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ENGR 3350U Control Systems Fall 2013: Report of Lab Number: 4 Section CRN#: Date of Experiment

This lab report summarizes an experiment on a control systems lab where students investigated the response of a system using proportional-integral (PI) control. The report includes an abstract, introduction, methods, procedure, results and discussion, and conclusion sections. Key results include observing that increasing the proportional and integral gains decreased settling time, increased the controller's ability to reject disturbances, and decreased vibration amplitude. Plots in the appendices support these findings.

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42 views

ENGR 3350U Control Systems Fall 2013: Report of Lab Number: 4 Section CRN#: Date of Experiment

This lab report summarizes an experiment on a control systems lab where students investigated the response of a system using proportional-integral (PI) control. The report includes an abstract, introduction, methods, procedure, results and discussion, and conclusion sections. Key results include observing that increasing the proportional and integral gains decreased settling time, increased the controller's ability to reject disturbances, and decreased vibration amplitude. Plots in the appendices support these findings.

Uploaded by

O Om
Copyright
© © All Rights Reserved
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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FACULTY OF ENGINEERING AND APPLIED SCIENCE

ENGR 3350U Control Systems


Fall 2013
Report of Lab Number: 4
Section CRN#:
Date of Experiment:
Submitted to:
Course Instructor: Professor E. Esmaila!e"# P.En$.
Lecturer % Laborator& Coor!inator: Cli' C"an# ()Sc# P.En$.
Laborator& *): S"i+am S"u,la
We, the undersigned declare that this assignment is our original work only
and has neither been submitted for assessment elsewhere, nor has been given
in parts or complete to others to be used.
Name Stu!ent ID Si$nature
-lutope -mole .//401..4
2rett 2ulloc,
Dean Run$e
Ni, 3antfoort
1
Table of Content2
1. !bstract"
2. #ntroduction..$
". %ethods and %aterials..&
$. '(perimental )rocedure....*
&. +esults and ,iscussion.....-
*. Conclusion.....
-. +eference....../
.. !ppendices..1
2
1.0 Abstract


"
2.0 Introduction
$
3.0 Methods and Materials
&
4.0 Experimental Procedure
*
5.0 Results and iscussion
0ignal Type !mplitude
1rad2s3
4re5uency
1673
8ffset
1rad2s3
bsp aw
05uare
Wave
& .$ 1 1
!fter setting bot" t"e proportional an! t"e inte$ral $ains to t"e
recommen!e! +alues b& t"e 4ie$ler5Nic"ols met"o! as 6p 7 /.4 6pc
an! *i 7 /.8 *pc t"en 6i 7 6p 9 *i or 6i 7/.06pc 9 *pc, the resulting 29 settling
time is .$"".
6p /.4 6pc /.4:/.40; /..8
*i /.8 *pc /.8:/..; /./8
6i 6p 9 *i :/.0</.40;9/.. =.=0
#t was observed that initially the current and speed are ! and rad2s and the voltage
is :".1 ;. !fter the gains were ad<usted and the values of 6p , 6i , bsp and Tf changed to
.1. ;.s2rad, 2.2& ;2rad, 1 and .1 s, the speed decreased and the voltage increased from
:".1; to -.*;. There was an increase in the amplitude of the vibrations.
-
!et"point #ei$htin$
The values of =p and =i were set to .2" ;.s2rad and 2." ;2rad respectively and the bsp
value is set to with increasing increments of .2 to unity >1? and a disturbance tor5ue
was applied manually to system. 4rom the results obtained from the e(periment, it was
observed that the amplitude gets smaller and the power decreases as the =i increases.
.
!s the value of bsp approached 1, the speed value slightly fluctuated between 1$/ rad2s
and 1$- rad2s before dropping to a -- rad2s then to a 1& rad2s. This shows the instability
of the speed value while that of the voltage remained constant at -.* ;. The set:point truly
had an effect on the response to command as seen in the plots below.
Response to the %oad isturbance
The parameters were set as follows with the gain value kp @ .1 ;.s2rad and bsp @ 1..
!mplitude
1rad2s3
8ffset
1rad2s3
aw
1
Tor5ue was applied by manually and gently touching the inertial load with the finger.
!s the proportional gain of the controller increased, the power increased as =p and the
amplitude of the vibrations increased also A as seen below in the plots.
/
! controller with the pure integral action was chosen such that ki @ 1. ;2rad and a
disturbance was also applied as the integral gain was gradually increased with increments
of .& ;2rad. The amplitude got smaller and the power decreased as the ki increased.
!imulated %oad isturbances& isturbance Response 'ith PI control

!n additional voltage was applied to the motor input, setting the parameters as
followsB !mplitude as rad2s, 8ffset as rad2s and aw as .The load disturbance tor5ue
Ca created by pressing down and holding2releasing the DEser switchF. The gain values
were to vary and were set from the value of kp @ .1 .s2rad with increments of .1
1
;.s2rad. #n this case, the values of the speed, voltage and current remained at but it is
seen in the diagram that the disturbance caused little vibrations which moved hori7ontally
to the right of the plot. The amplitude increased slightly also as the =p increased.
When =i was increased, the voltage fluctuated, finally increasing to 1.$ ; and the
amplitude of the vibrations increased also as =i @ ". ;2rad.

11
(.0 )onclusion
12
*.0 Re+erences
1"
,.0 Appendices
1$

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