Virtual Benchtop Laboratory Series

6. Electromechanical Servomechanism Package

This package uses the electromechanical servomechanism, an apparatus frequently used to teach aspects of control theory.  The control of the position of the indicator dial of this apparatus is the motivation for developing the understanding of control theory under the different levels of complexity in these three virtual laboratories. 

The common features across these laboratories are that the mechanism represents a motor driven indicator dial.  The non-ideal features of the physical setup have been replicated in the design including signal noise, friction and the wrap-around of the position potentiometer.

The first laboratory presents the essential task at the classical design level.  The second laboratory applies Ziegler-Nichols tuning rules and reinforces the theory on affine parameterisation and takes the student through the implementation of an anti-windup controller.  The third laboratory introduces resonance as a significant factor to be dealt with in controlling the device.  In this third laboratory the objectives are the physical modelling of the system, the estimation of the model parameters, tuning the control under robustness constraints and the creation of a wide bandwidth design for the resonant system.  Each laboratory in this package has its own separate servo program.

  1. Electromechanical Servomechanism - Classical Design
  2. Electromechanical Servomechanism - Internal Model Control Design
  3. Electromechanical Servomechanism - Resonant Servo