Control Lab Exp2 Sec4 G (F)

Wednesday, November 11,
CONTROL LABORATORY 2020
DC motor servo system with P-controller Report

ME Department
1. Abdulla Alrifai (0166878) 2. Radwan Tareef (0167120)
Item Grade Remarks
Abstract (20pts)
Introduction (20pts)
Results (20pts)
Discussions (20pts)
Conclusions (10pts)
References (10pts)
Total
1|P a ge
Abstract
In this experiment we controlled a DC motor using the proportional controller, by adjusting

several values of the proportional gain (kp), by providing it all with a 4- volts step input, Also,
the potentiometer was changed manually from 0֯ to 360֯ with increment equals 10 ֯.
In order to get a full understanding of the working principle of the PID controller, a feedback of
a closed loop was constructed by properly doing the right connections between the various
components of the loop, activating the P controller only, and recording the step response for few
different values of the proportional gain of the controller KP.
Eventually, it was found that increasing the value of (kP) will decrease the steady state error, and
the system respond gets faster, but the system becomes more oscillating as a result of increasing
the overshoot with increasing (kP) value.
Our assertion in this experiment is to proof that we can make unstable systems (DC motor) stable
using control theory feedback design (P-controller).
2|P a ge
Table of Contents
Introduction ........................................................................................................... 3
Methodology.......................................................................................................... 4
Apparatus
...........................................................................................................................
4
Procedure ........................................................................................................... 5
Results .................................................................................................................... 6
Discussions............................................................................................................. 7
Conclusions ............................................................................................................ 9
3|P a ge
Introduction
In this experiment, we controlled a DC servomotor utilizing a P-controller. A servomotor is an
electromechanical device that works on a closed loop in order to sense the error when operating
on an angular displacement different than the desired value, using position sensor as a feedback
element that gives negative feedback, after that servo guide the system to the most correct value
that is similar to the controller input. The controller we will be using in this experiment is the P-
controller (Proportional controller), P controller is a control system technology based on a
response in proportion to the difference between what is set as a desired value and the current
value of angular displacement. Using different values of P controller, output will be shown, and
results will be discussed further.
4|P a ge
Methodology
The apparatus consists of:
 Two assemblies.
 Block diagram shaped Setup.
 Data acquisition system (DAQ).
 Computer.
DC motor/potentiometer #1 DC motor/potentiometer #2
DAQ
Figure 1 Apparatus
For acquiring the Volt vs time response curves, we use this setup where the inputs of the DAQ
are connected to the output of DC motor #2 and the output of the summation block (error signal).
The output of the DAQ is connected to the input of the summation block.
The procedure goes as follow:
First, we Remove all the wires from the block diagram and DAQ. Then we connect the
DAQ input to the output of the summation block and the output of the DC motor #2. after
that we connect the DAQ output to the positive input of the summation block, Then
connect the DC motor #2 output (feedback position signal) to the Summation block
negative input while changing the KP until the response is acceptable for a P-controller
then set the DAQ’s output to zero and place DC motor #2’s rotor on the zero position,
then use the step function on the DAQ software to output a step function with a Voltage
of 4, when we give the motor voltage its rotate continually and increased with no upper
limit, finally record the response curve on the DAQ software.
𝐸𝑟𝑟𝑜𝑟
𝜃𝑑 𝜃
𝐾𝑃 𝐷𝑟𝑖𝑣𝑒 𝐺
−
𝑆𝑒𝑛𝑠𝑜𝑟
5|P a ge
Results
Changing KP, KD=0 & KI=0
Stability has been achieved by installing the closed loop control system, where the rotor reaches
a certain position and stays there if the input is unchanged and no disturbance is present.
Figure 1: kp=0.5 Figure 2: kp=1
Figure 3: kp=10 Figure 4: kp=20
6|P a ge
Figure 5: kp=40 Figure 6: kp=80
Figure 7: kp=100
7|P a ge
Chart Title
15
10
5
Voltage (V)
0
0 50 100 150 200 250 300 350 400
-5
-10
-15
Angle (degree)
Figure 8: Data mapping
8|P a ge
Discussions
The objective of the experiment was to demonstrate the characteristics of P-controllers on
servomotors. Upon the results, we can observe that each gain value influenced the response. At
higher kP values, the P-controller reacts faster than low kP values, but overshooting will happen if
the values are very high. At the same time the higher deviation for the P-controller, the less error
percentage occurs, Stability has been achieved by installing the closed loop control system,
where the rotor reaches a certain position and stays there if the input is unchanged and no
disturbance is present; the suitable value for kP which at the motor become stable system is 10.
9|P a ge
Conclusions
It is concluded that the system’s sensitivity to the controller’s gains can be high, so changing the
values of the gains should be carefully studied and methodical. The fact that the controller will
"push" harder for a certain level of error tends to cause the closed-loop system to react more quickly.
Also, the P-controller gain KP has a large effect on the system such that by increasing the gain KP the
system response increases, the steady state error decreases and we saw that after increasing the gain
for to high values there is going to be too much overshoot.
10 | P a g e
References
[1] Dorf, R., and Bishop, R., 2017, Modern control systems, Pearson, Essex.
[2] Ogata, K. (2016). Modern control engineering. 4th ed. [Delhi]: Pearson.
[3] Nise, N. (2011). Control systems engineering. 6th ed. Hoboken: J. Wiley.
[4] Kreyszig, E., Kreyszig, H. and Norminton, E. (2011). Advanced engineering
mathematics. 10th ed. Hoboken: John Wiley Inc.
[5] Rafee, N., Chen, T., and Malik, O. P. 1997, “A technique for optimal digital redesign
of analog controllers,” IEEE Transactions on control systems technology, 5(1), pp. 89-
99.‫‏‬
11 | P a g e

Control Lab Exp2 Sec4 G (F)

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Wednesday, November 11,

CONTROL LABORATORY 2020

DC motor servo system with P-controller Report

1. Abdulla Alrifai (0166878) 2. Radwan Tareef (0167120)

Item Grade Remarks

In this experiment we controlled a DC motor using the proportional controller, by adjusting

The apparatus consists of:

The procedure goes as follow:

Figure 1: kp=0.5 Figure 2: kp=1

Figure 3: kp=10 Figure 4: kp=20

Figure 5: kp=40 Figure 6: kp=80

Figure 8: Data mapping

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