Instrumentation & Measurement Lab Lab # 4

Department of Mechanical and Aerospace Engineering

INSTRUMENTATION
AND MEASUREMENT
LAB 4
To Study the Position Control System
(RT-60)

Submitted to:
Instrumentation & Measurement Lab Lab # 4

To Study the Position Control System (RT-60)

Objectives:
1. Elementaries of control engineering.
2. Response of open loop control.
3. Response of closed loop control and its impact.
4. Optimization of the system by changing the controller parameters.
5. To contrast between different control system parameters.
6. Different Control systems parameters using software.

Equipment Specification:
 Device design

Fig. 1
 Equipment Info
Instrument RT- 060 can perform basic position-controlled system experiments. The equipment uses a
toothed belt to move the moving slide. This tooth belt is controlled by a control system. The controlled
variable is the position of the slider and a rotary encoder which is coupled with the belt drive is used as the
measuring component for the slide. The sensor will feed the output signal to the signal controller, and this
controller will control the motor. When the slider reaches one of the two end points of the apparatus the
motor will automatically switch off.
Instrumentation & Measurement Lab Lab # 4

Circuit Diagram

Fig. 2

 System Modeling
Input is fixed as step input for all the cases:

1) P-Controlled system
This system is only concerns with the P-term and this system is proportional to the input variable.
Transfer function of the system is:
𝐾𝐾𝑠𝑠
𝐺𝐺 (𝑠𝑠) =
1 + 0𝑠𝑠 + 0𝑠𝑠 2
2) I-Controlled system:
This system is only concerns with the I-term and this system has behavior of integrative transmission. The
input variable will determine the rate of change of output variable of I-controlled system.
Transfer function of the system is:
𝐾𝐾𝑠𝑠
𝐺𝐺 (𝑠𝑠) =
1 + 100𝑠𝑠 + 0𝑠𝑠 2
3) PT1 Controlled System:
This system has proportional transmission behavior with delay of first order and is called the first order
system.
𝐾𝐾𝑠𝑠
𝐺𝐺 (𝑠𝑠) =
1 + 10𝑠𝑠 + 0𝑠𝑠 2
4) PT2 Controlled System:
This system has proportional transmission behavior with delay of second order and is called the second
order system.
𝐾𝐾𝑠𝑠
𝐺𝐺 (𝑠𝑠) =
1 + 1𝐷𝐷𝐷𝐷𝑠𝑠 + 𝑇𝑇 2 𝑠𝑠 2
Instrumentation & Measurement Lab Lab # 4

 Control System Diagram

Fig. 3

 Types of Controllers
There are two types of controllers:

1) Discontinuous Controller:
Discontinuous controller only allows discrete values as input for the variable that has to be controlled.
The output of the variation made with this controller is not smooth and it shows oscillation between the
values.
Discontinuous Controller is further classified into two types:
i. Two Position controller
ii. Multi-position controller

1) Continuous Controller:
Continuous controller allows the control variable to have any value as an input within output range of the
controller. The transition is smooth between starting position of the system and the desired position of the
system.
Continuous Controller is further classified into six types:
i. Proportional (P) Control:
In a closed-loop system, P-control is simplest that can be used
as a feedback control. It regresses the oscillations but sometimes
it does not bring the system to the desired point. It increases the
speed of the response but the P-controller produces an offset
which is not desired in the process.
𝑐𝑐 (𝑡𝑡) = 𝐾𝐾𝑐𝑐 𝑒𝑒(𝑡𝑡) + 𝑏𝑏

Fig. 4
Instrumentation & Measurement Lab Lab # 4

ii. Integral (I) Control:

In a closed loop system, I-control comes in hand when we want to
remove any existed deviations from the system and it can be used
as a second feedback control. By using Integral controller, the
controller can return the system to its original setting and in steady
state. Using I-controller is not quite effective as it reduces the
response time of the system.
1
𝑐𝑐 (𝑡𝑡) = � 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑑𝑑 + 𝑐𝑐(𝑡𝑡0 )
𝑇𝑇𝑖𝑖
Fig. 5

iii. Derivative (D) Control:

In a closed loop system, D control is a controller that analyzes the
change in error and it is a form of feed forward control. The
purpose of D-control is to relate the output and the error w.r.t time.
𝑑𝑑𝑑𝑑
𝑐𝑐 (𝑡𝑡) = 𝑇𝑇𝑑𝑑
𝑑𝑑𝑑𝑑

Fig. 6
iv. Proportional-Integral (PI) Control:
In a closed loop system, one of the combinations is the PI-control. It provides improved response time and
is used as a feedback control. It helps the system to damp the oscillations and return to the desired point.
1
𝑐𝑐 (𝑡𝑡) = 𝐾𝐾𝑐𝑐 [ 𝑒𝑒(𝑡𝑡) + � 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑡𝑡 ] + 𝐶𝐶
𝑇𝑇𝑖𝑖
v. Proportional-Derivative (PD) Control:
In a closed-loop system, one of the combinations is the PD-control. PD-control is the combination of the
feedback and feedforward control as the controller operates between the current and predicted conditions
of the system.
𝑑𝑑𝑑𝑑
𝑐𝑐 (𝑡𝑡) = 𝐾𝐾𝑐𝑐 � 𝑒𝑒(𝑡𝑡) + 𝑇𝑇𝑑𝑑 � + 𝐶𝐶
𝑑𝑑𝑑𝑑
vi. Proportional-Integral-Derivative (PID) Control:
In a closed-loop system, PID control is the most common type of controller as it combines all the pros of
each control. The P-control improves the response time, and the ID-control helps the controller to reduce
the offset. The I-control can dampen the overshoot response and I-control by predicting the disturbances
can improves the response time.
1 𝑑𝑑𝑑𝑑
𝑐𝑐 (𝑡𝑡) = 𝐾𝐾𝑐𝑐 [ 𝑒𝑒(𝑡𝑡) + � 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑡𝑡 + 𝑇𝑇𝑑𝑑 ] + 𝐶𝐶
𝑇𝑇𝑖𝑖 𝑑𝑑𝑑𝑑
Instrumentation & Measurement Lab Lab # 4

Controller Estimate When to use Example

P Present Systems with slow Float valves,
response, thermostats,
humidistat
systems
tolerant to offset

I Back Not often used alone Used for very noisy

as is too slow systems

D Forward Not used alone None

because it
is too sensitive to noise
and does not have set
point

PI Present & back Often used Thermostats, flow

control, pressure
control

PID All time Often used, most robust, Cases where the system
but can be noise sensitive has inertia that could get
out of hand:
i.e. temperature and
concentration
measurements on a
reactor to avoid
runaway.

Table 1 Comparative table of P,I and D Controller

Procedure:
Instrumentation & Measurement Lab Lab # 4

Result:

Input (w) Output (x) KP KI KD Error Remarks

Table 2 Result table of P,I and D Controller

 Graph:
Instrumentation & Measurement Lab Lab # 4

 Analysis:

Conclusion: