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ACS ASSIGNMENT Final

The document outlines an assignment involving the simulation of a hydraulic servo mechanism in a copying lathe machine using MATLAB/Simulink. It details the development of a Simulink model, the analysis of transfer functions, and the tuning of a PID controller using the Ziegler–Nichols method, providing specific values for proportional, integral, and derivative gains. The results indicate improved stability and reduced oscillations in the output response with the PID controller.

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Vinay Pandit
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72 views9 pages

ACS ASSIGNMENT Final

The document outlines an assignment involving the simulation of a hydraulic servo mechanism in a copying lathe machine using MATLAB/Simulink. It details the development of a Simulink model, the analysis of transfer functions, and the tuning of a PID controller using the Ziegler–Nichols method, providing specific values for proportional, integral, and derivative gains. The results indicate improved stability and reduced oscillations in the output response with the PID controller.

Uploaded by

Vinay Pandit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Anurag Hanmant Patil

112010094 Batch E Div 2

ASSIGNMENT -
3
Q1. The following schematic shows a hydraulic servo mechanism used in a
copying lathe machine to produce identical parts on large scale. The profile of
the master forms the input x(t) given to the servo mechanism. Write a simulation
program using MATLAB/Simulink, Python or any other software and plot the
input and output response y(t) for the device. Comment on error.

Master Profile Reference/Datum level


Anurag Hanmant Patil
112010094 Batch E Div 2

Simulink model is developed for the copy lathe. The signal inputs given are of “Step”,
“Ramp” and “Circular arc”. The output is given within the scope. The clock displays the
simulation time as well as an input for the If else block or switch block. The code for the
Circular arc function.

The transfer function for the copy lathe is taken as “1/(tau*s+1)”

The Simulink model above gives the required trajectory of the tool of the copy lathe. It is the
trajectory of the master.
Anurag Hanmant Patil
112010094 Batch E Div 2

When transfer function is (1/S + 1) the trajectory of the lathe tool is deviated from the
required trajectory.

When transfer function is (1/0.1S + 1) the trajectory of the lathe tool almost perfectly matches
the required trajectory
Anurag Hanmant Patil
112010094 Batch E Div 2

Q2. Model a PID controller in MATLAB/Simulink. Use Ziegler–Nichols


method fortuning PID controllers and find the value of the Proportional gain,
Integral and Derivative time constants for each controller.

figure shows the Simulink model for a transfer function, we will substitute the Gain block
with a PID block and tune its response using Ziegler-Nichols Method

response from the above model for different values of gain are as follows

K=1
Anurag Hanmant Patil
112010094 Batch E Div 2

K=5

K=10
Anurag Hanmant Patil
112010094 Batch E Div 2

K=15

K=12

K= 12.6
Anurag Hanmant Patil
112010094 Batch E Div 2

We observe above that as we increase the value of Gain above 12 the response seems to
increase its amplitude of oscillations, by trial and error we get the point of neutral oscillations
where the response is between two amplitudes. At K = 12.6 such state is received. So
Ku=12.6

1.System Response with proportional controller:

The proportional gain is given as: Kp = 0.33*Ku

Kp=4.2

2. System response with Proportional Integral controller

Proportional Gain, Kp = 4.2.


Ultimate Time Gain Tu = 6.77 seconds
Integral Time Constant, Ti = 2 *Tu = 2 * 6.77 =13.54 seconds
The integral gain is given as Kp/Ti;
Integral Gain Ki = 0.31005.
Anurag Hanmant Patil
112010094 Batch E Div 2

3.System response with PID controller:

Kp = 0.20 * Ku Proportional Gain,


Kp = 2.52.

Integral Time Constant, Ti = 0.8 *Tu = 0.8 * 6.773 =5.418 seconds


Integral gain so calculated is Kp/Ti = 0.46511

Derivative Time Constant, Td = 0.8 *Tu = 0.2 * 6.773 =1.354 seconds


The derivative gain so calculated is Kp*Td

Derivative Gain, Kd = 3.5763.

With the PID controller we can observe the oscillations within the signal are reduced by a
large amount and the signal received is very stable
Anurag Hanmant Patil
112010094 Batch E Div 2

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