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Quanser NI-ELVIS Trainer (QNET) Series:

QNET Experiment #01: DC Motor Speed Control DC Motor Control Trainer (DCMCT)

Student Manual

DCMCT Speed Control Laboratory Manual

Table of Contents
1. Laboratory Objectives.........................................................................................................1 2.References...........................................................................................................................1 3. DCMCT Plant Presentation.................................................................................................1 3.1. Component Nomenclature...........................................................................................1 3.2. DCMCT PlantDescription..........................................................................................2 4. Pre-Lab Assignment............................................................................................................2 4.1. Exercise: Open-loop Modeling...................................................................................3 5. In-LabSession.....................................................................................................................5 5.1. System Hardware Configuration..................................................................................5 5.2. Experimental Procedure...............................................................................................5

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DCMCT Speed Control Laboratory Manual

1. Laboratory Objectives
The objective of this experiment isto design a closed-loop control system that regulates the speed of the DC motor. The mathematical model of a DC motor is reviewed and its physical parameters are identified. Once the model is verified, it is used to design a proportionalintegral, or PI, controller. Regarding the Gray Boxes: The gray boxes present in the instructor manual are not intended for the students as they provide solutionsto the pre-lab assignments and contain typical experimental results from the laboratory procedure.

2. References
[1] NI-ELVIS User Manual [2] DCMCT User Manual

3. DCMCT Plant Presentation 3.1. Component Nomenclature
As a quick nomenclature, Table 1, below, provides a list of the principal elements composing the DC Motor Control Trainer (DCMCT) system. Every element is located andidentified, through a unique identification (ID) number, on the DCMCT plant represented in Figure 1. ID # 1 2 DC Motor Motor Encoder Description ID # 3 4 Disc Load Description DC Motor Case

Table 1 DCMCT Component Nomenclature

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DCMCT Speed Control Laboratory Manual

Figure 1 DCMCT Components

3.2. DCMCT Plant Description
The DCMCT system consists of a DC motor equippedwith a servo motor driving a disc load. The motor input is a voltage with a range of ±24V. The motor has an encoder that measures its position, a digital tachometer that measures its speed, and a current sensor to measure the actual current being fed into the motor. It is assumed that the QNET system is properly configured as dictated in Reference [1].

4. Pre-Lab Assignment
This section mustbe read, understood, and performed before you go to the laboratory session. The purpose of the experiment is to introduce concepts of control by investigating the characteristics and behaviour of a DC servo motor. As a result, it is important to become familiarized with the physical characteristics of the motor. The DC motor has both electrical and mechanical properties. For the various parametersdefined in Table 2, the electrical equations describing the open-loop response of the DC motor are

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DCMCT Speed Control Laboratory Manual
V m ( t ) − R m I ( t ) − E emf ( t ) = 0
m

[1] [2]

and

Eemf( t ) = Km ωm( t )

.

The mechanical equations describing the torque of the motor are d Tm( t ) = Jeq ⎛ ωm( t ) ⎞ ⎜ ⎟ ⎜ dt ⎟ ⎝ ⎠ and Tm( t ) = Kt I ( t )...
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