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Assignment4 - CEP - Fahad

The document discusses designing a PID controller for a DC motor to control its rotor's angular position through a DC set point input. It first provides specifications for the desired response including settling time less than 2 seconds, overshoot less than 5%, and steady state error less than 1%. It then discusses using MATLAB to design a PID controller to meet these specifications by tuning proportional, integral, and derivative gains and observing their effects on the transient and steady state response.

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31 views7 pages

Assignment4 - CEP - Fahad

The document discusses designing a PID controller for a DC motor to control its rotor's angular position through a DC set point input. It first provides specifications for the desired response including settling time less than 2 seconds, overshoot less than 5%, and steady state error less than 1%. It then discusses using MATLAB to design a PID controller to meet these specifications by tuning proportional, integral, and derivative gains and observing their effects on the transient and steady state response.

Uploaded by

ak98faq
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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International Islamic University, Islamabad

Department of Electrical Engineering SUBMITTED BY

F17 B
TALHA RASHID
285-FET/BSEE/F17
SUBMITTED TO
DR. NAVEED ISHTIAQ

CONTROL SYSTEMS Assignment 4 Complex Engineering Problem


Introduction:
A PID controller is an instrument used in industrial control applications to regulate
temperature, flow, pressure, speed and other process variables. PID (proportional integral
derivative) controllers use a control loop feedback mechanism to control process variables
and are the most accurate and stable controller. PID control is a well-established way of
driving a system towards a target position or level.

Problem:
We have to design a PID controller for a DC motor in order to control its rotor’s angular
position θ(t) through a dc set point v(t) at input. This controller controls the transient response
parameters as well as the steady-state specifications of a given system.
In the problem under consideration we have to meet following specifications of the desired
response of the system.
▪ Settling time less than 2 seconds
▪ Overshoot less than 5%
▪ Steady-state error less than 1%
We have a controller and a DC motor in the system as shown:

Overall open transfer function will be G(s) = C(s) P(s).


First of all, we shall find the transfer functions for controller and plant and extract the overall
system transfer function from them.

1
2
Design:
Let us try to design PID controller through MATLAB software.
1- Using PID Tuner
% Matlab Code
clc;clear all;close all;
s=tf('s');
t=0:0.01:100;
P=2/(s*(s^2+12*s+20.02));
pidtool(P);

After sliding the tuners named Response Time and Transient Behavior in the Tuner window,
We found the parameters as shown in figure above.
Thus, we have achieved our goal through PID tuner tool in MATLAB. Let us confirm it from
a code
% Matlab code
clc;clear all;close all;
J= 0.01;
b= 0.1;
Ke= 0.01;
Kt= 0.01;
R= 1;
L= 0.5;
s= tf('s');
t= 0:0.01:5;
P= Kt/((J*s^2+b*s)*(L*s+R)+Kt*Ke*s);
Kp= 34.74; Ki= 1.74; Kd= 14.307;
C = pid(Kp,Ki,Kd);
G = C*P;
T = feedback(G,1);
step(T,t);

3
As of steady state error, we have

e(∞) = E(s) =lim


s⤏0
s R(s) / [1+G(s)]

Where R(s) = 1/s , and we have type 2 system, therefore e(∞) = 0;

Effect of P, I and D on transient and Steady-state response:


1) Effect of Proportional gain:

4
We see that as we increase value of proportional gain from 1 to 9,
i- Rise time decreases
ii- Settling time decreases
iii- % Overshoot increase
iv- Steady state error decreases
2) Effect of Integral gain:

We see that as we increase value of Integral gain from 1 to 7,


v- Rise time decreases
vi- Settling time increases
vii- % Overshoot increase
viii- Steady state error is eliminated

5
3) Effect of Derivative gain:

We see that as we increase value of Integral gain from 1 to 13,


ix- Rise time increases
x- Settling time decreases
xi- % Overshoot decreases from 60% to 20%
xii- Steady state error is increased a little bit

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