Scribd
Upload
15 views

Analog Control - 3rd Lab

This document describes the design of a PID controller for a DC motor position system. It provides the system model and design criteria, then analyzes the step response using P, PI, and PID control. The goal is to meet criteria of settling time less than 0.04 seconds, overshoot less than 15%, and no steady-state error. Different controller parameter values are tested to achieve this.

Uploaded by

hmzh89455
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
15 views

Analog Control - 3rd Lab

This document describes the design of a PID controller for a DC motor position system. It provides the system model and design criteria, then analyzes the step response using P, PI, and PID control. The goal is to meet criteria of settling time less than 0.04 seconds, overshoot less than 15%, and no steady-state error. Different controller parameter values are tested to achieve this.

Uploaded by

hmzh89455
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 17

Sana’a University Analog Control Systems MT311

Faculty of Engineering 3rd Level


Mechatronics Engineering Department

Practical Lab of Analog Control Systems

DC Motor Position PID Controller


Design
Lab 3

Eng. Moayad A.Hakim


Winter, 2023
1
Agenda 2
 Introduction
 DC Motor Position: System Modeling
 Design Criteria of Controller
 Closed-loop Response
 P Control - System's response to a step input
 PI Control - System's response to a step input
 PID Control - System's response to a step input
 Exercise
Introduction 3

 We will consider the Analog version of the DC motor position


control problem.
 A mathematical model of the system will be derived in order
to get the transfer function.
 Then, the procedure to get appropriate values for each
parameter of PID will be introduced.
DC Motor Position: System Modeling 4

 The continuous open-loop transfer function for an input of


armature voltage and an output of angular displacement will
be as the following:
DC Motor Position: System Modeling 5

 The transfer function of DC motor position:


DC Motor Position: System Modeling 6

 The transfer function of DC motor position:


Design Criteria of Controller 7

To design a PID controller and add it into the system. First create
a new m-file to build the model of the system.
Design Criteria of Controller 8

 For a 1-rad step reference, the design criteria are the


following:

 Settling time less than 0.040 seconds


 Overshoot less than 15%
 No steady-state error, even in the presence of a step
disturbance input
Open loop step response 9
Closed loop step response 10

 We would now like to analyze the closed-loop response of


the system without any additional compensation.
Proportional Control - System's response to a step input 11

In order to facilitate the process of manual tuning; an array of LTI


models, each with a different proportional gain, can be built using
a for loop
Proportional Control - System's response to a step input 12

We can conclude that, increasing values of Kp has the adverse effect


of increasing the overshoot and settling time as can be seen from the
step reference plot.
PI Control - System's response to a step input 13

 Let's first try a PI controller to get rid of the steady-state error due to
the disturbance. We will set Kp= 21 and test integral gains Ki ranging
from 100 to 500.
PID Control - System's response to a step input 14

 Adding a derivative term to the controller means that we now


have all three terms of the PID controller. We will investigate
derivative gains Kd ranging from 0.05 to 0.25.
PID Control - System's response to a step input 15
 However, the overshot of Kd=0.25 is less than Kd=0.15, but both satisfy
the Overshoot criteria. The difference is that Kd = 0.25 has settling time
slightly higher than required, that’s why we will ignore it and choose
Kd=0.15.
Assignment 1: 16

For the following DC Motor speed system :


 For a 1-rad/sec step reference, the design criteria are the following.
 Settling time less than 2 seconds.
 Overshoot less than 5%.
 Steady-state error less than 1%.
17

You might also like