Lab%206a%20ME104%202008

# Lab%206a%20ME104%202008 - ME 104 Sensors and Actuators...

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ME 104 Sensors and Actuators Laboratory 6a Closed Loop Analog Control Of DC Motor Velocity Department of Mechanical Engineering University of California, Santa Barbara (Rev. 2007)

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Introduction In this laboratory, you will build analog circuits on a breadboard to implement proportional (P) and integral (I) control of a DC motor. NOTE: For this lab, you will need yourname_MotorDrive_AcquireVoltage.vi which you created for Lab 4. You will write ONE REPORT FOR EACH Labs 6a and 6b. Background Reading Please read the following material prior to this lab: 1. Histand and Alciatore, Introduction to Mechatronics , Sections 5.1-5.8 and Sections 5.10-5.11. 2. DC Motor Control Module User Manual , Pages 3-7 and 14-16 , LJ Technical Systems Inc. Experiment 1a: Open Loop Control of DC Motor Velocity In this experiment, you will use a LabVIEW VI to drive a DC motor, similar to what you did in Laboratory #4. You will observe both the motor drive input V IN and the tachogenerator output V OUT (velocity feedback) on an oscilloscope. Figure 1. Open loop control of DC motor velocity Velocity Sensor Drive Circuits DC Motor DC Motor Module DAQ board PC D/A Converter V IN V OUT Shaft Rotation Ch. 1 Ch. 2 Oscilloscope 2
In control system terminology, the system shown in Figure 1 is described as an open loop control system. This is because the control (drive) signal V IN to your plant (the DC motor module) does not directly (automatically) depend on the output signal V OUT . Figure 2 shows the open loop control system in block diagram form in which the following notation has been used: P(s) = Plant (DC Motor module) * I = Identity block (D/A Converter) r VI = reference signal from LabVIEW VI r = reference signal u = control input to V IN socket on Motor Drive Input panel y = plant output from V OUT socket on Tachogenerator Output panel I Plant P(s) r y r V I u Figure 2. Open loop control block diagram The D/A converter is represented by an identity block to indicate that the reference value seen by your system should be equal to the reference value specified by your LabVIEW VI. For this experiment, you will drive the DC motor such that the reference value is equal to the control input. That is, r = u . 1. Set the appropriate switches on your DC motor control module so that you can drive the motor with analog voltage input and also obtain analog velocity feedback from the tachogenerator output. MOTOR DRIVE switch: V IN position – selects analog motor drive input TACHOGENERATOR switch: V OUT position – enables analog velocity feedback output 2. Use a banana connector to connect the E ( Enable Input) socket to the 0V socket to enable the input to drive the motor.

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## This note was uploaded on 01/04/2011 for the course ME 104 taught by Professor Staff during the Spring '08 term at UCSB.

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Lab%206a%20ME104%202008 - ME 104 Sensors and Actuators...

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