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Lab4 108 CS P

this the lab of control system

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18 views7 pages

Lab4 108 CS P

this the lab of control system

Uploaded by

engr.ahmadali99
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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YOUSAF FA20-BEE-108-P LAB#4

LAB # 4: Design of Proportional-Integral-Derivative (PID) Controller using


MATLAB

 Objectives:
 To Design PID Controller for different systems.

 In-Lab Experiments:
 Mass-Spring-Damper Model
clc
close all
clear all

%%
M = 1;
B = 10;
K = 20;
Kp = 350; %propotional
Kd = 50; %derivative
Ki = 300; %integral
%%
num = [1];
den = [M B K];
system = pid(Kp, Ki, Kd)
System=tf(num, den)
subplot(211)
step(System)
legend('step responance')

s = series(system, System);
sys = feedback(s, 1);
subplot(212)
step(sys)
steady_error = abs(dcgain(1-sys))
stepinfo(sys)
legend('step responance')

1|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

 Simulink

clc
clear all
close all

M = 1;
b = 10;
k = 20;
F = 1;

2|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

 Task 2
clc
close all
clear all
%%
m = 0.111;
R = 0.015;
g = -9.8;
L = 1;
d = 0.03;
J = 9.99e-6;
Kp =100;
Ki = 120;
Kd = 250;
%%

3|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

num = [-(m.*g.*d)];
den = [L.*(J./(R.^2)+m) 0 0];
sys1 = tf(num, den)
sys2 = pid(Kp, Ki, Kd)
s = series(sys1, sys2);
system = feedback(s, 1)
step(system)
grid on
legend('step responance')
stepinfo(system)
steady_error = abs(dcgain(1-system))

 Simulink

4|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

 Post lab 1
clc
close all
clear all
%%
Kp = input ('Enter the value of Kp = ');
Ki = input ('Enter the value of Ki = ');
Kd = input ('Enter the value of Kd = ');
%%
C = pid(Kp,Ki,Kd);
num = [Kd Kp Ki];
den = [0 1 0];
PID = tf(num , den);

5|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

num1 = [400];
den1 = [1 48.5 0];
Tf1 = tf(num1 , den1)

figure
step(Tf1)
grid on
legend('step responance')
OTF = series(PID , Tf1)
OFTF = feedback(OTF , 1)

figure
step(OFTF)
stepinfo(OFTF)
grid on
legend('step responance')

 Post lab 2
clc
close all
clear all
%%
Kp = input('Enter the value of Kp = ');
Ki = input('Enter the value of Ki = ');
Kd = input('Enter the value of Kd = ');
%%

C = pid(Kp,Ki,Kd);
num = [Kd Kp Ki];
den= [0 1 0];
PID = tf(num , den);
B=10;
K=20;
J = 9.9.*(10.^-9); L=1;
R = 0.015;
num2 = [K];350
den2=[J.*L ((J.*R)+(B.*L).*(B.*R)+(K.^2))];
TF = tf(num2 , den2)

6|CONTROL SYSTEMS LAB REPORT


YOUSAF FA20-BEE-108-P LAB#4

figure
grid on
legend('step responance')
step(TF)
OTF = series(PID,TF)
OFTF = feedback(OTF,1)

figure
step(OFTF)
grid on
legend('step responance')
Info = stepinfo(OFTF)
err = abs(dcgain(1 - OFTF))

7|CONTROL SYSTEMS LAB REPORT

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