LAB 3: CLOSED LOOP ANGULAR POSITION CONTROL SYSTEM USING PID

CONTROLLER
DISCUSSION
In this experiment, stepper motor are being controlled using PID controller. A
proportional–integral–derivative controller is a control loop feedback mechanism widely used
in industrial control systems and a variety of other applications requiring continuously
modulated control. Thus in this experiment, it is consists of several variables which is kp, kd
and ki. Those three variables being manipulated to analyze the performance of the control
system. Basically kp is proportional gain value. Kd is derivative gain value and ki is integral
gain value.

We have conducted this experiment four times with different value of kp, kd and ki.
The set point were constant along the experiment which is at 384. Firstly we set kp = 0.8, kd
= 0.001 and ki = 0.0001. The graph shown that the system is fluctuating with high amplitude
and then it is stabilize to 384. For the second test, the value of kp, kd, ki were set at 0.5, 0.001
and 0.0001 respectively. Hence the graph also shown that the system still fluctuate with high
amplitude before it is stabilize. For the third test the value of kp, kd, ki were set at 0.5, 0.001
and 0.001 respectively. The graph still fluctuate but with lower amplitude to reach set point
value at 384. Lastly is the fourth test which is kp ,kd, ki at 0.5, 0.001, 0.01 respectively and
the graph shown the better performance as it is the lowest fluctuated value before stabilize to
384 among all the test.

The error that might be occur is the programming system itself. It is difficult to
determine the best result as the system does not function properly. The group needed to use
other computer to run the system. So a proper calibration system should applied to overcome
the error in result.

CONCLUSION

As a conclusion, the experiment is successful as the result obtained overcome the

fluctuating and overshooting occur to the system by changing the value of kp kd and ki. We
also experience how the PID controlled system work. As a recommendation for future study,
a better program software used in the laboratory. So that it can be functioned well thus could
help the experiment to achieve a precise result.