1- P-Controller 2- Pl-Controller 3- PID-Controller Notes: e(s) V(s) K {(Js+b)(Ls+R)+K2}s **For the simulations we are assuming the following motor parameters 1=0.5, R=1, b=0.1, J=0.01, K=0.01. **Use the following table to sum up your results %OS Tr (Rise Time) Ts (Settling time) Final Value Without Controller: P- Controller PI- Controller PID-Controller Experiment 1: 1- Use Matlab m-file to create the motor's transfer function (s)/V(s), name it: without controller 2- Plot the close loop transfer function 6(s)/R(s) 3- Set point Plant Process Output From the plot, write the values of %OS, Tr, Ts, Ess and put them in the table above. Experiment 2: Using Zeigler Nichols Closed-Loop Resonance Method We will use Ziegler method to design P, PI, and PID controllers for the DC motor position. 1- H.W: Find the values of Tu and Ku then, fill the following table: Controller Type P PI PID K 0.5Ku 0.4Ku 0.6Ku TI Td 0.8Tu 0.5Tu 0.125Tu After solving the H.W, you should have the following values: Controller Typ K Ti P 60 Pl 48 1.12 PID 72 0.7 Td 0.175 Кр Ki Kd 60 48 42.85 72 102.86 12.6 Hint: Use Routh-table to find Ku. To find Tu, replace (s) with (jw) in the 0(s)/V(s) transfer function, then by making the imaginary part =0, you will find w (rad/s) and by applying the following equation, you will find Tu 2π Tu= Experiment 3: Using table from Experiment 1 to find the step response of the DC motor position after adding the controller. 1- Design P, PI and PID controllers (take gain values from the table in experiment 2 2- Plot the step response for each one separately then, from the plot, find the values of %OS, Tr, Ts and final value and put them in the table above. 30
1- P-Controller 2- Pl-Controller 3- PID-Controller Notes: e(s) V(s) K {(Js+b)(Ls+R)+K2}s **For the simulations we are assuming the following motor parameters 1=0.5, R=1, b=0.1, J=0.01, K=0.01. **Use the following table to sum up your results %OS Tr (Rise Time) Ts (Settling time) Final Value Without Controller: P- Controller PI- Controller PID-Controller Experiment 1: 1- Use Matlab m-file to create the motor's transfer function (s)/V(s), name it: without controller 2- Plot the close loop transfer function 6(s)/R(s) 3- Set point Plant Process Output From the plot, write the values of %OS, Tr, Ts, Ess and put them in the table above. Experiment 2: Using Zeigler Nichols Closed-Loop Resonance Method We will use Ziegler method to design P, PI, and PID controllers for the DC motor position. 1- H.W: Find the values of Tu and Ku then, fill the following table: Controller Type P PI PID K 0.5Ku 0.4Ku 0.6Ku TI Td 0.8Tu 0.5Tu 0.125Tu After solving the H.W, you should have the following values: Controller Typ K Ti P 60 Pl 48 1.12 PID 72 0.7 Td 0.175 Кр Ki Kd 60 48 42.85 72 102.86 12.6 Hint: Use Routh-table to find Ku. To find Tu, replace (s) with (jw) in the 0(s)/V(s) transfer function, then by making the imaginary part =0, you will find w (rad/s) and by applying the following equation, you will find Tu 2π Tu= Experiment 3: Using table from Experiment 1 to find the step response of the DC motor position after adding the controller. 1- Design P, PI and PID controllers (take gain values from the table in experiment 2 2- Plot the step response for each one separately then, from the plot, find the values of %OS, Tr, Ts and final value and put them in the table above. 30
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
Section: Chapter Questions
Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...
Related questions
Question
Transcribed Image Text:1- P-Controller
2- Pl-Controller
3- PID-Controller
Notes:
e(s)
V(s)
K
{(Js+b)(Ls+R)+K2}s
**For the simulations we are assuming the following motor parameters 1=0.5, R=1, b=0.1,
J=0.01, K=0.01.
**Use the following table to sum up your results
%OS
Tr (Rise Time)
Ts (Settling time)
Final Value
Without Controller:
P- Controller
PI- Controller
PID-Controller
Experiment 1:
1- Use Matlab m-file to create the motor's transfer function (s)/V(s), name it:
without controller
2-
Plot the close loop transfer function 6(s)/R(s)
3-
Set
point
Plant
Process
Output
From the plot, write the values of %OS, Tr, Ts, Ess and put them in the table above.
Experiment 2: Using Zeigler Nichols Closed-Loop Resonance Method
We will use Ziegler method to design P, PI, and PID controllers for the DC motor position.
1- H.W: Find the values of Tu and Ku then, fill the following table:
Controller Type
P
PI
PID
K
0.5Ku
0.4Ku
0.6Ku
TI
Td
0.8Tu
0.5Tu
0.125Tu
After solving the H.W, you should have the following values:
Controller Typ
K
Ti
P
60
Pl
48
1.12
PID
72
0.7
Td
0.175
Кр
Ki
Kd
60
48
42.85
72
102.86
12.6
Hint: Use Routh-table to find Ku. To find Tu, replace (s) with (jw) in the 0(s)/V(s) transfer
function, then by making the imaginary part =0, you will find w (rad/s) and by applying the
following equation, you will find Tu
2π
Tu=
Experiment 3: Using table from Experiment 1 to find the step response of the DC
motor position after adding the controller.
1- Design P, PI and PID controllers (take gain values from the table in experiment 2
2- Plot the step response for each one separately then, from the plot, find the values of
%OS, Tr, Ts and final value and put them in the table above.
30
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