Principle of Control

Mahmood Mustafa Control Engineering
ID : 2489429 Supervised By : Dr !ari" Sattar

#eport !itle : Investigation of PID control of a digital servo system
$im: The aim is to move the inertial load to a given position in the shortest possible time
with a smooth transient response.
%& $'stra(t
The aim of this experiment was to investigate a standard method of control known as PID
(proportional, integral, derivative) on a digital servo system. The effect of variation of PID gains, sampling
interval, and motor plse width modlation are flly investigated with varios combination of P, PD, PID
methods. These methods are applied to position and speed control exercises. The experiment is to learn
position control with a proportional controller, to learn the simple speed control with a low gain and
steady inpt demand of ! rad"s, to learn the effect of sampling interval, to learn the position control with a
proportional, derivative control. #nd also to learn the tracking position control system and elimination of
tracking error with integral control. To learn the effect of sampling period T on system stability and
accracy.
2& Introdu(tion
Digital $ervo %ontrol of a system can be sed in many applications, position control systems are an
important component of many indstrial prodcts. &xamples are fond in disk drives, atomotive prodcts,
robotics, process control and many others. $ome of these applications and the basics of servo control system
have been described. The aim of this digital control of a servo system is to describe in simple terms,
how digital servos are implemented sing a servo controller circit control system implementation.
The first thing of the experiment a digital servo mechanism for position control of a servo motor sing digital
sensors and direct digital control system sing digital optical position sensors with a special 'ray coded disk
to measre shaft position and encoder to convert the 'ray code to a binary sing a decoder. The decoder
otpt to fed directly to an adder or smmer with the anglar position digitally coded by detecting the (&D)s
different colored lights to know the servo motor position
#ef)%*
Chemi(al + ,ro(ess Engineering %&&-2&&8
*


The control signal to a servo is a plse width a repetition fre+ency of nominally ,-./. The width of the
plse determines the position of the servo motors otpt. It also draws power proportional to the mechanical
load. The amont of power applied to the motor is proportional to the distance it needs to travel. $o, if the
shaft needs to trn a large distance, the motor will rn at fll speed. If it needs to trn only a small amont,
the motor will rn at a slower speed. This is called proportional control.
This experiment covers the basic principles of the servo motor control system, inclding both the physics of
the servos, the key featres of servo motor in particlar applications of control, the basic characteristics and
the theory and the basic control system was discssed in the report.
The controller board designed to be able to control the servo motor. This report will present in detail the aims
and ob0ectives of the experiment and how they were achieved and provide a detailed log progress throgh
the experiment life.
# $ervo is a small device that has an otpt shaft. This shaft can be positioned to specific anglar positions
by sending the servo a coded signal. #s long as the coded signal exists on the inpt line, the servo will
maintain the anglar position of the shaft. #s the coded signal changes, the anglar position of the shaft
changes. In practice, servos are sed in radio controlled airplanes to position control srfaces like the
elevators and rdders. They are also sed in radio controlled cars, pppets, and of corse, robots. In a D%
motor, the load affects the speed and crrent draw
#ef)%*
To process the experiment first we have to get the idea of the servo motors and a more practical soltion
from the Internet and engineering books to nderstand and evalate the reslt and finish the experiment. 1e
have to do several exercises.
2asic position control systems consist of a servo motor, position sensor and controller is shown below in the
figre *.
Position
3eference
.igure % : ,osition Control System
4
$ensor
%ontroller 5otor
o"p
6


This investigation is a stdy of a servo system D$*,7 (as shown in figre 4) that comprises a dc motor,
gear box and load inertia. The aim is to move the inertial load to a given position in the shortest possible
time with a smooth transient response. I will investigate one of the most commonly employed control
systems to do this. This is the three term PID (proportional, integral, and derivative) controller. The
controller is implemented on a microcompter and relies on its control action being taken at discrete
intervals of time. The otpt (position or velocity) of the analoge system is converted to digital word
and passed to the compter at a periodic sampling time. The PID control law is implemented in
the microcompter and a control signal applied to the servo system at almost the same time. Time histories
of any signal in the microcompters memory can be loaded (8ia 3$ 474 serial commnication) and viewed
on a for channel oscilloscope program implemented on the P%, a hard copy of the oscilloscope traces can
be obtained on the attached printer. Incremented encoder this modle gives plsed signals corresponding to
the anglar position, velocity and acceleration of the otpt shaft (load) of the servomechanism.
9adratre decoder converts signals from the shaft encoder to position, velocity and acceleration
measrements.

.igure 2 : Servo system DS%-/
7


#naloge otpt nit this modle applies the control signal compted by the controller to the power
amplifier on the analoge servo system. #lso, any signal in the servo system can be otpt via a D"#
converter and viewed on an oscilloscope or a chart recorder.
#naloge otpt nit this modle applies the control signal compted by the controller to the power
amplifier on the analoge servo system. #lso, any signal in the servo system can be otpt via a D"#
converter and viewed on an oscilloscope or a chart recorder.
/& 0'1e(tives
To investigate a standard method of control known as PID (Proportional, Integral, Derivative) on a Digital
$ervo $ystem. The effect of variation of PID gains, sampling interval, and motor plse width 5odlations
are flly investigated with varios combinations of P, PD, and PID methods. These methods are applied to
position and speed control exercises.
4& Des(ription
# simple servo mechanism system consists of a D% motor and a controller circit. # servo motor is basically
an electro:mechanical device, which converts electrical plses into discrete mechanical movements. The
shaft or spindle of a servo motor rotates in discrete step increments when electrical command plses are
applied to it in the proper se+ence. The motor rotation has several direct relationships to these applied inpt
plses. The se+ence of the applied plses is directly related to the direction of motor shafts rotation. The
motor shafts rotation is directly related to the width (or dration) of the inpt plses and the length of
rotation is directly related to the nmber of inpt plses applied
#ef)2*
-& !e(hni(al Ba(2ground
$ervo motors are best well:known for their +ick acceleration and deceleration capability which is made
possible by delivering high:peak tor+e in con0nction with a high tor+e:to:inertia ratio. $ervo motors
may be categori/ed by criteria of magnet type (indction or permanent), mechanical technology (rotary or
linear) and electrical technology. # standard servo is a motori/ed device that moves its actator to a position
;


specified by a controlling electronic signal. Inside is a complete servo system, a control circitry and drive
circit. $everal si/es of servos exist that range from very fast to very powerfl.
# $ervo is a small device that has an otpt shaft. This shaft can be positioned to specific anglar positions
by sending the servo a coded signal. #s long as the coded signal exists on the inpt line, the servo will
maintain the anglar position of the shaft. #s the coded signal changes, the anglar position of the shaft
changes. The otpt shaft of the servo is capable of traveling somewhere arond *!- degrees. <sally, it is
somewhere in the 4*- degree range, bt it varies by manfactrer. # normal servo is sed to control an
anglar motion of between - and *!- degrees. # normal servo is mechanically not capable of trning any
farther de to a mechanical stop bilt on to the main otpt gear.
3& $ppli(ations of the Servo Motor
The se of servo systems is extensive in indstry, with machine tools forming a significant area of
application. In addition to simple motor control, servos allow the precise movement and control of
machinery in pre:determined paths. &xamples inclde aircraft control, robotic arm movement, disk drivers,
atomotive prodcts, process control and many others
#ef )%*
$ervo motors are basically geared down D% motors with positional feedback control, allowing for accrate
positioning of the rotor with a range of =- degrees. They can also be modified to allow for continos
rotation.
# servo control system is one of the most important sed forms of control system. #ny machine or piece of
e+ipment that has rotating parts will contain one or more servo control systems. The 0ob of the control
system incldes >
8arying the speed of a motor and load according to an externally set programme of vales.
This is called set point ( reference) tracking.
5aintaining the speed of a motor within certain limits, even when the load on the otpt of
the motor may vary. This is called reglation.
?r daily lives

depend on servo controllers. #nywhere that there is an electric motor there will be a servo
control system to control it. $ervo control is very important for manfactring indstry wold cease withot
servo systems becase factory prodction lines cold not be controlled, transportation wold halt becase
,


electric traction nits wold fail, compters wold cease becase disk drivers wold not work properly and
commnications networks wold fail becase network servers se hard disk drivers
#ef )%*
3% Servo Motor Controlling Me(hanism
The ma0ority of servos re+ire a power spply between ;.! and @ volts. The higher the voltage, the faster the
servo will move and the more tor+e it will have. #ll servos have three connections. ?ne is red is a positive
voltage.
The second is ble or black it is the grond or negative. The third one is yellow or white which is the
controlling signal. The servo is controlled by a series of plses and the length of the plse indicates which
position to take. The basic motion control system incldes >
5otion controller> : the motion controller is the brain of the motion control system.
It provides the instrctions that the servo motor exectes.
$ervo motor> : the servo motor is the mscle of the motion control system, converting the
electrical power from the servo drive into the mechanical power that moves the machine
$ervo motor controllers mst be able to make a nmber of decisions and provide a means to
receive signals from external sensors and controls in the system and send signals to host
controllers that may interface with the servo system
#ef )/*
32 ,ID Control Systems
The servo motor sed in the pro0ect the amont of power applied to it is proportional to the mechanical load,
this is known as proportional control. The integrator amplifier sed the integral relationship between the
inpt and otpt voltages arise as the reslt of the derivative relationship between voltage across and crrent
throgh a capacitor so the PID A %ontroller is the most widely sed control strategy in servos.
4hat is a ,ID Controller 5
PID stands for Proportional:Integral:Derivative. This is a type of feedback controller whose otpt, a control
variable (%8), is generally based on the error (e) between some ser:defined set point ($P) and some
measred process variable (P8). &ach element of the PID controller refers to a particlar action taken on the
error>
#ef )4*
Proportional> error mltiplied by a gain, Bp. This is an ad0stable amplifier. In many systems
Bp is responsible for process stability> too low and the P8 can drift awayC too high and the P8
can oscillate.
@


Integral> the integral of error mltiplied by a gain, Bi. In many systems Bi is responsible for
driving error to /ero, bt to set Bi too high is to invite oscillation or instability or integrator
windp or actator satration.
Derivative> the rate of change of error mltiplied by a gain, Bd. In many systems Bd is
responsible for system response> too high and the P8 will oscillateC too low and the P8 will
respond slggishly. The designer shold also note that derivative action amplifies any noise in the error
signal.
Tning of a PID involves the ad0stment of Bp, Bi, and Bd to achieve some ser:defined DoptimalD character
of system response.
a) Proportional Control
Proportional control is a pre gain ad0stment acting on the error signal to provide the driving inpt to the
process. The P term in the PID controller is sed to ad0st the speed of the system.
b) Integral Control
Integral control is implemented throgh the introdction of an integrator. Integral control is sed to
provide the re+ired accracy for the control system.
c) Derivative Control
Derivative action is normally introdced to increase the damping ratio of the system. The derivative term
also amplifies the existing noise, which can case problems inclding instability
#ef )/*
The controller generates step plses and direction signals for the driver. #naloge principles are presented in
progression from operational amplifier characteristics throgh position and velocity feedback. It is a
continos feedback loop that keeps the process flowing normally by taking corrective action whenever
there is any deviation from the desired vale (set point) of the process variable rate. The Integral term is most
effective at low fre+encies, the Proportional term at moderate fre+encies, and the Differential term at
higher fre+encies. These fre+encies are relative to the bandwidth of the servo or process.
The primary benefit from the integral term is the redction of steady state error, while the differential term
helps improve the responsiveness and stability. In order to discss the effects of PID, it is necessary to look
at a basic closed loop servo and the e+ation for its closed loop response as shown below.
E


.igure / : Closed 6oop Servo
The open loop (#) and closed loop #" (* 6#) responses of the servo in relation to fre+ency. #" (* 6#) is
approximately e+al to * when # is large and to # when # is small.
3/ 6imitations of ,ID Control
1hile PID controllers are applicable to many control problems, they can perform poorly in some applications.
PID controllers, when sed alone, can give poor performance when the PID loop gains mst be redced
so that the control system does not overshoot, oscillate or DhntD abot the control setpoint vale.
The control system performance can be improved by combining the feedback (or closed:loop) control of
a PID controller with feed:forward (or open:loop) control. Bnowledge abot the system (sch as the desired
acceleration and inertia) can be Dfed forwardD and combined with the PID otpt to improve the overall
system performance. The feed:forward vale alone can often provide the ma0or portion of the controller
otpt. The PID controller can then be sed primarily to respond to whatever difference or DerrorD remains
between the setpoint ($P) and the actal vale of the process variable (P8). $ince the feed:forward
otpt is not affected by the process feedback, it can never case the control system to oscillate, ths
improving the system response and stability
#ef )4*
For example, in most motion control systems, in order to
accelerate a mechanical load nder control, more force or tor+e is re+ired from the prime mover, motor, or
actator. If a velocity loop PID controller is being sed to control the speed of the load and command the
force or tor+e being applied by the prime mover, then it is beneficial to take the instantaneos acceleration
desired for the load, scale that vale appropriately and add it to the otpt of the PID velocity loop controller.
This means that whenever the load is being accelerated or decelerated, a proportional amont of force is
commanded from the prime mover regardless of the feedback vale. The PID loop in this sitation ses the
!


feedback information to affect any increase or decrease of the combined otpt in order to redce the
remaining difference between the process setpoint and the feedback vale. 1orking together, the combined
open:loop feed:forward controller and closed:loop PID controller can provide a more responsive, stable and
reliable control system.

34 6oop ,arameter of ,ID Control
Proportional 'ain (Bp)GProportional gain is the system stiffness. It determines the contribtion of restoring
force directly proportional to the position error. # high proportional gain gives a stiff responsive system bt
can case instability from overshooting and oscillation.
Derivative 'ain (Bd)GDerivative gain is the damping effect on the system. It determines the contribtion
of restoring force proportional to the rate of change (derivative) of position error. This force is mch like
viscos damping in a damped spring and mass mechanical system.
Increasing derivative gain redces oscillation at the commanded position, or it rings becase of high
acceleration.
Integral 'ain (Bi)GIntegral gain is the static tor+e load on the system. It determines the contribtion of
restoring force that increases with time, ensring that the static position error in the servo loop is forced to -.
This restoring force works against constant tor+e loads to help achieve /ero position error when an axis is
stopped. Integral gain improves positional accracy. .igh static tor+e loads need integral gains to minimi/e
position error when stopped
#ef )-*
!ransfer .un(tion of a ,ID Controller
2y looking at the general transfer fnction of a PID:controller, the three terms can be recogni/ed
as follows>
+ = S T
S T
K S G
d
i
p C
*
* ) (
HHHH..
2y rearranging the above formla, a more conventional transfer fnction form can be obtained>
=
&+ation @.;.a


+ +
=
S T
S T S T T K
S G
i
i d i p
C
) * (
) (
4
HHHH....
1here >
Kp > Proportional gain
Ti > Integral time constant
Td > Derivative time constant
$ch a controller has three different ad0stments (Kp, Ti, Td), which interact with each other
#ef )/*
7& E8perimental ,ro(edure + #esults analysis
7% E8er(ise ) % * : ,osition Control 9ith a proportional (ontroller
,ro(edure
$witch on the system. The Display will read ID$%*,7 T J *- m$I. Then I Pt the controller on:line so that
all controller configrations and parameters can be set by software on the P% by pressing T&35 then
&KT&3 on the keypad. Then I have $elected $&38? from the men and then $&T <P $&38?. Then the
following will be set according to the experimental procedre>
T J *- m$ J -a.ex
yJP?$K L$elect the position variable from +adratre decoder as the feedback re+iredM
kJ@- .ex L8ale of proportional gainM
kiJ-- .ex LIntegral gain is set to /eroM
kvJ-- .ex LDerivative gain is set to /eroM
Kext thing to do is to select a Step inpt as the type of digital inpt Dtype from the signal generator that the
otpt is re+ired to follow.
d*J---- .ex L$et the signal generator to provide a step waveform. $et as for
d4J4--- .ex hexadecimal digit nmbers. %hanges from - volts to 4., 8oltsM
dcycJ@;-- .ex LThe cycle time is dcyc x ,- ms J 7.4 sM
*-
&+ation @.;.b


In order to activate the control and the internal demand generator select Run (this takes the otpt position to
d*) followed by Input On/Off (this enables the step demand inpt from d* to d4 and back to d* in a cycle
time given by dcyc). The motor will drive alternately forward and reverse between two positions. ?bserve
the effect of different vales of proportional control on the step response.
#esults
The following reslts were obtained as shown in figure 4 when the servo has been set p.

.igure 4 : The gain B J 4- in hex (74 in decimal) with proportional (P) controller only.
**


%an yo make the response nstable at some vale of kN
Oes the response at the moment is nstable as shown in figure - and the vale of 'ain B is FF in hex J
4,, decimal.

.igure - : The vale of 'ain B is FF in hex J4,, decimal, with P controller only
*4


.igure 3 : The gain is set BJ4- h, The Derivative controller is set to Bv J -@ h, so the
system is controlled by Proportional and Derivative.

) See $ppendi8 $ for more results o'tained for this e8er(ise *
72 E8er(ise ) 2 * : $ simple speed (ontrol 9ith a lo9 gain and a steady input demand of 8 rad:s
,ro(edure
The ?b0ective of this exercise was to learn that the stability and dynamic response of a digital control system
are affected by the sampling interval as well as by the loop gain. Then the following will be set according to
the experimental procedre>
T J *@msJ*-.ex
yJ8el
kJ-;
kiJ--
kvJ--
adc> off
dtype> step
d* J 4--- (e+ivalent to ! rad"s)
d4 J 4;-- (e+ivalent to = rad"s)
dcyc J @;--
mJ8el
pwm cycle *- ms
RUN will rn a simple speed control with a low gain k J -; and a steady inpt demand of ! rad"s.
# step demand of = rad"s will not commence ntil Input On/Off is pressed.
Kow the vale of IkI has to be increases by nit steps, noting the measred speed, ntil the control becomes
nstable, and then I have to se the oscilloscope program to detect instability. The vale of IkI after which
instability 0st occrs is easily fond by in0ecting a small step distrbance after each gain increment. Kote
the critical vale of IkI.
#esults
*7


The following reslts were obtained as shown in figure 7 when I have set p the servo.

.igure 7 : The gain BJ -;h, the system is controlled by Proportional only.
The actal speed does not close to the demand vale of kJ-;, becase the gain which is pshing the demand
vale is too low kJ-;.
1hen the gain has been increased kJ4, the actal speed come closer to the demand vale as shown
in figure 8
*;


.igure 8 : The gain BJ 4, h, this system is controlled by Proportional only.

) See $ppendi8 B for more results o'tained for this e8er(ise *
1hen the gain has increases kJ;-, then I have pt in some integral gain BiJ-, h the actal speed is closer
then ever to the demand vale as shown in figure 9. #nd the error position is /ero.
*,


.igure 9 : The gain kJ;-h and the integral gain BiJ-,h , this system is controlled by
proportional and integral.
Then I have to increase the vale of k by nit steps, noting the measred speed, ntil the control becomes
nstable, then I have to se the oscilloscope program to detect instability. The vale of B after which
instability 0st occrs is easily fond by in0ecting a small step distrbance after each gain increment.
I have noted the critical vale of IkI. Then the reslt in figure %& was obtained.
*@


.igure%& : The gain BJ4-h, the system is controlled by Proportional only.
7/ E8er(ise ) / * : Effe(t of sampling interval
,ro(edure
The effect of sampling interval with B set to some vale below the critical gainC alter the vale of T from
l@ms to 74ms
Is the system more or less stableN
%ontine increasing B ntil complete instability reslts. Then I have to Kote the vale of B.
Then the following will be set according to the experimental procedre
T J ;ms
B J a vale below the critical vale
P15 cycle J ;ms
L5akes the plse width modlation cycle consistent with the shorter sample interval PT)M
*E


3epeat the stability test, varying IkI pwards ntil instability sets in. Find the critical vale of IkI and note the
indicated speed for an inpt demand of 4--- hex.
To see the effect of sampling interval with B set to some vale below the critical gain (kJ-,h),
I have set the vale of time period T (TJ4-h).
#esults
Then the following reslt was obtained as shown in figure %%. The system was less stable.
.igure%% : The gain BJ-,h and with a time period of T J4-h
Then I have contined increasing gain PB) ntil it becomes a complete instability and the reslt was
obtained is shown in figure%2
*!


.igure%2 : The gain BJ*, h and with a time period of T J4- h the system is complete instability.

) See $ppendi8 C for more results o'tained for this e8er(ise *
74 E8er(ise ) 4 * : ,ID (ontrol
,ro(edure
1e were re+ired to carry ot an investigation of Proportional, Integral and Derivative (PID) %ontrol
5ethod. PID control is one of the simplest and most widespread types of control. The reason for its
Poplarity is that this method does not re+ire detailed knowledge of the dynamics of the plant which is to
be controlled. # good mathematical model of the controlled system is sally difficlt to obtain de to
ncertainty abot effects sch as friction, nonlinearity, and immeasrable distrbances sch as random noise.
The PID %ontroller allows an operator to simply tne three gains on:line ntil sitable control is obtained.
*=


!he ,roportional; Integral and Derivative <ains are tuned in order to o'tain the three (ontrol o'1e(tives of :
*) 3apid response (variation of ndamped natral fre+ency) and redction of steady state error by
tning proportional gain k.
4) Introdction of damping into the closed:loop system with Derivative gain in order to prevent
oscillation of the system otpt (controlled variable) abot the setpoint.
7) 3edction of the error to /ero when tracking changing reference inpts sch as ramps by tning
Integral gain.
# schematic of the digital servo system is shown in figure %/
.igure %/ : # schematic of the digital servo system
The feedback signal can be selected to be either anglar position or velocity. This is compared with a
software generated set point signal v which can be selected to be a step inpt, a ramp inpt or a programmed
tra0ectory which yo wold like the otpt to follow. #n external analoge setpoint can be converted to a
digital signal and added to the software generated signal v bt yo will not do this.
The ob0ective of the control system is to redce the error e between the reference variable v and the system
otpt y as rapidly as possible.
The control system can be patched p easily in software on the P% by choosing $&38? $&T<P from the
men.
4-


The control signal for the analoge PID controller is given by the e+ation as follows >

1here J control otpt
e J v:y error
v J demand"setpoint
y J otpt (position"velocity or both)
Bp J proportional gain
Bi J integral gain
Bv J derivative gain

Oo will be implementing a digital controller.
74 ) i * : ,osition (ontrol 9ith a proportional (ontroller
,ro(edure
(et the inpt reference variable v be a step inpt which changes from a position given by d* J ---- hex to
d4 J 4--- hex with a cycle time of dcyc J @;-- hex (which in real time is e+al to dcyc x ,- m$) is e+al to
7.4 $. $et p the system to feedback the position variable i.e. y JP?$K.
(et the derivative gain kv and the Integral gain ki be /ero. $et the initial vale of the proportional gain k to
4- hex. $et the sampling period T J -# hex or *- m$ and the P15 cycle J *- m$. The plse width
modlation cycle time mst always be the same as the sampling period T. Display the demanded signal v
and the position signal by sing the men $&T <P DI$P(#O. Then increase the gain k and notice the effect
on system rise time and overshoot. The aim is to obtain a stable response with the smallest possible rise time.
#esults
1hen I set the initial vale of the proportional gain k to 4- hex. Then the derivative gain kv and
the integral gain ki I have also set to /ero, then the following reslt was obtained as shown in figure %4.
4*
&+ation E.;.a


.igure %4 : The gain BJ4- h, with Proportional %ontroller only.
1hen I have increased the gain k and I have to notice the effect on system rise time and overshoot. Then
the following reslt was obtained as shown in figure %-
.igure %- > The gain BJ7- h , with Proportional %ontroller only.
44


74 ) ii * : ,osition (ontrol 9ith a proportional and derivative ),D* (ontroller
,ro(edure
1ith kv and ki /ero increase k to give stable response with the smallest possible rise time. Then increase the
derivative gain kv in small increments ntil all the overshoot is eliminated. The aim is to obtain a fast and
critically damped response.
#esults
Then the following reslt in figure %3 was obtained.
.igure%3 : The gain BJ*-h , with derivative gain k8J-,h , this system is %ontrolled by
proportional and derivative.
47


74 ) iii * : $ tra(2ing position (ontrol system and elimination of tra(2ing
error 9ith integral (ontrol
,ro(edure
I have to investigate the ability of the proportional controller to track a constantly changing demanded inpt.
This can be done by selecting the demanded inpt to be a 3#5P with the same vales of D*, D4 and cycle
time as in (i). $tart with a P controller only and see if the otpt signal y ever catches p with the demand v.
If not, then introdce integral action ntil the error between the two is /ero.
#esults
Then the following reslts were obtained as shown below.
.igure%7 : The gain BJ7- h , with Dtype ramp, this system is %ontrolled by Proportional.
Kow the following reslts were obtained when we have introdced the derivative gain and integral gain.
4;


.igure%8 : The gain (BJ7-h), with derivative gain (k8J-,h), this system is controlled
by Proportional and Derivative.
4,


.igure%9 : The gain BJ7,h , with derivative gain k8J-,h , with integral gain kiJ-,h this system
is controlled by Proportional, Derivative and Integral (PID).

E.; ) iv * : Speed (ontrol 9ith an input demand of v = 8 rad:s
,ro(edure
I have to investigate the speed control. The PID %ontroller can be sed to control the speed of the inertial
load (the position disc). $et the sampling period to be *@ ms (*- hex). %ompare a demanded speed specified
by v with the measred speed. This of corse means that the feedback is selected to be y J 8el. The speed
can be changed from a vale given by dl J 4--- hex (! rad"s) to d4 J 4;-- hex (= rad"s) with a cycle time of
dcyc J@;-- hex (7.4 $). The inpt can either be a step or a ramp between the two levels dl and d4. The
control action investigated can be P, PD or PID.
#esults
The following reslts were obtained >
.igure 2& : The gain BJ*,h, with a time period of TJ*-h , this system is controlled by Proportional
only. Kow the following reslts were obtained when we have introdced the derivative gain and
integral gain.
4@


.igure 2% : The gain BJ*@h, with a time period of TJ*-h, with derivative gain k8J-,h,
this system is controlled by Proportional and Derivative.
) See $ppendi8 D for more results o'tained for this e8er(ise *
4E


.igure 22 : The gain BJ*@ h , with a time period of TJ*-h , with derivative gain k8J-,h, and
with integral gain kiJ-,h this system is controlled by Proportional, Derivative and Integral.
74 ) v * : !he effe(t of sampling period ! on system sta'ility and a((ura(y
,ro(edure
I have to set p a speed control system exactly as in (iv) with an inpt demand of 4--- hex and proportional
action only. I also have to Increase the gain k pwards ntil instability reslts. The vale of gain k 0st below
the vale which cases instability is termed the critical gain. The critical gain can be more readily fond by
toggling the setpoint between 4--- hex and 4;-- hex. This change in inpt shold drive the system into
instability. Kow, with the gain k set at the critical vale, change the sampling period from *@ m$ (*- .ex) to
74 m$ (4-.ex).
#esults
The following reslts were obtained >
.igure 2/ : The gain (BJ*@h), with a time period of (TJ*-h), with an inpt demand of (D*J4---h),
this system is controlled by Proportional only. Kow is when we increase the gain PB) and Time
period PT) pwards ntil instability reslts.
4!


The following reslt was obtained as shown in figure 24
.igure 24 : The gain (BJ4,h), with a time period of (TJ4-h), with an inpt demand of (D*J4---h),
this system is controlled by Proportional only
4=


8& #esults $nalysis + Dis(ussion
#t the beginning of exercise * I have tested the motor sing proportional and derivative control on the
nit step response. I have tested the motor sccessflly and I have driven the motor alternatively
forward and reverse between two positions with ot the motor over shoot and oscillate the final positions.
In exercise 4 I have investigated that a simple speed control with a low gain kJ-;, steady inpt demand
of ! rad"s and step demand of = rad"s. I have tested and rn sccessflly a simple speed control with
a low gain, steady inpt demand and step demand to see if the actal speed come closer to the demand
vales. 1hen I have increased the gain kJ;-, then I have pt in some integral gain (BiJ-,h), then the
actal speed is closer then ever to the demand vales. In exercise 7 I have investigated that the effect
of sampling interval. To see the effect of sampling interval with B set to some vale below the critical
gain (kJ-,h) and I have set the vale of time period T (TJ4-h). Then the system becomes nstable.
Then I have contined increasing gain (kJ*Eh) ntil the system it becomes a completely nstable. The first
part of exercise ; is position control with a proportional controller in order to obtain a stable response with
the smallest possible rise time. 1hen I set the initial vale of the proportional gain k to 4- hex. Then
the system has large overshoot. 1hen I have increased the gain k and then I have introdced derivative
and integral controller, then all the overshoot is eliminated. The second part of exercise ; is a tracking
position control system and elimination of tracking error with integral control. I have started with a
P controller, and then I have introdced integral action ntil the error between the two it becomes /ero.
The second third part of exercise ; is a $peed control with an inpt demand of v J ! rad"s. the inpt demand
can either be a step or a ramp between the two levels dl and d4. The control action was investigated and
we have sed P, PD and PID. The last part of exercise ; is to see the effect of sampling period T
on system stability and accracy. I have set p a speed control system exactly as in (iv) with an inpt
7-


demand of 4--- hex and proportional action only. Then I have also increased the gain B pwards ntil the
system becomes nstable.
Don)t forget appendices Oa mahmood
#eferen(es
Bi'liography

Q7R $heffield hallam niversity. Q?nlineR #vailable from>
http>""www.sh.ac.k"schools"eng"teaching"rw"pidttorial.htmSPageT4-end. Q#ccessed ! #pril 4--ER.
3ef ( 4 ) www.freepatentsonline.com";-=,*,E.html
7*


Q7R Packaging digest. Q?nlineR #vailable from> http>""www.packagingdigest.com"articles"4--7-!"==.php.
Q#ccessed *- #pril 4--ER.
#ef )4* 999t(n1edu:>rgraham:,ID?tuninghtml
#ef )-
: Innovative atomation control. Q?nlineR #vailable form> http>""www.ctc:
control.com"cstomer"elearning"servott"pid.asp
74

Principle of Control

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Mahmood Mustafa Control Engineering

ID : 2489429 Supervised By : Dr !ari" Sattar

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