LAB NO.

9
CLOSE LOOP CONTROL WITH PROPORTIONAL (P), INTEGRAL (I),
PROPORTIONAL INTEGRAL (PI) AND PROPORTIONAL INTEGRAL
DERIVATIVE (PID) OF DC MOTOR, TEMPERATURE AND LIGHT USING
PULSE WIDTH MODULATION (PWM)

9.1 Objectives
Upon completion of this lab, one will be able to understand
 Close loop control.
 Rotational sensor interface using Infrared (IR) sensor as photo interrupter and its application.
 Photo sensor interface.
 Frequency to voltage conversion (F/V).
 Close loop proportional (P) control of the motor and light.
 Close loop proportional integral (PI) control of the motor and light.
 Close loop proportional integral derivative (PID) control of the motor and light.

Pre Lab Task

9.2 Questions
Q1. What is a Photo-interrupter?

9.2.1 Photo Interrupter

Ans. Photo interrupter is a transmission-type photo sensor, which typically consists of a light emitting
elements and light receiving elements aligned facing each other in a single package that works by
detecting light blockage when a target object comes between both elements, acting as an optical switch

Q2. What is a close loop control?

9.2.2 Closed Loop Control

Ans. A closed-loop control system, also known as a feedback control system, is a type of control
system that continuously monitors its output and adjusts its input to maintain the desired output value.
This process involves using feedback to compare the actual output with the desired output (set point)
and making necessary corrections to minimize any error or deviation.

Q3. What is a control of the motor?

9.2.3 Control of the Motor

Control of a motor refers to the methods and systems used to regulate the operation of an electric
motor. This involves managing the motor's speed, position, torque, and direction to meet specific

1
performance requirements. There are several types of motor control techniques, each suited for
different applications.

In Lab Tasks
Closed Loop P-based Control of Motor
9.3 Requirements
1- IT-4406 trainer board.
2- 2mm patch cords.
3- CRO.

9.4 Experimental Setup

Refer to the following diagram to configure setup for the present experiment.

Figure 1: P based closed loop control of DC motor.

9.5 Procedure
 Make all connections as shown in Fig 1
 Connect the oscilloscope probe to the output of PID block TP52.
 Set the voltage of about 3V at the output of set point 1 TP54.
 DC motor will start to rotate. If not so, turn the proportional pot to about 25%.
 Observe the wave form of PID block on oscilloscope.
 There will be some oscillations in the wave. Try to remove these ripples from the wave by
adjusting proportional pot.
 When the system is balanced it will give you straight line. Try to unstable the system by
interrupting the motor with something (use your hand). It will destabilize the system for some time
but PID controller will again stabilize it.
 Note the time taken by the system to stabilize.
2
 Now set the voltage of about 3.5V at the output of set point 1 TP54.
 Repeat the above steps and note the readings.

9.6 Hardware Implementation

Figure 2: Hardware Implementation of Closed Loop Circuit

3
9.7 Results
9.7.1 Input Voltage

Figure 3: Input voltage of closed Loop system

9.7.2 Output Voltage

Figure 4: Input voltage of closed Loop system

9.7.3 Readings
Input voltage Output voltage Error

4
 4.01V 1.416V 2.594V

5.06V 2.23V 2.83V

7.21V 3.886V 3.324V

Table 1: Readings of P-Based Closed Loop control System

9.7.4 Discussion
 Adjusting the proportional gain helps in reducing oscillations and stabilizing the motor's
rotation.
 Depicts the practical setup of the P-based closed loop system on the trainer board,
demonstrating the physical connections and components involved in the experiment.
 The input voltage applied to the P-based closed loop system. It serves as a reference for the
control system's response to different input levels.
 The output voltage corresponding to the input voltage from Figure 3. The output reflects the
system's performance and stability under P control.

Closed loop control of DC motor using PID controller

9.8 Objective
The objective of this task is to understand the

Closed loop proportional integral derivative (PID) control of motor

9.9 Requirements
1- IT-4406 trainer board.
2- 2mm patch cords.
3- CRO.

9.10 Experimental setup

Refer to the following diagram to configure setup for the present experiment.

5
 Figure 5: PID based closed loop control of DC motor
9.11 Procedure
 Make all the connections as shown in Figure 5.
 Connect the oscilloscope probe the output of PID block TP52.
 Set the voltage of about 3V at the output of set point 1 TP54.
 DC motor will start to rotate. If not so, turn the proportional pot to about 25%.
 Turn the integral and derivative pot to about 25%.
 Press the RESET button given on trainer.
 Observe the wave form of PID block on oscilloscope.
 There will be some oscillations in the wave. Try to remove these ripples from the wave by
adjusting proportional pot.
 When the system is balanced it will give straight line. Try to unstable the system by
interrupting the motor with your hand. It will destabilize the system for some time but PID
controller will stabilize it.
 Note the time taken by the system to stabilize.
 Now set the voltage of about 3.5V at the output of set point 1 TP54.
 Repeat the above steps and note the readings.

6
9.12 Hardware Implementation

Figure 6: Closed Loop system using PID Controller

9.13 Results

Figure 7: Input voltage of closed loop system using PID

7
 Figure 8: Output Voltage of closed loop system using PID

9.14 Readings
Input voltage Output voltage Error

4.18V 3.81V 0.36V

5.06V 4.22V 0.84V

7.28V 6.52V 0.76V

Table 2: Readings of Closed Loop Control using PID

9.14.1 Discussion
 PID includes connections for oscilloscope probes and adjustments for proportional, integral,
and derivative gains.
 PID control system, highlights the additional complexity and components required for PID
control.
 The input voltage data for the PID-based closed loop system.
 The output voltage for the PID-based system, demonstrating improved stability and accuracy
compared to P control.

8
9.15 Motor control using PWM with P, PI, PID
9.15.1 Input = 3Volt
Controller Vin Vout s-s-e Ts

P 3 1.64 -1.36 1

PI 3 2 -1 0.78

PID 3 2.89 -.011 0.45

Table 3: Readings when input = 3Volts

9.15.2 Input = 5Volt

Controlle Vin Vout s-s-e Ts
r
P 5 3.46 -1.54 1.04

PI 5 4.21 --0.79 0.83

PID 5 4.95 -0.05 0.62

Table 4: Readings when input = 5Volts

9.15.3 Input = 10Volt

Controller Vin Vout s-s-e Ts

P 10 7.43 -2.57 1.50

PI 10 8.96 -1.04 0.98

PID 10 9.56 -0.44 0.23

Table 5: Readings when input = 10Volts

9
Conclusion
After performing lab on closed loop systems using P and PID controllers it is concluded that;

 The implementation and analysis of P, PI, and PID controllers for DC motor temperature and

light control using PWM were performed.

 The results demonstrated that PID control offers superior performance, minimizing steady-state

error and reducing settling time

 The hardware implementation validated theoretical predictions, showcasing the practical

applicability of these control strategies.

10