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Control Lab

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29 views9 pages

Control Lab

Uploaded by

Aliaa Tarek Ali
Copyright
© © All Rights Reserved
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OBSERVATIONS

B–6–23. Consider the control system shown in Figure 6–113. Design a compensator such that
the unit-step response curve will exhibit a maximum overshoot of 25% or less and a settling
time of 5 sec or less.

MATLAB Code 1 for lag compensator

Results

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B–6–22. Consider the control system shown in Figure 6–112. Design a compensator such that
the unit-step response curve will exhibit a maximum overshoot of 30% or less and a settling
time of 3 seconds, or less.

MATLAB Code 2

According to the step response;


 Risetime = 1.08 seconds
 Overshoot = 43.6% at 2.77 seconds
 Settling time = 12 seconds
 Final value =1

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PID TUNING

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Block diagram

a) When; KP=1, KI= 0, KD=0

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b) When; KP=2, KI=0, KD=0

B).
1) When; KP =4.5, KI =4.482, KD =1.1295

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2) When; KP =3.5, KI =4.482, KD =1.1295

Increased number of oscillations

3) When; KP =3.5, KI =3.482, KD =1.1295

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A slight decrease in the number of oscillations

4) When; KP =3.5, KI =3.482, KD =0.1295

Increased number of oscillations

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5) When; KP =3.5, KI =3.482, KD =0.1295

Decreased the number of oscillations and reduced overshoot

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ANALYSIS
Considering the number of crests for each instance when proportional, integral, and
derivative components are varied.
KP KI Kd No. of crests Amplitude
(oscillations)
1 0 0 4 1.42
2 0 0 6 1.6
4.5 4.482 1.1295 6 1.64
3.5 3.482 1.1295 5 1.59
3.5 4.482 1.1295 8 1.64
3.5 3.482 0.1295 No oscillations -
o When the proportional gain KP is increased from 1 to 2, both amplitude and the number of
oscillations increase.
o When the integral control KI is increased from 3.482 to 4.482, both amplitude and the
number of oscillations increase.
o Reducing the derivative control K D from 1.1295 to 0.1295 led to an output graph having
no oscillations.
o The increase in amplitude can be termed as an amplification of the input values.

Thus, a high proportional gain amplifies the response, while too much gain lead to overshoot
and oscillations.
Too high integral control value KI introduced instability in the system as seen from the high
number of oscillations (crests in the graph).

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