A REPORT ON CONTROL SYSTEM LABORATORY

ELP800

Analog Motor Control

Submitted by Group No. : 2B

Raj Tiwari
Entry No: 2024EEA2306
Nitish Tyagi
Entry No: 2024EEA2308
Ravi Dahiya
Entry No: 2024EEA2849

Under the guidance of

Prof. Subashish Datta

in partial fulfillment of the requirements
for the award of the degree of
Master of Technology

Department of Electrical Engineering

Indian Institute of Technology, Delhi
October 2024

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Contents
1 System Modelling 3
1.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Method Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Observation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Calculation of Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Controller Design 5

3 Actual Implementation 7
3.1 Hardware Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Controller Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.1 Breadboard 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.2 Breadboard 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.3 Breadboard 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.4 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.5 Color coding of wire used in controller . . . . . . . . . . . . . . . . . . . . . . 8
3.3 Final Output with Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 Comparison with MATLAB output 10

5 Conclusion 10

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1 System Modelling
1.1 Objective
To determine the transfer function of the DC motor by applying step input

1.2 Method Used

1. Make the DC motor connections to the to the power supply unit, function generator and
oscilloscope as shown in the figure.

Figure 1: Connection Diagram

2. Apply square wave input to the DC motor.

3. Adjust the frequency from function generator to be around 0.1 Hz

4. Observe the output obtained from the oscilloscope

5. Calculate the transfer function of the DC motor from the obtained output.

1.3 Observation
We obtain the following output from the oscilloscope for a given square wave input -

Figure 2: Measurement of Input Voltage

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 Figure 3: Measurement of Output Voltage

Figure 4: Measurement of Time Constant

We can conclude the above observations in the following table -

S.No. Specification Value Observed

1 Input Voltage Magnitude 4.4 V
2 Output Voltage Magnitude 5.52 V
3 Time Constant 400 msec

Table 1: Summary of Observations

1.4 Calculation of Transfer Function

Gain of the system can be calculated as -
Output 4.4
Gain(K) = = = 0.797
Input 5.52
Therefore, the transfer function of the system is -
0.797
0.4s + 1

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2 Controller Design
After applying the controller we will have the following layout for the entire control system -

Figure 5: Step response of the close loop system

The transfer function of the system can be computed as follows -

Transfer function of controller
Kp s + Ki
s

Transfer function of plant

K
sT + 1

Feedback gain = 1
Closed Loop Transfer Function of the System -
Kp s+Ki K
s sT +1
K s+K
1 + p s i sTK+1

On simplification we obtain -
(Kp s + Ki )K
s2 T + s(1 + Kp K) + Ki K

Which is a second order system and hence it consists of damping ratio, settling time, natural
frequency and other second order system parameters
These second order parameters can be tuned by the help of Kp and Ki values and therefore, the
response can be manipulated based on user requirement.

Target specifications taken - ζ > 0.8, Ts < 0.5sec

Values of proportionality and integral constants obtained - Kp = 12.06 , Ki = 70.06

Response of the system for the step input is given by MATLAB as follows -

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Figure 6: Measurement of Time Constant

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3 Actual Implementation
3.1 Hardware Specifications
The following hardware equipment were used in the hardware implementation of PI controller -

1. Breadboard

2. Op-Amp Lu- 741

3. Resistors

4. Rheostats

5. Capacitors

6. Connecting Wires

Final Circuit after connection contains a controller which is designed using kp and kI values which
we got through MATLAB.

3.2 Controller Specification

This controller consists 3 Breadboard

3.2.1 Breadboard 1
On this bread board we have designed a subtractor and a proportional controller this is the first
element of our controller.

3.2.2 Breadboard 2
On this bread board we have designed a integrator which is connected in parallel to our first element.

3.2.3 Breadboard 3
And finally on this Breadboard we have designed a subtractor which is connected to plant this is
the last element of our controller.

Figure 7: controller

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3.2.4 Block diagram

Figure 8: Controller Block diagram

3.2.5 Color coding of wire used in controller

Figure 9: Color coding

3.3 Final Output with Controller

The Final output with the controller can be summarized by the images given below -

Figure 10: Step Response of the system with controller and Feedback

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 Figure 11: Motor Connections

Figure 12: Designed PI Controller

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4 Comparison with MATLAB output
Based on the output obtained for the actual hardware and the output obtained from the simulation,
it can be concluded that the result is similar hence the PI controller design can be assumed to be
successfully done.

Figure 13: Step Response of the system with controller and Feedback

Figure 14: Response predicted by the MATLAB model

The settling time of the system was reduced from 0.8 seconds to 0.4 seconds using the PI controller.

5 Conclusion
0.797
1. The transfer function of the system is 0.4s+1 .

2. Values of kp = 12.06 and ki = 70.06.

3. With the help of above values we were able to design a controller which gives us the required
output.

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4. Circuit Diagram of system

Figure 15: Circuit diagram

5. Final image of system with controller

Figure 16: Final image

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