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me104_lab6 - ME 104 Sensors and Actuators Fall 2002...

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ME 104 Sensors and Actuators Fall 2002 Laboratory #6 Closed Loop Analog Control Of DC Motor Velocity Department of Mechanical and Environmental Engineering, University of California, Santa Barbara
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November 4, 2002 Revision By Aruna Ranaweera 2
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Introduction In this laboratory, you will build analog circuits to implement proportional (P), integral (I), and proportional-integral (PI) control of a DC motor. Your ultimate goal is to control your DC motor such that the velocity (voltage) output V OUT is equal to a (desired) reference (voltage) input r. For this laboratory, you will need to power LMC6484 op-amp chips using V+ = 5V and V- = -5V. Your electronic circuit board has already been equipped with an MC7905 negative voltage regulator such that red wire indicates +5V voltage supply, purple wire indicates –5V voltage supply, and black wire indicates 0V (GND). The orange wire indicates –12V voltage supply, which you should not use. 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 #1: Open Loop Control of DC Motor Velocity 3
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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 tacho generator output V OUT (velocity feedback) on an oscilloscope. In control system terminology, your system 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) 1 I = Identity block (D/A Converter) r VI = reference signal from Virtual Instrument (VI) r = reference signal u = control input = V IN y = plant output = V OUT 1 The P(s) notation indicates that the Plant is represented mathematically by its transfer function . 4 DAQ board Velocity Sensor PC Drive Circuits DC Motor DC Motor Module D/A Converter Shaft Rotation V IN V OUT Oscilloscope Channel 1 Channel 2 Figure 1: Open loop control of DC motor velocity
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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 ( = V IN ). 1. Prepare (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 tacho generator output. 1 2. To drive the motor using the analog voltage output from the DAQ board, use banana connectors to connect your motor control module to the CB-68LP connector block as shown in Table 1.
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