SCHOOL OF MECHANICAL ENGINEERING

MEC 680 - MECHANICS OF COMPOSITE MATERIALS

PRACTICAL & LABWORK REPORT

LABWORK 2

CLOSED LOOP PID POSITION CONTROL SYSTEM

PLAGIARISM STATEMENT
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and/or persons.

Name Student ID Signature

MUHAMMAD HAFIZUDIN BIN MOHD ROSLI 2021847042

MUHAMMAD IRFAN HAKIMI BIN NOR YAZID 2021840154

ZULHAQIMI IRWAN BIN ZAKARIA 2021853132

MUHAMMAD NUR ASYRAAF BIN HARUN 2021468572

MUHAMAD ABID BIN SA’ARI 2021853306

 Date Start: 27 March 2023 Date Submission: 26 May 2023

Report Reception Lecturer’s signature:

Date:
 TABLE OF CONTENTS

Page

TABLE OF CONTENTS i

LIST OF TABLES ii

LIST OF FIGURES iii

1 INTRODUCTION 1

2 OBJECTIVE 1

3 METHODOLOGY 2

4 APPARATUS AND EXPERIMENTAL PROCEDURE 3

4.1 Apparatus 3
4.2 Experimental Procedure 4

5 RESULT, ANALYSIS AND DISCUSSION 6

5.1 Data and Result Analysis 6
5.2 DISCUSSION 14

6 CONCLUSION 15

REFERENCE 16

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 LIST OF TABLES

Table Title Page

Table 3.1 PID controller parameters ....................Error! Bookmark not defined.

Table 5.1 Result for each calculation for the controller. .... Error! Bookmark not
defined.
Table 5.2 Result for 𝑘𝑝, 𝑇𝑖, 𝑇𝑑 .......................Error! Bookmark not defined.

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 LIST OF FIGURES

Figure Title Page

Figure 3.1 Root locus plot 2

Figure 4.1 Math Lab software 3
Figure 4.2 Monitor Computer 3

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1 INTRODUCTION

MATLAB's add-on product Simulink offers a user-friendly, graphic

environment for modelling, simulating and analysing dynamic systems. This
environment can be accessed through an interactive interface. It allows for the efficient
construction of virtual prototypes, which can be used to investigate design concepts at
any level of detail and with very little effort. The graphical user interface (GUI) that
Simulink offers for modelling allows users to construct models in the form of block
diagrams. It comes with an extensive library of predefined blocks that can be dragged
and dropped with the mouse to create graphical models of different kinds of systems.
An "up-and-running" model can be created by the user, which is an advantage over the
traditional method of building models in a laboratory setting, which can take several
hours. It is capable of modelling linear and nonlinear systems in continuous time,
sampled time or a hybrid form combining the two. Because students learn most
effectively when they receive regular feedback, the interactive nature of Simulink
encourages users to experiment with the program's features. Users can make changes to
the program's parameters "on the fly" and view the results of those changes immediately,
allowing for "what if" exploration. Finally, Simulink can easily share data with
MATLAB thanks to their seamless integration thanks to which the two programs can
work in tandem.

2 OBJECTIVE

1. Using MATLAB to simulate and test the control systems.

2. Discover the manipulating variables to achieve desired outcomes and control
result.

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3 METHODOLOGY

Figure 3.1 Root locus plot

To create a Nyquist plot, block diagram, and develop a root locus graph in
MATLAB/Simulink, begin by launching MATLAB and opening Simulink. Create a
new model in Simulink and design the block diagram by dragging and dropping the
required blocks from the library browser onto the model canvas. Connect the blocks by
drawing lines between their input and output ports and configure their parameters
accordingly. To generate a Nyquist plot, add a "Transfer Fcn" or "Transfer Fcn HD"
block to the model and connect it to a "Continuous-time Linear" block. Attach a
"Frequency Response Scope" block to visualize the Nyquist plot during simulation. For
the root locus graph, include a "Transfer Fcn" or "Transfer Fcn HD" block in the model,
and connect it to a "Root Locus" block. Additionally, add a "Step" block to generate a
step input signal and a "Scope" block to visualize the system's response. Save the model
and run the simulation to observe the Nyquist plot and root locus graph in their
respective blocks. Analyse these plots to assess the system's stability and performance
characteristics and fine-tune the model's parameters accordingly. Saving the Simulink
model throughout the process allows for further experimentation and adjustments as
needed. This methodology provides a comprehensive approach to create a Nyquist plot,
a block diagram, and develop a root locus graph for a mathematical model in Simulink.

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4 APPARATUS AND EXPERIMENTAL PROCEDURE

4.1 Apparatus

Figure 4.1 Math Lab software

Figure 4.2 Monitor Computer

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4.2 Experimental Procedure

1. Simulink was introduced as an independent application, available either within the

MATLAB environment or through the MathWorks website.

2. To create a fresh Simulink model, one could choose the "New Model" option from
the Simulink menu.

3. To construct the model, essential blocks were easily added by employing a drag-
and-drop approach from the Simulink library browser. The transfer function block
could be found in either the "Continuous" or "Discrete" section of the library.

4. The transfer function block was configured by double-clicking on it to open its

parameters dialog box. The numerator and denominator coefficients of the transfer
function were specified in the dialog box, representing the desired mathematical
expression to be simulated.

5. By utilizing the drag-and-drop functionality from the library, a step function block
was incorporated into the model. The output of the step function block was then
linked to the input of the transfer function block.

6. To visualize the system's output response during simulation, a scope block was
obtained from the library and connected to the output of the transfer function
block.

7. To configure the parameters of the step function block, one could double-click on
it and specify the step magnitude and simulation time at which the step input
occurred. Additional parameters, such as initial and final values, could be adjusted
as needed.

8. By accessing the "Simulation" menu and selecting "Configuration Parameters,"

the simulation parameters were established. This allowed for the definition of
settings such as simulation time, solver options, and other pertinent configurations
as needed.

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9. The simulation was run by saving the model and clicking on the "Run" button in
the Simulink toolbar. The simulation ran according to the specified time duration,
and the output response was displayed on the scope block.

10. The results were analysed by observing the output response displayed on the
scope block. Zooming in or out, panning, and other analysis functions were
performed on the scope to gain insights into the system's behaviour.

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5 RESULT, ANALYSIS AND DISCUSSION

5.1 Data and Result Analysis

A. ROOT LOCUS

Motor Specification

- RS PRO 263 6011

- J = 0.214 kgcm2
= 2140 kgm2
- b = 0.12 Nm / 241.91 rad/s
≈ 0.000495 Nm/(rad/s)
- Kv in V/rad/s
= 10.3 V/krpm * (2π / 60)
≈ 1.076 V/rad/s
- K
= Kv * (2π / 60)
= 1.076 V/rad/s * (2π / 60)
≈ 0.1127 V/rad/s

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1) Open Loop Root Locus

Input Output

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2) Model Reduction

Input Output

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3) Integral Control

Input Output

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4) PI Control

Input Output

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5) PID Control

Input Output

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Input Output

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B. SIMULINK

Subsystem

Block Diagram

Scope Diagram

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5.2 DISCUSSION

In this discussion report, the group explored how to create Nyquist and root
locus plots using the RS PRO: 263-6011 transfer function in MATLAB/Simulink. The
participants actively engaged in guiding one another through the necessary stages.To
begin, one member sought assistance in generating a Nyquist plot for the RS PRO: 263-
6011 transfer function. Another participant advised starting by creating a Simulink
model and adding a "Transfer Fcn" block to input the specific transfer function
parameters. Next, it was highlighted to connect the "Transfer Fcn" block to a
"Continuous-time Linear" block to compute the frequency response.In the subsequent
part, the group recommended adding a "Frequency Response Scope" block to visualize
the Nyquist plot during simulation. Essential settings, such as frequency range and
simulation parameters, were discussed to ensure an accurate representation.
Moving on to root locus plots, the participants guided the user in creating a new
Simulink model. The RS PRO: 263-6011 transfer function was added using the
"Transfer Fcn" block, and it was connected to a "Root Locus" block. A "Step" block
was included earlier to generate a step input signal, and a "Scope" block facilitated the
visualization of the system's response.
The significance of running the simulation in both models was stressed. In the
first model, the Nyquist plot for the RS PRO: 263-6011 transfer function was displayed
in the "Frequency Response Scope" block. In the second model, the root locus plot was
generated in the "Root Locus" block. These plots provided valuable insights into the
control system's stability and performance characteristics.
The collaborative discussion effectively assisted all members in using the RS
PRO: 263-6011 transfer function for control system analysis. The participants
encouraged further exploration and experimentation with MATLAB/Simulink's
analysis tools to deepen their understanding of control systems and similar components.

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6 CONCLUSION

In summary, all the objectives for this lab experiment had been achieved. The
group engaged in a collaborative discussion focused on using the RS PRO: 263-6011
transfer function in MATLAB/Simulink to create Nyquist and root locus plots.
Participants provided step-by-step guidance, emphasizing the importance of accurately
configuring blocks and running simulations. Through the process, the user gained
insights into the control system's behavior, stability, and performance. The discussion
fostered a supportive learning environment, enabling participants to leverage
MATLAB/Simulink's capabilities effectively. Overall, the group found the experience
valuable for control system analysis and encouraged further exploration of complex
systems and control theory applications.

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REFERENCE

Proportional Integral Derivative (PID) Control. (2018). Apmonitor.com.

https://apmonitor.com/pdc/index.php/Main/ProportionalIntegralDerivative

Patel, V. V. (2020). Ziegler-Nichols Tuning Method: Understanding the PID Controller.

Resonance, 25(10), 1385-1397.

Salmi, Tarak, et al. “MATLAB/Simulink Based Modeling of Photovoltaic Cell.”

International Journal of Renewable Energy Research, vol. 2, no. 2, 1 June

2012, pp. 213–218, dergipark.org.tr/en/pub/ijrer/issue/16083/168359.

Sys. Root locus plot of dynamic system - MATLAB. (n.d.).

https://www.mathworks.com/help/control/ref/dynamicsystem.rlocus.html

RS pro 24 → 30 V 30 W servo motor, 1600 rpm, 36 NCM max output torque, 6mm
shaft diameter: RS pro. RS Components India. (n.d.).
https://in.rsdelivers.com/product/rs-pro/rs-pro-24-30-v-30-w-servo-motor-1600-
rpm-36-ncm/2636011

Xue, D., Chen, Y., & Atherton, D. P. (2007). Linear Feedback Control: Analysis and
Design with MATLAB. Society for Industrial and Applied Mathematics.

MATLAB LOGIN: Matlab & Simulink. MATLAB Login | MATLAB &

Simulink. (n.d.). https://matlab.mathworks.com/

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