the Servo Amplifier to
the Power Supply. '
3.
Connect 'the plug of the Motor Unit to the
Servo Amplifier.
4.
Connect the Power Supply to the mains
supply line. DO NOT switch on yet.

DISCUSSION ANO EXPERIMENTAL


PROCEDURE
Assignments 5 and 6 showed how simple openloop position control systems could be constructed using the kit. In this assignment, we are
going to deal in the same way with speed control.
Referring back to Assignment 3 on motor
characteristics, you will see that you drew a
curve of the signa! inputs into the Servo
Amplifier against speed. This means that without any load you can set the motor to run at a
specified speed by determining the value of the
input signa!.

07. 1

Can you say what sort of speed control


system this was in Assignment 3?

07.2 Looking now at the torque/speed graphs


in Assignment 3, say what will happen if a load
is placed on the motor shaft and is then varied.
With an open-loop system the results showed
that there can be reasonable speed control
when operating without or with a fixed load but
the system would be very unsuitable where the
lm~d was varying.
In this assignment we are going to show the
improvement that can result from closing the
loop and using feedback. That is, the actual speed
wlll : be compared with the required speed. This
produces an error signa! to actuate the Servo
Amplifier output so that the motor maintains a
more constant speed .

As a first experiment we will simply feed back a


signa! proportional to the speed , using the
Tachogenerator. We then compare it with a
reference signa! of opposite polarity, so that
the sum will produce an input signa! into the

Practica! 7.1

Simple closed loop speed control


system
Connect the Servo Amplifier far armature control.

The field coil driving transistors on the Servo


Amplifier require positive inputs, so that a
negative reference plus a positive tacho voltage
when summed and inverted in the Operational
Amplifier will produce a positive output, the
error voltage V e.

01.3 Explain why the Tacho voltage has to be


less than the Reference voltage.
Connect the potentiometer slider to an input of
the Operational Amplifier. Befare connecting
the Tacho Generator to the input of the Oper?tional Amplifier, turn up the slider on the
potenometer so that the motor revolves and
on your voltmeter determine which is the
Tacho's positive output. The correct side is then
connected to the Operational Amplifier input
and the other side to COM.
Reset the reference voltage to zero and then
gradually increase the reference voltage so that
you can take readings over the motor speed
range of up to 5000rev/min for the Reference,
Tacho and error voltages.
Record as in fig 7. 2 usi ng the tacho cal ibration
of Assignment 3 to calculate the speed.
El. 1 Plot the Error voltage against Speed, far
the data_recorded in fig 7.2.
Compare the Error/Speed resu/ts with those you
obtained in Assignment 3 Motor characteristics,
for match.
What would happen f you reversed the
Tacho-generator connections to th8 0ptJrational
Amplifier and what sort of feedback would you
cal/ it?

07.4

To find o~t the effect of load on speed we can


use the magnetic brake as a load. The change in
speed for a change in load will give us the
regulaton.
Disconnect Motor Unit plug and place one of
the hubs in the Load Unit l50L onto the motor
shaft to within 1/8" of the bearing and lock
51

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Fig 7.1

reference
voltat)8

tachogenerator
. voltage

error
voltage

speed
rev/min

Far a gain control we can use the circuit of fig


7.4, which was shown in Assignment 2 to have a
1
gain of--.

So set upas in fig 7.5. (see overleaf)

Fig 7.2

onto it the spacer using the spanner provided.


Make sure the shaft is inside the split end of the
hub before tightening.
Screw the other hub through the brake disc and
into the other end of the spacer. Refix Motor
Unit and reconnect plug in Servo Amplifier.
The second part of the assignment is concerned
to show how an increase in the for:ward path
gain wiH cause a given fall in speed to cause a
larger increase in the value of the error V 0 , so
that for any change of load the speed drop or
'droop' will decrease with increasing gain as in
fig 7.3.
52

In Practica/ 7.2:

Apparatus as in Practica! 1.

Modular Servo system MS150

motor
current
'
E
ci

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'-

-o

'-'--

ClJ
<lJ

........

2A

'-'-verload

/,,,,

-90 .

o_

ClJ

Vl

brake torque

1o

brake torque

1o

Fig 1.3

Fig 1.4

Practica! 7.2

To show effect of gain on speed


change for load change.

On the Magnetic Brake swing the magnets clear.


Move the feedback selector switch on the
Operatonal Amplfier to the externa! feedback
position.
lnitially set the gain to unity, that is to positon
1O and adjust the reference volts ti 11 the motor
runs at 1OOOrev/min. Then take read:ngs of the
Reference voltage, Servo 1nput error voltage
Ve and the Tacho voltage, using the voltmeter,
over the range of brake positions O 10 and
then tabulate as in fg 7.6.
Be careful that you do not exceed the 2A
limiting current.
Repeat the readings for a gain of 10, that is set
the gain potentiometer to position 1. Re-adjust
the reference potentiometer to give a no-load
motor speed of 5000rev/min.
Repeat the experment for a maximum speed of
500rev/min.
El.2
Plot your results in the form of graphs of
Error voltage against Brake Setting and Speed
against Brake Settng far gain values of 1 and 10.

El.3
Co mpare the mean regulation far a gain
of 7 to 70 by using the changes of speed that
occur far changes in torque from brake positions
O to the current limit of 2A.

07.5

What do you think would happen f you


continued to increase the motor load and what
conclusons do you draw from your bservation?

Befare carrying out the last part of the assign ment we can_ examine a factor of interest as
regards performance and that is th e mnimum
s1gnal needed for the motor to respond, or
'deadband' .
To observe the effect of gai n on deadband, set
the magnetic brake to the no load position and
adjust the val u e of the gain to 1O. Slowly turn
up the value of the reference voltage till the
motor just begins to turn and then measure the
valu e of the reference voltage, tabulating the
resultas in fig 7.7.
Repeat your reading far a gain set to 1 and then
repeat far a gain of 1O with the magnetic brake
set to position 10. You should find that the
deadband is reduced as the gain increases in both
cases.
53

Feedback lnstruments Ltd

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Fig 7.5

brake
position

reference
volts

error
volts

Fig 7.6

tachogenerator
volts

speed
rev/min

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Modular Servo system MS150

brake
position

gain

The inputs into the Servo Amplifier will drive


the motor in opposite directions but both inputs
require positive voltages. As the output of the
Operational Amplifier varies from positive to
negative it is necessary to use the Pre Amplifier
that is so designed that a negative input give~ a
positive voltage on one output and a negative
input gives a positive voltage on the other
output, see Assignment 6. The gain is about
25, as you will have found.

reference
volts

Fig 7.7

In Practica! 7.3:

In the last part of the assignment the kit will be


assembled to form a simple reversible speed
control system. From your readings you will
have seen that a high gain decreases the mnimum
reference signa! needed for the motor to respond
so on this third experimen~ we will use high gain.

Apparatus to be as in Practica! 1 but replace


the Operational Unit with the Pre-Amp Unit
150C.
Set up as in fig 7.8 adjusting the reference to
zero output befare coupling to the Pre-Amplifier.

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PRESH

llHMUATOR UMll lU1508

fOWER HPPLY tufll PS150E:

rtEAMP UfllT PA 150 e

tOH

MOTOR - llCMO UMIT Hl150F

Fig 7.8

55

Feedback lnstruments Ltd

Practica! 7 .3

Demonstration of a simple reversible speed control system

PRACTICAL CONSIDERATIONS
& APPL ICA TIONS

Set the si ider on the reference potentiometer to


position 5.

So important has the tachogenerator been o


sidered in speed control, that it has very of
been made an integral part of the motor.

With no load on the motor, now find that you


can invert the sign of the reference signal so that
you can reverse the direction of m<:>tor rota~ion,
by slowly' turning the reference sllder to e1ther
side of the centre position. Record the reference
voltage that just causes the motor to rotate, as in
fig 7.9.

Examples of speed control can be seen in ev'


branch of industry and transport. They h;
become particularly important in continU<
processes such as in the control of sheet-mE
thickness in hot rolling mills, in generators a
most industrial motors.

Set the speed of rotation in one direction to


1000rev/min and then take readings over the
brake positions 0-10, as in fig 7 .1 O. Far
measuring the error voltage place the voltmeter
across both the Pre-Amplifier outputs.

In guidance systems, automatic pilots, lifts


overhead hoists both reverse speed and positio1
control may be used.

Then reverse direction and repeat the readings.

minimum signal needed far motor response


reverse

forward

li
'~

'

Fig 7.9

forward
brake
position

tachogenerator
volts

reference
volts

error
volts

speed
rev/min

Fig 7.10

56 '

reverse
tachoreference
error
generator volts
volts
volts

speed
rev/mi

Feedback lnstruments ltd

Assignment 7
Answers to Ouestions etc
07.1

The speed control in Assignment 3 was


an openlpop system

07.2

A variable load upan the output shaft of


aff open-loop system will cause large
speed fluctuations

07 .3

1f the tachogenerator voltage was greater


than the reference there would be no
drive to the motor. Then the motor
would decelerate until the tacho voltage
was less than the reference.

07.4

In this case (reversa! of tacho connections) the motor would continue to


increase in speed. This is positive feedback.

07 .5

1f you continue to i ncrease the motor


load at sorne point the motor drive
amplifier will limit and the speed will
then rapidly decrease. This indicates that
automatic controls must be operated
within specified limits.

56b

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