Laboratory Manual for DC Servo System Control Platform

Copyrights Stateent All rights are reserved by The shall reserve all rights and relevant intellectual property rights. Laboratory Manual for GSMT DC Servo Syste Control Platfor Under the Copyrights Law, no one shall copy, produce, and process this docuent or its affiliated docuents directly or indirectly without the written consent fro Stateent The shall reserve the rights to alter the products and its characteristics without notice. The shall be free fro the responsibility of any direct or indirect har or daage arising fro iproper use of this docuent. Tradeark Windows and Microsoft are the registered tradearks of Microsoft. IPM and IPM Motion Studio are the tradearks of Technosoft. MATLAB is the tradeark of MathWorks. LabVIEW is the tradeark of National Instruents (NI). Contact Us Googol Technology (HK) Liited Roo 1008-09, F10, C-BONS International Centre, 108 Wai Yip Street, Kwun Tong, Kowloon, HongKong Tel.: (852) 2358 1033, (852) 2719 8310 Fax: (852) 2719 8399 http://www.googoltech.co Googol Technology (SZ) Liited F2, West Wing, IER Building High-tech Industrial Park, Nanshan District, Shenzhen, PRC Tel: (86) 755 2697 0817; (86) 755 2697 0835 Fax: (86) 755 2697 0846 http://www.googoltech.co.cn 1

Foreword In general, the otion control syste applied in the industrial production line requires strong disturbance resistance of the syste after reaching the target speed or position so as to keep its otion status. When the control syste works, we shall, in consideration of the oent of inertia and load torque of the syste, adjust the paraeters of drive's current controller, speed controller and position controller through special software; and regulate the speed controller and position controller paraeters of otion controller to have the syste reach the stable, accurate, fast and strong perforance index. GSTM2012 experient platfor is the DC servo otor control syste of intelligent servo drive-based single otor, with the experient content covering adjustent of single otor's PID current controller, PID speed controller and PID position controller, as well as the paraeter adjustent of PID current controller, PID speed controller and PID position controller after alternation of oent of inertia on single otor. GSTM2013 experient platfor is the DC servo otor control syste of intelligent servo drive-based double otor, with the experient content covering adjustent of single otor's PID current controller, PID speed controller and PID position controller, the paraeter adjustent of PID current controller, PID speed controller and PID position controller after alternation of oent of inertia on single otor, as well as the influence of disturbing torque on speed controller and the influence of daping torque on position controller. GSTM2014 experient platfor is the DC servo otor control syste of double otor based on high-perforance otion controller GT400 and the intelligent servo drive, and the experient content covers adjustent of single otor's PID current controller, PID speed controller and PID position controller, the paraeter adjustent of PID current controller, PID speed controller and PID position controller after alternation of oent of inertia on single otor, as well as the influence of disturbing torque on speed controller and the influence of daping torque on position controller. The high-perforance otion controller GT400 in the GSTM2014 enables the real control experient under MATLAB/Siulink, and the content covers syste odeling and stability analysis, tie-doain analysis of second-order syste, root locus analysis of third-order syste, frequency-response analysis, PID calibration, root locus correction, frequency doain ethod correction and state feedback, eight experients in total, and the details are specified in Chapter V. With this experient platfor, the user ay understand the basic principles of PID's influence on syste perforance index, aster the ethod to adjust the PID current controller, speed controller and position controller paraeters of the DC servo drive; and coprehend the influence of daping torque and disturbing torque on position controller and speed controller perforance, so as to develop the practical skills of the otion control. We shall, through GSTM2014, get failiar with, and understand the classical analysis and calibration tie-doain ethod, frequency-doain ethod and root locus ethod in autoatic control theory to control syste, and aster the ethod to build systeatical atheatical odel based on experiental data and the state feedback ethod for odern control theory. 2

Table of Contents COPYRIGHTS STATEMENT... 1 STATEMENT... 1 TRADEMARK... 1 CONTACT US... 1 FOREWORD... 2 TABLE OF CONTENTS... 3 CHAPTER I USE OF EASY MOTION STUDIO... 6 I. INSTALLATION OF EASY MOTION STUDIO... 6 II. START EASY MOTION STUDIO, AND READ THE DRIVE PARAMETERS FROM THE SERIAL PORT... 7 CHAPTER II SINGLE MOTOR'S PID PARAMETERS ADJUSTMENT...12 I. EXPERIMENT PURPOSE... 12 II. EXPERIMENT REQUIREMENTS... 12 III. EXPERIMENT DEVICE... 12 IV. EXPERIMENT PRINCIPLES... 12 V. EXPERIMENT PROCEDURES 1.DRIVE VOLTAGE MEASUREMENT... 15 VI. EXPERIMENT RECORD AND ANALYSIS... 32 CHAPTER III PID PARAMETERS TUNING UNDER DIFFERENT MOMENT OF INERTIA...33 I. EXPERIMENT PURPOSE... 33 CHAPTER IV EFFECT OF INTERFERENCE UPON POSITION CONTROLLER AND SPEED CONTROLLER...41 CHAPTER V OVERVIEW OF REAL CONTROL EXPERIMENT...56 CHAPTER VI SYSTEM MODELING AND STABILITY ANALYSIS... 57 I. EXPERIMENT PURPOSE... 57 II. EXPERIMENT REQUIREMENTS... 57 III. EXPERIMENT DEVICE... 57 IV. EXPERIMENT PRINCIPLES... 57 CHAPTER VII TIME-DOMAIN ANALYSIS OF SECOND-ORDER SYSTEM... 72 I. EXPERIMENT PURPOSE... 72 II. EXPERIMENT REQUIREMENTS... 72 III. EXPERIMENT DEVICE... 72 IV. EXPERIMENT PRINCIPLE... 72 V. EXPERIMENT PROCEDURES... 74 VI. EXPERIMENT RECORDS... 89 VII. QUESTIONS... 89 CHAPTER VIII ROOT LOCUS ANALYSIS OF THIRD-ORDER SYSTEM...90 I. EXPERIMENT PURPOSE... 90 II. EXPERIMENT CONTENT... 90 3

III. EXPERIMENT DEVICE... 90 IV. EXPERIMENT PRINCIPLES... 90 V. EXPERIMENT PROCEDURES... 92 VI. EXPERIMENT RECORDS... 108 VII. QUESTIONS... 108 CHAPTER IX FREQUENCY-RESPONSE ANALYSIS... 109 I. EXPERIMENT PURPOSE... 109 II. EXPERIMENT REQUIREMENTS... 109 III. EXPERIMENT DEVICE... 109 IV. EXPERIMENT PRINCIPLES... 109 V. EXPERIMENT PROCEDURES... 110 VI. QUESTIONS... 117 CHAPTER X PID CALIBRATION... 118 I. EXPERIMENT PURPOSE... 118 II. EXPERIMENT REQUIREMENTS... 118 III. EXPERIMENT DEVICE... 118 IV. EXPERIMENT PRINCIPLES... 118 V. EXPERIMENT PROCEDURES... 120 VI. EXPERIMENT RECORDS... 135 VII. EXPERIMENT ANALYSIS... 135 CHAPTER XI ROOT LOCUS CORRECTION... 136 I. EXPERIMENT PURPOSE... 136 II. EXPERIMENT REQUIREMENTS... 136 III. EXPERIMENT DEVICE... 136 IV. EXPERIMENT PRINCIPLES... 136 V. EXPERIMENT PROCEDURES... 138 V. EXPERIMENT RECORDS... 148 VI. EXPERIMENT ANALYSIS... 148 CHAPTER XII FREQUENCY DOMAIN METHOD CORRECTION FOR SECOND-ORDER SYSTEM... 149 I. EXPERIMENT PURPOSE... 149 II. EXPERIMENT REQUIREMENTS... 149 III. EXPERIMENT DEVICE... 149 IV. EXPERIMENT PRINCIPLES... 149 V. EXPERIMENT PROCEDURES... 154 VI. EXPERIMENT RECORDS... 165 VII. EXPERIMENT ANALYSIS... 165 CHAPTER XIII STATE FEEDBACK FOR SECOND-ORDER SYSTEM... 166 I. EXPERIMENT PURPOSE... 166 II. EXPERIMENT REQUIREMENTS... 166 III. EXPERIMENT DEVICE... 166 IV. EXPERIMENT PRINCIPLES... 166 V. EXPERIMENT PROCEDURES... 169 4

VI. EXPERIMENT RECORDS... 180 VII. EXPERIMENT ANALYSIS... 180 5

Chapter I Use of Easy Motion Studio Note: this Chapter is applicable to GSMT2012, GSMT2013 and GSMT2014 I. Installation of Easy Motion Studio 1. Put the CD into the drive, and open folder following the route root: \\DriverFile-Technosoft\Easy Motion Studio, then double click on ESM_installer.exe to install the software. 2. Open file ESM-SN.txt, enter the serial nuber in the page below, and press the button "NEXT", then finish the installation procedures following the install Wizard. 3. The installation procedures ay take several inutes, please be patient. 6

II. Start Easy Motion Studio, and read the drive paraeters fro the serial port 1. Start Easy Motion Studio a) Click on the icon of Easy Motion Studio to open the control software as shown below: b) Click on the enu Counication Setup to set serial port inforation. c) Select RS232 as the channel type, and choose Co1 for port under axis 1 otor and Co2 for port under axis 2 otor; the Baud Rate shall be 115200 with the others default. Then click on "OK" when all settings are finished. Note: Electric cabinet shall be powered on upon the settings of counication inforation of serial port, otherwise, it will beep on error as shown below: 7

2. Paraeters settings a) Enter into the catalogue Control Software\GSMT2000-ESM, and copy the control engineering file GSMT2000-ESM to the folder Projects under the catalogue of Easy Motion Studio, then click on "Open" icon in the software, check the GSMT2000-ESM, and click on the button "OK". b) Click on enu "View" Project 8

c) Click on the S Setup on the left colun, and Upload fro Drive/Motor on the right side, when the software shall read the otor and drive inforation, then choose the block of "Edit". d) In the "Drive Setup page, select radio button of Position or Speed in the section of "Control Mode", then press the large button of "Motor Setup". 9

e) In the Motor Setup window, click on the button Test Connections, then the following page will pop up. Note: Motor data shall be the specific paraeters of the otor used, where the otor anual ay be referred to. The other parts and functions setting of the Easy Motion Studio ay refer to the help docuents of Easy Motion Studio. f) Click on striking button Start. The operator shall stand on the side closing two otors and turn the big belt pulley with hand towards the direction to the otor when the red pointer of the Encoder turns clockwise and the position counter increases; on the contrary, if the big belt pulley is turned towards the other direction, the red pointer will turn counterclockwise, and the position counter decreases. g) After the test is finished, click on the button of "Stop", then close the window, and back to the page of "Driver Setup". 10

Under such page, all paraeters of the drive are adjustable, where the Control Mode includes "Torque" for torque control, "Speed" for speed control and "Position" for position control. The radio button of "Position" shall be selected here. h) After the paraeter is odified, click on button "OK" to back to the page below. Then click on section Download to Driver Motor on the right colun to download the odified paraeters to the drive or click on "Save as" button on the top right to save current settings. 11

Chapter II Single Motor's PID Paraeters Adjustent Note: this Chapter applies to GSMT2012, GSMT2013 and GSMT2014; I. Experient Purpose 1. Use the echanis ethod to build the atheatic odel for the DC servo otor; Master the ethod to tune the current controller, speed controller and position controller's PID paraeters of the DC servo drive; II. Experient Requireents 1. Use the echanis ethod to build the atheatic odel for torque, revolving speed and position of the DC servo otor; 2. Tune the current controller, speed controller and position controller's PID paraeters of the DC servo drive based on the expected perforance index III. Experient Device 1. DC servo syste control platfor 2. PC, Easy Motion Studio software IV. Experient Principles Syste odeling ay be divided into two categories: echanis odeling and experient odeling. Mechanis odeling eans to establish the internal input-output relations of a syste via atheatical eans on the basis of physics and cheistry knowledge, as well as the understanding of the otion characteristics. While experient odeling refers to the input-output relations of a syste via atheatical eans, which is built after the researchers enter a series of input signal deterined in advance on the object to stiulate such and the observable output is easured through the sensor. This process covers the design and selection of input signal, accurate easureent of output signal, and the study of atheatical algorith etc. 1. The atheatical odel for DC servo otor's revolving speed transient process built with echanis ethod When the arature voltage of the DC otor is changed, the differential equation of the DC otor dynaic process is d n dt 2 τ τ e 2 ( t) dn( t) +τ dt + n ( t) = KcU a k ftc (2.1) τ Where, the e k f speed constant, τ is electroagnetic tie constant, is echanical property slope, a K is echanical tie constant, c U is arature voltage, n( t) is revolving is otor revolving speed, 12

T and c T = 0 is load torque. If the otor is assued to be under ideal idle load c, the transfer function shall be: n U ( s) Kc = 2 ( s) τ τ s + τ s + 1 e (2.2) In general, as regards the DC servo otor τ << τ e n U, and (2) ay approxiate to ( s) Kc = ( s) τ s + 1 2. The atheatical odel for DC servo otor's position transient process: (2.3) As position is the integral of speed, and each turn of the otor corresponds to 2 π radian, it echoes to the Equation (2.3), and the transfer function of position is ( s) Kc 2 ( s) τ τ s + τ s + 1 s Corresponding to Equation (2.2), the position transfer function is 3. Matheatical odel of torque: θ 2π U = (2.4) e ( s) Kc ( s) τ s +1 s θ 2π = (2.5) U The electroagnetic torque of the DC otor is T e = K φi T a (2.6) T Where, e eans the electroagnetic torque generated by the otor, it is in the unit of N*; KT is torque coefficient, which is deterined by the otor structure, φ is the otor flux in the unit of Wb I, and a is the arature current of the otor in the unit of A ; 4. Manual adjustent of current controller PI paraeters There are various PID control algoriths with each one targeting different category. Three cases are presented in Fig. 2.1, Fig. 2.2 and Fig. 2.3 as below. In siulated control syste, the PID control is the ost coonly used one. The principle block diagra of the siulated control syste is shown in Fig. 2.1. The syste is coposed of siulated PID controller and the controlled object. 13