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Laboratory Report2

practica 2 control 2

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Laboratory Report2

practica 2 control 2

Uploaded by

Alejandro Rico
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Ingeniería Electrónica Y Mecatrónica

Control 2

Laboratory Report 2: CONTROLADORES.

Grupo 6:

⚫ Sánchez Rivera Cristian Alejandro


⚫ Esquivel Ferreyra Jonathan Esau
⚫ Leos Tristán Raul
⚫ Ornelas Mendez Brisa Guadalupe

Professor:

Dr. José Manuel Sandoval Cancino

July 9, 2024
1. Introduction.
Controllers are elements added to the original system to improve its
performance characteristics, aiming to meet design specifications in both
transient and steady states. The first method to modify the response
characteristics of systems is gain adjustment (later defined as proportional
control). However, although generally increasing gain improves steady-state
performance, it results in poor transient response and vice versa. Therefore, it
is necessary to add elements to the simple gain variation, which leads to various
types of controllers:
Proportional Control (P)
Integral Control (I)
Derivative Control (D)
Additionally, controllers can interact with each other, resulting in the formation
of the following configurations:
Proportional-Integral Control (PI)
Proportional-Derivative Control (PD)
Proportional-Integral-Derivative Control (PID)
In this practice, we will analyze the proportional controller, as well as the
configurations of the proportional-integral controller (PI), and finally the
proportional-integral-derivative controller (PID).
2. Objective.
2.1. General.
Implement analog P, PI, and PID control and evaluate the output with respect
to the input as the gains are varied.
2.2. Specific
Build a P, PI, and PID circuit on the breadboard.
Evaluate the output with respect to the input by varying the gains.
Adjust the signal on the oscilloscope with the help of the function generator.
Mathematically evaluate the P, PI, and PID circuit.

3. Materials and methods.


3.1. Materials

• Protobord.

• Resistance 220 Ω, 4.6Ω.


• Potenciometer de 100 k.

• Aligator clips.

• Osciloscope..

• Function Generator..

• Multimeter.

• Bipolar Power Supply.

• Operational Amplifiers.
3.2. Methodology.
Proportional Controller (P)
As the first step in the practice of a proportional controller, the circuit was assembled
in simulation software as shown in figure 1. Subsequently, it was assembled on the
breadboard, placing the necessary components such as the amplifier, resistors,
potentiometer, etc., as shown in figure 3.

Figure 1. Proportional controller


Where:
R=10k
R1=10k
R2= 100k

Figure 2. Simulation of the Proportional.


Operational amplifier=

Figure 3. Assembling the proportional Circuit

Taking into account when assembling the circuit that a resistor R1 in the feedback
configuration from the op-amp output to the inverting input (-). Connect another
resistor R from the op-amp inverting input to the error signal input point (e(t)), and the
non-inverting input (+) of the op-amp should be connected to ground.

Proportional-Integral (PI) Controller


Subsequently, for a proportional-integral controller, the circuit was assembled in a
simulation software as shown in Figure 4, and then built on the breadboard by placing
the necessary components such as amplifier, resistors, potentiometer, etc., as shown
in Figure 6.

Figure 4. Proportional-Integral Controller


Where:
R=10k
R1=10k
R2=20k
C=10nf
Figure 5. Simulation of Proportional-Integral Controller.

Operator amplifier=

Figure 6. Assembling the proportional-integral controller

Proportional-Integral-Derivative (PID) Controller


Finally, for a proportional-integral-derivative controller, the circuit was
assembled in a simulation software as shown in Figures 7 and 8, and
then built on the breadboard by placing the necessary components such
as amplifier, resistors, potentiometer, etc., as shown in Figure 9.
Figure 7. Proportional-Integral-Derivative controller

Figure 8. Simulation of the PID controller.


Where:
R=10k
R1=10k
R2=100k
R3=6.25k
R4=20k
R5=4.7k
C=10nf
Operational Amplifier=
Figure 9. Assembling the PID circuit.

4. Results.
Proportional (P) Controller
By connecting the oscilloscope probe to the output of the P controller and grounding
the oscilloscope to the same ground point as the circuit, and adjusting the oscilloscope
to visualize signals of the expected frequency, you can configure the time and voltage
scales according to the expected signal. Applying the input signal from the function
generator, which generates an-error signal \( e(t) \) that can be either a sinusoidal
wave or a step function, you will obtain the following response on the oscilloscope, as
shown in Figure 10.

Figure 10. Oscilloscope Response of the P Controller.

The response shown in Figure can be interpreted as follows: since the output is
proportional to the input, if the input to the controller (yellow line) is a step function
error, then the output (green line) is also a step function and is exactly a scaled version
of the input. This is provided by the controller if it operates within its proportional band.
From a proportional control, we obtain the following characteristics:

1. The rise time experiences a slight reduction.


2. The peak overshoot increases.
3. The damping decreases.
4. The settling time changes slightly.
5. The steady-state error decreases with increasing gain.
6. The type of system remains the same.

Proportional-Integral controller.

Figure 11. Oscilloscope Response of the PI Controller

From proportional-integral control, we obtain the following characteristics:

1. Damping decreases.
2. The peak overshoot increases.
3. Rise time decreases.
4. Gain and phase margins improve.
5. The system type increases by one unit.
6. Steady-state error improves due to the increase in system type.
Proportional-Integral-Derivative controller (PID)

Figure 12. Oscilloscope Response of the PID Controller


The PID controller incorporates the best features of both the PI and PD controllers.
The simulation of the three systems can be observed in Figure 13.

Figure 13. Simulation of the P, PI y PID controllers.


Our Transfer Function is the next:
𝑅2 1 d(Vo−Vin)
F.T.= (Vo-Vin) . + ∫(𝑉𝑜 − 𝑉𝑖𝑛)+ R5 C2
𝑅1 𝑅3𝐶1 dt

5.Discussion and Conclusions.


As a summary of the practice, the objectives were achieved, and the responses of the
P, PI, and PID controllers were successfully visualized.
While proportional (P) control is simple to apply and mainly requires some form of
amplifier, which could be either an electrical or mechanical amplifier, the result of a
proportional controller is an open-loop transfer function of G0(s) =KpGp(s). Generally,
P controllers are used in industry for level control processes.
On the other hand, proportional-integral (PI) control is more commonly used in control
systems to improve stability and system performance. It is typically employed in
industry for flow control and liquid pressure control processes.
Finally, proportional-integral-derivative (PID) control is very popular due to its ability to
provide precise and stable control in a wide range of applications. Proper tuning of a
PID controller optimizes system performance, making it commonly used in industry for
temperature control processes.

6. References.

• Ogata, K. (1993). _Ingeniería de control moderna_. (2.ª ed.). Prentice


Hall.

• Bolton, W. (2001). _Ingeniería de control_. (2.ª ed.). Alfaomega.

• Hernández Gaviño, R. (2010). _Introducción a los sistemas de


control_. (1.ª ed.). Pearson.

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