Name: Akhil Singh

Roll No.: 2004203

Instructor: Dr. Bidyadhar Subudhi

EE301
POST LAB REPORT
Experiment 1: Speed Measurement of a DC motor

Objectives:
1.) To measure the speed of a DC Motor by using an Encoder.
2.)To design a low pass filter for noise reduction.

Post Lab Q&A:

Q1.) Build the Simulink diagram as shown below and do not include the Transfer Fcn
block(which will be added later).Setup the source blocks to output a step voltage that goes
from 1 V to 3V at 0.4 Hz.Build and run the QUARC controller.Examine the encoder speed
response.Attach the output responses.

Ans.- Following are the MATLAB plots obtained after running the QUARC simulations:-

Fig.1:Diagram representing Encoder speed response

Fig.2:Diagram representing Encoder speed response without filter

Fig.3:Diagram representing Encoder speed response with filter

From the above output encoder responses it can be clearly noticed that when we insert a Low
Pass filter block,the response comes out to be smooth as compared to the response without
filter. This happens because the filter filters out the encoder based noise as well as the
discontinuity in the signal.

Q.2) Explain why the encoder based measurement is noisy.

Ans.-Encoder based measurement is noisy consisting of many unwanted high

frequencies.These electric noise is common problem and it happens because of the stray
electromagnetic fields or currents induce unwanted voltages to the signal..In our case of DC
servo motor the encoder faces magnetic field generated by the motor along with switching
current that controller applies to the motor.

Q.3) Show the filtered encoder-based speed response and the motor voltage. Has it
improved?

Ans.- Following are the plots of the filtered encoder-based speed response and the motor
voltage respectively:-

Fig.4:Diagram representing Encoder speed response with filter

 Fig.5: Input motor voltage plot

Yes the response has improved,the response with filter is smoother than the encoder speed
response without filter.

Q.4) What is the cutoff frequency of the low-pass filter 50/(s+50)? Give your answer in both
rad/s and Hz.

Ans.- Cut off frequency for the given transfer function of the low-pass filter is ꙍ0 =50 rad/s.
Now 2𝜋f=ꙍ0 =50 rad/s gives the value of f as 7.95Hz.

Q.5) Vary the cutoff frequency, between 10 to 200rad/s (or 1.6 to 32 Hz).What effect does it
have on the filtered response? Consider the benefit and trade-off of lowering and increasing
this parameter.

Ans.- A low-pass filter allows frequencies lower than the cutoff frequency to pass through
it.If we are decreasing the cutoff frequency to much larger extent then it may hinder the
medium range message signal as well along with filtering of high frequency noise.Similarly if
we increase the cutoff frequency to much larger extent then some of the high frequency
noises will still pass through the filter making it less effective.In this way cutoff frequency of
the filter effects the filtered response.
Experiment 2: Stability Analysis of a DC Servo System

Objectives:
1.) To obtain a step response of a DC motor.
2.) To analyze the stability of the DC Motor from the obtained step responses.

Post Lab Q&A:

1.) Determine the stability of the voltage-to-speed servo system from its poles.
Ω𝑚 (𝑠) 𝐾
Ans.- The voltage-to-speed transfer function is = 𝜏𝑠+1 .Since the transfer function has
𝑉𝑚 (𝑠)
−1
pole at s= 𝜏 .Since the value of 𝜏>0,hence value of s<0.Hence the pole lies left to imaginary
axis and hence the voltage-to-speed servo system is stable.

2.) Determine the stability of the voltage-to-position servo system from its poles.
𝜃 (𝑠) 𝐾
Ans.- The voltage-to-position transfer function is P(s)= 𝑉𝑚(𝑠) = (𝑠)(𝜏𝑠+1) .Since the transfer
𝑚
−1
function has poles at s=0 and s= 𝜏 .Hence due to presence of pole at s=0 system is
marginally stable or say unstable.Hence the system is unstable for the voltage-to-position
servo system.

3.) Apply a unit step voltage to the servo by running the QUARC model shown in
Figure.Show the position and speed step response graph.
Ans.- Following are the graphs for the input step voltage,Position step response and speed
step response respectively:

Fig.6:Input step response applied to the servo

Fig.7:Position step response graph

 Fig.8:Diagram representing speed step response to the servo

4.) Based on the speed response and the BIBO principle, what is the stability of the system?
How does this compare with your results from the pole analysis?Similarly, assess the
stability of the system using the position response using BIBO and pole analysis.
Ans.- From the BIBO principle we know that when we provide bounded input to a system
then that system must give bounded output in order to be a stable system.Also from the
pole analysis we saw in Q1. and Q2. that when pole lies on the jꙍ axis or right to it for any
transfer function then for that particular response system becomes unstable.This point
clearly seems to be valid when we compare the graphs in Fig.7 and Fig.8 above as the
position step response comes out to be unbounded whereas the speed step response is
bounded.
Experiment 3: To obtain the steady state gain and Time constant from the
Step response of the DC Servo Motor

Objectives:
1.) To obtain step response of DC Servo motor.
2.) To obtain the steady state gain and fine constant of the servo system module from the
response.

Post Lab Q&A:

1.)Run the QUARC controller to apply a 2 V step to the servo and show the speed response.
Ans.- Followings are the diagram of the applied 2V step and its corresponding step response
respectively:-

Fig.9:Diagram representing applied input 2V step to the servo

Fig.9:Diagram representing speed response for input 2V step to the servo

2.) Find the steady-state gain using the measured step response and show the calculation.
∆𝑦
Ans.-Steady state gain is given by K=∆𝑢 where ∆𝑦 is the change in the output signal for the
change in the input ∆𝑢. From the Simulation diagram as can be seen in Fig.9 𝑦𝑠𝑠 =46.11
rad/s and 𝑦0 =0 rad/s. and change in input voltage is 2V.Hence putting these values we get
46.11−0
K= rad/(V-s) = 23.05 rad/(s-V).
2−0

3.) Find the time constant from the obtained response and show the calculation.
Ans.- From the obtained response it can be seen that final speed value is 46.11 rad/s from
the initial zero speed.Hence the speed reached by the servo in 1 time constant 𝜏 =
0.632*46.11 rad/s which equals 29.32 rad/s as 63.2% of final value is achieved by the
system in one time constant.Now from the obtained response graph of Fig.9 it can be found
that 29.32 is reached by the system in 𝑡1 =1.177s when step is applied at 𝑡0 =1s.Now we
know that

𝑡1 = 𝑡0 + 𝜏

Putting these values we get 𝜏 =0.177s.

Experiment 4: Modelling and Validation of DC Motor Based Rotary servo

system

Objectives:
1.) Obtaining the equations of motion of a DC motor-based rotary servo.
2.) Creating and validating a system model.
3.) Model Validation

Post Lab Q&A:

1.) Write the equations for general DC motor.Find the model of DC motor with the help of
DC motor electrical and mechanical equations and make in Simulink and attach screenshot
of model.
Ans.-

Fig.10: Model screenshot in Simulink

Above model is designed with the help of following DC motor electrical and mechanical
equations:-
Since back emf is directly proportional to the motor shaft 𝜔𝑚 and can be written as

𝜔𝑚 =𝑘𝑚 𝜔𝑚 (t)

Where 𝑘𝑚 is the back emf constant of the motor.

Using Kirchoff’s voltage law along the loop in the DC motor we get:-
𝑑𝑖𝑚 (𝑡)
𝑉𝑚 (t)−𝑅𝑚 𝑖𝑚 (t)−𝐿𝑚 − 𝑘𝑚 𝜔𝑚 (t)=0
𝑑𝑡

Since the value of inductance L is very small hence it can be neglected and hence the KVL
equation reduces to
𝑉𝑚 (t)−𝑅𝑚 𝑖𝑚 (t)−𝑘𝑚 𝜔𝑚 (t)=0

Mechanical equations can be written as following:-

𝑑𝜔𝑚 (𝑡)
𝐽𝑒𝑞 =𝜏𝑚 (t),
𝑑𝑡

Also, 𝜏𝑚 =𝑘𝑚 𝑖𝑚 (t)

𝑚𝑟 2
And moment of inertia, J= .
2

2.) Attach the results obtained in the lab.

Ans.-Input voltage applied and Responses obtained in the lab are as following:-

Fig.11-Input voltage applied to the motor

 Fig12.-Speed response of the system

Experiment 5: To pursue time domain analysis of a second-order system

objectives

Objectives:
1.) To analyze the time response of a second order under-damped system.
2.) To determine damping ratio and natural frequency.
3.) To obtain time domain parameters.

Post Lab Q&A:

𝑲
𝑮𝒗−𝒑 (𝒔)=
𝒔(𝝉𝒔+𝟏)

1.) Given the QUBE-Servo 2 closed loop equations under unity feedback in Equation and the
model parameters above, find the natural frequency and damping ratio of the system.
𝝎𝟐𝒏
Ans.- G(𝒔)=
𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝟐𝒏

The transfer function G(s) represents the general second order system with 𝜁 as the
2 𝐾
damping ratio and 𝜔𝑛 represents undamped natural frequency. Now 𝜔𝑛 = √ 𝜏 where K is the
model steady state gain and 𝜏 is time constant.From experiment-3 we know the values of
2 𝐾
K=23.05 rad/(V-s) and 𝜏=0.177 s.Putting these values in the equation of 𝜔𝑛 = √ 𝜏 we get
𝜔𝑛 =11.411 rad/s as natural frequency.
Now 2ζωn = 𝜏.Putting the value of natural frequency and time constant and solving this
equation we get damping ratio ζ=0.247.
2.) Based on your obtained natural frequency and damping ratio, what are the expected
peak time and percent overshoot?
Ans.- Expected peak time and percent overshoot calculations are as follows:-
𝜋
Peak time = 𝜔
𝑑

2
Where 𝜔𝑑 = 𝜔𝑛 √1 − ζ2 .Putiing these values from previous question we get 𝜔𝑑 = 11.057
rad/s and hence expected peak time = 0.284s.
−𝜋𝜁
2
√1−𝜁2
Theoretical overshoot value is given by (𝑒 )x100% .Putting the value of 𝜁=0.247 in the
equation we get expected peak overshoot value 44.89%.

3.) Attach the closed loop response of DC motor which is obtained in the Lab experiment.
Ans.- The input applied and closed loop response of DC motor obtained in the lab
experiment is as follows:-

Fig.13-Input voltage applied to the DC motor

 Fig.14-Closed loop response of DC motor

4.) Measure the peak time and percent overshoot from the response and compare that with
your expected results.
Ans.- From cursor measurement of the response we get Peak value of response = 1.393 rad
and Peak time as 0.256 s.Steady state value of response = 0.948 rad.Hence the Overshoot
will be given by
1.393−0.948
Peak Overshoot = x100=46.9%
0.948

There is slight deviation in the experimental and theoretical value of the peak time and the
percentage overshoot but such small deviations can be neglected.

Conclusion:
DC servo motor is a rotary actuator which allows a precise control of angular or linear
position and velocity.The servo motor used in this experiment contains 2048 counts. With
the help of DC servo motor we are trying to analyse the BIBO stability of the system as well
as the verification of stability of system w.r.t. transfer function poles.Also several
parameters such as undamped natural frequency, damping ratio and other time domain
parameters can be calculated as well as analysed using QUARC controller in the MATLAB to
control the servo motor.From the step responses obtained the stability of DC motor can be
verified as well.