Ministry of Higher Education and Scientific

Research
University of Technology
Baghdad – Iraq
Control and Systems Engineering Department

Control Laboratory
Experiments Sheet
Second Class

Prepared by:
1)Asst.Prof.Dr. Hazem Ibrahim Ali
2)Asst.Lect. Bashar Fateh
3)Mr .Kareem Ali (B.Sc.)
4) Mr. Hussein Sarhan (B.Sc.)

2017
 List of Contents

Experiment
Experiment
No.

1
POTENTIOMETERS

2
OPERATIONAL AMPLIFIERS

3
FIRST ORDER SYSTEM ANALYSIS

4
SECOND ORDER SYSTEM ANALYSIS

5
SIMPLE OPEN LOOP SPEED CONTROL SYSTEM

6
SIMPLE CLOSED LOOP SPEED CONTROL SYSTEM

7 CONTROLLING THE SPEED OF DC MOTOR

USING PID CONTROLLER
8 CLOSED-LOOP POSITION CONTROL SYSTEMS
USING PI CONTROLLER
9
ROOT LOCUS

10 TUNING PID Controller

11 TRANSFER FUNCTION OF A DC MOTOR

12 SIMULATION OF DC MOTOR
POSITION CONTROLLER
CONTROL LAB.

EXP 1
POTENTIOMETERS

OBJECTIVE:
 To become familiar with the Potentiometer characteristics and use
it as an angular position transducer.
 To become familiar with error detector circuit using two
potentiometers.
 The external load effecting on the linearity of the potentiometer.

EQUIPMENT REQUIRED:
The following units from MS150 module system must be used:
1. PS150 Power supply unit.
2. SA150 Servo amplifier unit.
3. IP150H Two rotary potentiometers.
4. Voltmeter.
INTRODUCTION:

The potentiometer is an electrical device comprising a resistor with a

sliding third contact, often termed a wiper, which allows the voltage to be
varied depending upon where the slider is positioned along the length of
the resistor.
There are two types of potentiometer rotary and linear, as shown in figure
(1-1) (a) and (b) respectively. Commonly made with wire-wound or
plastic resistance material. The potentiometer used as a position
transducer contains slider arm (wiper) which can be moved along a
resistance element .The wiper makes the physical contact with wires on
the resistance coil.

(a) (b)
Figure (1-1)

1
CONTROL LAB.

Figure (2-1) show the rotary and linear potentiometers that used in
practice .

(a) rotary pot. (b) Linear pot.

Figure (1-2)

The potentiometer provides output voltage proportional to the rotor

positional angle. The input _output relationship is expressed by the
following equation:

Where:
: output voltage (volts).
: input voltage (volts).
: maximum potentiometer angle (degree).
: angular position with respect to zero point (degree).
: potentiometer constant (volt/degree).

Error Detector Circuit

If a center tapped battery is to supply the potentiometer, an error
voltage will be generated depending on the position of the slider area
(wiper) from the center of the potentiometer.
Two potentiometers can be used in a bridge circuit to act as an
error detector as shown in figure (1-3). The error signal is equal to:

2
CONTROL LAB.

𝐸𝑜 𝑘𝑝 (𝜃 𝜃 )

Figure (1-3): an error detector circuit

APPLICATIONS:
Potentiometers are used in many devices such as radio to control audio
equipment, changing loudness, frequency attenuation, and other
applications.

PROCEDURE:
Part 1
1. Connect 15v D.C across the potentiometer input as figure (1-4).

Figure (1-4)

3
CONTROL LAB.

2. Change the angle of potentiometer as illustrated in table (1-1).

Table (1-1)
Vo Vo
Practical Theoretical

Part 2
1. Connect the two potentiometers as shown in figure (1-6).

Figure (1-6)

4
CONTROL LAB.

2. Change the voltage in first and second potentiometers as illustrated

in the table (1-2).

Table (1-2)
1 V1 V2 Error

Part 3
1. Connect the parts as shown in figure (1-7).

Figure (1-7)

5
CONTROL LAB.

2. Complete the table (1-3).

Table (1-3)
Vo Vo Vo
RL=2K RL=5K RL=10K

DISCUSSION:
1. Comment on your results.
2. Derive the potentiometer output voltage
3. Are the static characteristics (V against Ɵ) passing through the origin?
Why?
4. Suggest some practical applications which use the potentiometer.

6
CONTROL LAB.

EXP 2
OPERATIONAL AMPLIFIERS
OBJECTIVE:
When you have completed this experiment you will:
- Know how an operational amplifier can be used to sum inputs.
- Be able to use an operational amplifier to scale an input and as a
gain control.

EQUIPMENT REQUIRED:

INTRODUCTION:
An operational amplifier (or an op-amp) is an integrated circuit (IC) that
operates as a voltage amplifier. An op-amp has a differential input. That
is, it has two inputs of opposite polarity. An op-amp has a single output
and a very high gain, which means that the output signal is much higher
than input signal. An op-amp is often represented in a circuit diagram
with the following symbol:

These amplifiers are called "operation" amplifiers because they were

initially designed as an effective device for performing arithmetic
operations in an analog circuit. The op-amp has many other applications
in signal processing, measurement, and instrumentation.

APPLICATIONS:
Operational amplifiers are high-gain amplifiers with a similar general
description typified by the most famous example, the LM741. The
LM741 is used for many amplifier varieties such as Inverting, Non-
inverting, differential, voltage follower and summing amplifier. In

1
CONTROL LAB.

addition to amplifiers, op amps are used as switches and even in some

digital applications as comparators or A/D converters.

WHERE OP-AMPS ARE USED IN CONTROL?

Op amps make use of what is called open loop gain. This open loop gain
is used for the purposes of negative feedback. Negative feedback is when
the output signal is feedback to the input terminals and the gain of the op
amp can be controlled. This is done because the properties of the op amp
become more predictable. Negative feedback also creates a more
customizable frequency response for the desired amplifier.
There is also what is called positive feedback, and the main use for this is
to create an oscillator. an oscillator is working as instead of canceling the
input to reduce gain, the output is combined in phase with the input to
create oscillations. There are many different types of oscillators that can
be created with op amps, one of which is the Colpitts Oscillator. In many
cases, the op amp is thought of as an Ideal Op Amp. The Ideal Op Amp
has a few basic rules that apply. These rules are as follows:
1. Infinite voltage gain
2. Infinite input impedance
3. Zero output impedance
4. Infinite bandwidth
6
The advantage of an amplifier with a very high gain, up to 10 , is that it
can be used in a simple circuit that can perform mathematical operations
with a high degree of accuracy in figure (2-1), will have a useful range
of about ±10 V, set by the available ±15V power supplies. Thus will
always be very small and may be assumed to be zero. Also, because of its
high input impedance, it can be assumed that no current flows into the
amplifier input.

Figure (2-1)

2
CONTROL LAB.

Under these conditions:

AND

BUT

THEN + =0

=- OR

Where is composed of more than one input voltage V1 and V2. As

shown in figure (2-2).

Figure (2-2)

Then the output will be the sum of V1 and V2 each suitably scaled.

If then

In setting up this experiment care has to be taken initially to set the

amplifier output to as near zero as possible.

If as in fig (2-2) we make V2 the opposite polarity to V1. That is invert V2

on connecting these voltages to the amplifier the output voltage would be:

= k (V1 -V2) volts where k = -

R = input resistance

3
CONTROL LAB.

We now have a device that can compare two voltages and unless one
voltage is exactly the opposite potential of the other, the amplifier will
have an output proportional to this difference.

PROCEDURE:

1 .The Summing Effect of an Operational Amplifier

1. Make sure that =0) before connect by adjust the 'zero

set' control to give a zero reading.
2. Set the feedback selector switch on OA150A (op-amp) to the
100K𝜴 resister.
3. Connect the parts of experiment as shown in figure (2-3).
4. Connect the voltmeter between 0V and the slider of each
potentiometer on AU150B (attenuator) as it required in the table
(2-1).
5. Connect the voltmeter between 0V and the output Vo on OA150A
(op-amp) then record the result and complete the table.

Figure (2-3)

4
CONTROL LAB.

Table (2-1)

practical theoretical

2. Gain control

Figure (2-4)

Where (max read =10) and (

1. Switch the feedback selector switch to 'external feedback'.

2. Connect the parts of experiment as shown in fig (2-4).
3. The upper pot. On the AU150B (attenuator) represent the value of 𝒗𝟏 and
below pot. Represent the value of gain.
4. Connect the voltmeter between 0V and the upper pot. On AU150B (attenuator)
to measure the value of 𝒗𝟏 as illustrated in table (2-2).
5. Change the value of 𝜶 and record the value of 𝒗𝒐 .

6. 5
CONTROL LAB.

Figure (2-4)

Table (2-2)

practical theoretical

When potentiometer is a 1 the value of α is about (1/10) remembering

that some scale error will exist. According to the equation:

6
CONTROL LAB.

DISCUSSION:

1. Comment on your results in table (2-1) and table (2-2).

2. Suggest some reasons why measured and calculated values might

differ.

3. Calculate the scaling factor Vo/Vi. Does Vo/Vi vary a lot?

Note:

In part 1 scaling factor =

In part 2 scaling factor =

4. Write down a device that use op amp and then write the principle of
work with figures.

7
CONTROL LAB.

EXP 3

FIRST ORDER SYSTEM ANALYSIS

OBJECTIVE:

-To study the open and close loop control system and the difference
between them.

-To study the characteristics of time response of first order control

system.

-To study how to determine the parameters of the transfer function i.e.
gain (k) and time constant (τ).

EQUIPMENT REQUIRED:

- MATLAB program.

INTRODUCTION:

Open Loop Control System: An open loop control system is the system,
in which the desired output is only depends on the input signal. If there is
disturbances in between, the output does not give any changes with
respect to this disturbances. An open loop control system is generally
known as system without feedback.

Example:

Driving the manual Car. Giving Accelerator on car gives the output
according to your foot thrush.

Closed Loop Control System: The closed loop control system is the
system, in which the desired output depends on the input and the
feedback element. If there is any disturbances occur in the system or it
may be outside, the system controller automatically changes with
respectively. This system is known as Feedback control system.

1
CONTROL LAB.

Example:

Driving the Car in Cruise mode. You are Giving Accelerator on car
and set the Speed as 100km it gives the output according to your foot
thrush first and keeping the Speed on 100km requires from CAR
computer as a Sample from Speedo meter / some sensors and it feed
back to the Computer. This will helps the Cruise run smoothly.

Figure (3-1)

2
CONTROL LAB.

What is the Time Response …?

Time response = Transient response + Steady state response

Transient time response (Natural response) describes the behavior of the

system in its first short time until it arrives the steady state value.

Time constant t: it is the time required for the o/p ( y(t) ) to reach 63.2%
1
of its final value (steady state value) for a step input and τ  . And it is
a
special for first order system only.

Rise time: the time required for the waveform to go from

2 .2
0.1 to 0.9 or 10 % to 90 % of its final value. Tr 
a

Settling time: the amount of time required for the system to reach and
4
stay within 2% of the final value. Ts  .
a

Steady state error = input – output.

The first order systems has no overshooting but can be stable or not
depending on the location of its pole.

The first order system has a single pole at -a. If the pole is on the
negative real axis (LHP), then the system is stable. If the pole is on the
positive real axis (RHP), then the system is not stable. The zeros of a
first order system are the values of s which makes the numerator of the
transfer function equal to zero.

3
CONTROL LAB.

First-order system prove

The differential equation of first order open loop system is:
̈ ̇
by taking Laplace to both sides and re arrange the eq.(*) we obtain The
standard form of transfer function of a first-order system which is:
Y ( s) K
G( s)   (1)
U ( s) (s  1)
Where Y(s) and U(s) are the Laplace transforms of the output and input
variables, respectively, K is the DC gain, and  is the time constant. For a
unit step input U(s)  1/s , the response of the system is:
Y ( s) K 1 K
Y ( s)  U ( s)   (2)
U ( s) (s  1) s s(s  1)

The inverse of the resulting Laplace transform can be easily found.

Typically the inverse is available in standard tables. In this case,
 K    1  t / 
y (t )  L1    K  L1     K (1  e ) (3)
 s (s  1)    s (s  1) 
It is clear from (3)) that y  K as t   .
The DC gain can therefore be interpreted as the final value of the output
for a unit step input.
at t =  , y(t)  0.632K for a unit step input. For a unit step input, The
response of the first-order system to a unit step input is shown in
Fig.(3-2) for two cases.
For a system gain K  1 , the system’s output change is less than the input
change applied. For a system gain K  1 . The system’s output change is
more than the input change applied. The results plotted are for a system
operating for small positive input and output deviations from zero.

Fig (3-2): First-Order System Step Response

Note: for close loop system the o/p does not cross the step i/p and still
below the i/p for any value of gain k.

4
 CONTROL LAB.

The effect of change

- The time constant associated with this system is . The time

constant tells how quickly the system responds. For example, if a =1 then
the system responds on the order of =1 second; however, if a =100, then
the system responds on the order of = 0.01 seconds. So, systems that
respond quickly have large values of a, and systems that respond slowly
have small values of a.

PROCEDURE:

1. open loop first order system with fixed time constant:

1. By using MATLAB program connect figure (3-3).

2. Apply a step input of 1v and change the value of K as illustrate in table

(3-1) and plot the transient response in each case.

Figure (3-3)

2. close loop first order system with variable time constant:

1. By using MATLAB program connect figure (3-4).

2. Apply a step input of 1v and change the value of K as illustrate in table

(3-1) and plot the transient response in each case.

5
CONTROL LAB.

Figure (3-4)

Table (3-1)
Open loop system Close loop system

k Ess k Ess

0.5 0.5

1 1

2 2

DISCUSSION:

From parts 1 and 2:

1. Determine the value of k, τ and Ess from transient response as

shown in figure (3-5).
2. Calculate the value of τ and Ess in table (3-1).
3. Derive of T.F. of system given in part 2.
4. Study the effect of changing the feedback gain on the system
performance.

6
CONTROL LAB.

Figure (3-5)

7
CONTROL LAB.

EXP 4
SECOND ORDER SYSTEM ANALYSIS

OBJECTIVE:
To study the step response of second order closed loop system and determine the
dynamic characteristics maximum peak value (Mp), peak time (Tp), settling time
(Ts), rise time (Tr) and steady state error of the response.

EQUIPMENT REQUIRED:
MATLAB program

Introduction:
It is important to know the dynamic characteristics in control design because it
gives the user of control the ability to know how to specify, evaluate and test a
system so that it know it will have the desired properties. Specifications on a
control system typically include: stability of closed loop system, and ability to
follow reference signals.
Second order systems have transfer function of the following form:

What is the Time Response … ?

It is an equation or a plot that describes the behavior of a system and

contains many information about it with respect to time response specification as
overshooting, settling time, peak time, rise time and steady state error. Time
response is formed by the transient response and the steady state response.

Time response = Transient response + Steady state response

Transient time response (Natural response) describes the behavior of the system in
its first short time until it arrives the steady state value and this response will be
our study focus.

1
CONTROL LAB.

If the input is step function the output or the response is called step time response
and if the input is ramp, the response is called ramp time response … etc.

Step time response specification:

1. Percent overshoot %OS: is the maximum fraction by which the

response overshoots the steady state value expressed as a percentage.
This characteristic is not found in a first order system and found in
higher one for underdamped step response.

2. Settling time Ts: is the time required to fall within a certain

percentage of the steady state value for a step input. For example the
amount of time required for the step response to reach and stay within
2% of the steady state value OR in other words we can define it as the
smallest amount of time required to reach the steady state value.

3. Peak time Tp: is the time required for the underdamped step response
to reach the first maximum peak.

2
CONTROL LAB.

4. Rise time Tr: is the time required for the step response to go from
10% to 90% of the final value.

5. Steady state error: is the difference between the input and the output
of a system after the natural response has finished.

6. DC Gain: The DC gain is the ratio of the steady state step response to
the magnitude of a step input. For example if your input is step
function with amplitude = 1 and found the step response output = 5
then the DC gain = 5/1 = 5. In other words it is the value of the
transfer function when s=0.

Step response :

We know that the system can be represented by a transfer function which

has poles (values make the denominator equal to zero), depending on these poles
the step response divided into four cases:

1. Underdamped response (0    1) :
In this case the response has an overshooting with a small oscillation
which results from complex poles in the transfer function of the system.

2. Critically response(   1 ):
In this case the response has no overshooting and reach the steady state
value (final value) in the fastest time. In other words it is the fastest
response without overshooting and is resulted from the existence of real
& repeated poles in the transfer function of the system.

3
CONTROL LAB.

3. Overdamped(   1 ) :
In this case no overshooting will appear and reach the final value in a
time larger than critically case. This response is resulted from the
existence of real & distinct poles in the transfer function of the system.

4. Undamped response(   0 ) :
In this case a large oscillation will appear at the output and will not reach
a final value and this because of the existence of imaginary poles in the
transfer function of the system and the system in this case is called
"Marginally stable".

4
CONTROL LAB.

The Step responses of a prototype second-order system is illustrate below :

 Second Order system :

The general form of second order system is :

K dc . n
2
a
G( s)   2
( s  bs  c) ( s  2n s   n 2 )
2

The dynamic behavior of second-order systems can be described in terms

of the two parameters  and  n

Where:

n Undamped natural frequency

 Damping ratio

5
CONTROL LAB.

Natural frequency ωn is the frequency of oscillation of the system without

damping.
b
Damping Ratio ξ =
2 n

Note that the system has a pair of complex conjugate poles at:

S  n  j n 1   2    j , ω: damped frequency of oscillation

a
DC Gain is  K dc
c

Settling time

Peak time
√

PROCEDURE:
1. By using MATLAB program connect figure (4-1).

Figure (4-1)

2. complete table (4-1).

6
CONTROL LAB.

Table (4-1)
K MP TP TS ξ Wn ξ Wn P1,P2
practice practice practice practice practice theoretical theoretical

DISCUSSION:
1. For the following system :
2
H ( s) 
s  2n s  1
2

a. Let ωn = 1, Obtain the poles of the system for ξ = 0, 0.1, 0.7, 1, 5 and
guess the behavior of step response for every value with explanation.
b. Plot the step response for every ξ above and obtain the behavior of it
from the graph with explanation.

2. From the response in in fig (4-2) below, determine the values of MP ,Tp ,and Ts.

Fig (4-2)

3. Drive the transfer function of the overall system of figure (4-1).

7
 CONTROL LAB.

EXP 5
SIMPLE OPEN LOOP SPEED CONTROL SYSTEM

OBJECTIVE:
When you have completed this experiment you will:
-Appreciate how a permanent magnet d.c motor may be controlled by
varying the magnitude and direction of its armature current.

-Recognize the torque/speed characteristic

-Have established the Tachogenerator scaling factor

EQUIPMENT REQUIRED

INTRODUCTION:

This experiment will illustrate the characteristics of the d.c motor used in
the Modular Servo and show how it can be controlled by the Servo
Amplifier .The motor is a permanent magnet
type and has a single armature winding.
Current flow through the armature is
controlled by power amplifiers as in figure (5-
1) so that rotation in both directions is possible
by using one, or both of the inputs.

Fig. (5-1)

1
CONTROL LAB.

As the motor accelerates the armature generates an increasing 'back-emf'

Va tending to oppose the driving voltage Vin. The armature current is
thus roughly proportional to (Vin -Va) · If the speed drops (due to
loading) Va reduces, the current increases and thus so does the motor
torque. This tends to oppose the speed drop. This mode of control is
called 'armature-control' and gives a speed proportional to Vin as in fig
(5-2).

Figure (5-2)

Due to brush friction, a certain minimum input signal is needed to start

the motor rotating. Figure (5-2) shows how the speed varies with load
torque.

PROCEDURE:
PART1 (Armature Control)
1- Connect the parts as in fig (5-3).
3-change the selector of pot. In attenuator and record speed and vo in
table (5-1).

Note that:
w = kv*vi ⇒ kv = (rpm/v) .

2
CONTROL LAB.

Figure (5-3)

Table (5-1)
vi W Vo W (kv*vi)
practical practical theoretically

3
 CONTROL LAB.

PART2 (The effect of load)

1-apply loading unit on the motor as illustrated in figure (5-4).
2- make vi =1 and Complete table (5-2).

Figure (5-4)

Table (5-2)
load w vo

4
 CONTROL LAB.

DISCUSSION:
1-comment on your result in part1 and part2

2-what happen when the i/p of motor is positive voltage and what happen
when the i/p is negative voltage?

3- what is the maximum speed and maximum voltage appear in the

tachogenerator ?

4-Plot a graph of your results, as In figure (5-5), of Speed against

Tachogenerator volts.

Fig. (5-5)

5-Plot the Input voltages against speed, your results should be as in fig (5-
2).then Calculate the slope (input volts per thousand r/min).

6-plot the motor speed against the load according to table (5-2).

5
CONTROL LAB.

EXP 6
SIMPLE CLOSED LOOP SPEED CONTROL SYSTEM

OBJECTIVE:

When you have completed this experiment you will:

- Know how a simple closed loop control system build and work.

- Know the effect of changing the gain and the load on the speed.

EQUIPMENT REQUIRED:

INTRODUCTION:

In this experiment we are going to deal in the same way with speed control as in
experiment 5 derives the dc motor characteristics and provides a curve of the
signal inputs into the servo amplifier against speed. This means that without any
load you can set the motor to run at a specified speed by determining the value of
the input signal with an open-loop system the results show that there can be
reasonable. Speed control when operating without or with a fixed load but the
system would be very unsuitable where the load was varying.

In this experiment we are going to show the improvement that can result from
closing the loop and using feedback. That is, the actual speed will be compared
with the required speed. . This produces an error signal to actuate the servo
amplifier output so that the motor maintains a more constant speed.

1
CONTROL LAB.

As first practical we will simply feedback a signal proportional to the speed, using
the Tachogenerator. We then compare it with a reference signal of opposite
polarity, so that the sum will produce an input signal into the servo amplifier of the
required value. As comparator, we will use an operational amplifier.

PROCEDURE:

Part1-(for gain =1)

A-WITHOUT LOAD (tracking)

*The block diagram of this system represented in figure (6-1).

1-connect the system as illustrated in figure (6-2).

2-make the selector in the op-amp on 100K ohm.

3- Change the input voltage as illustrated in table (6-1).

Figure (6-1)

2
CONTROL LAB.

Figure (6-2)

Table (6-1)
Vi W Vo Control signal
(amp. o/p)

3
CONTROL LAB.

B-WITH LOAD

1-Set Vi =1v.

2- Apply the load on the system of figure (6-1) as illustrated in table (6-2).

3-We notice that the value of speed and voltage approximately constant with
presence of error because of feedback.

Table (6-2).
load W Vo Control signal
(amp. o/p)
2

10

PART2-(for gain =10)

For again control we can use the circuit of fig (6-3) ,which has again of -1/α

Figure (6-3)

4
CONTROL LAB.

A-WITHOUT LOAD (tracking)

*The block diagram of this system represented in figure (6-4).

1-connect the system as illustrated in figure (6-5).

2-make the selector on the external feedback.

3- Change the input voltage as illustrated in table (6-3).

Figure (6-4)

Table (6-3)
Vi W Vo Control signal
(amp. o/p)

5
CONTROL LAB.

Figure (6-5)

B-WITH LOAD

1-Set Vi =1v.

2- Apply the load on the system of figure (6-6) as illustrated in table (6-4).

*We notice that the value of speed and voltage approximately constant without
error(error=0) because of feedback and gain=10.

*to calculate error we should subtract the inputs of op-amp and not from the output
because it multiplied by gain = 10.

6
CONTROL LAB.

Figure (6-6)

Table (6-4)
load W Vo Control signal
(amp. o/p)

7
CONTROL LAB.

DISCUSSION:

1. What would happen if you reversed the Tachogenerator connections to the

Operational Amplifier and what sort of feedback would you call it?

2. Plot your results In the form of graphs of Error voltage against Brake Setting and
Speed against Brake Setting for gain values of 1 and 5.

3. Compare the mean regulation for a gain of 1 to that of 5 by using the changes of
speed that occur for changes in torque from brake positions 0 to the current limit
of 2A.

4. What do you think would happen if you continued to increase the motor load
and what conclusions do you draw from your observation?

8
CONTROL LAB.

EXP 7
CONTROLLING THE SPEED OF DC MOTOR
USING PID CONTROLLER

OBJECTIVE:
When you have completed this experiment you will:

- Know how a simple PID controller work.

- Know the effect of changing the load on the speed.

EQUIPMENT REQUIRED:

QTY DESIGNATION DESCRIPTION

1 OA150A OP-AMP
1 AU150B ATTENUATOR UNIT
1 PA150C PRE-AMP UNIT
1 SA150D SERVO AMP
1 PS150E POWER SUPPLY
1 DCM150F DC MOTOR
1 LU150L LOADING UNIT
1 GT150X REDUCTION GEAR TACHO
1 PID150Y PID UNIT

INTRODUCTION:
This experiment is to develop proportional integral derivative (PID)
voltage control to control the speed of a DC motor.
There are three reasons that make PID control to be an important control
tool. It is very simple in use, available everywhere and it has a successful
history. The table below shows the behavior of Kp ,Ki and ,Kd value, if
they increase. Regarding to the manual relationship between these
parameters, these correlation may not be so accurate. Actually, altering
one of these parameters, may affect the amount of changing of the others.
Therefore, the application of this table is only possible for the

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determination of Kp,Ki, and Kd values See figure (7-1)

Table 7.1: characteristics of PID coefficients

response Rise time overshoot Settling time SS Error

KP Decrease Increase Minor Decrease

change

Ki Decrease Increase Increase Eliminate

Kd Minor Decrease Decrease Minor

change change

Figure (7-1) block diagram of pid controller

PROCEDURE:

PART1-TRACKING

1-connect the system as illustrated in figure (7-2).

2-make the selector in the op-amp on 100K ohm.

3- Change the input voltage as illustrated in table (7-1).

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4-set kp=10 , ki=1 parameters of pid controller.

*the servo amplifier will reach (7 volt ) and will saturate.

*when we use pid controller the o/p must be equal to the input.

Figure (7-2)

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Table (7-1)
Vi W Vo Control signal

(amp. o/p)

PART2-LOADING

1-Set Vi =1v.

2- Connect the system of figure (7-3).

3- complete table (7-2).

*We notice that the value of speed and voltage are constant without error
because of pid controller.

*when we change load we notice that not only voltage change but also
control signal.

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Figure (7-3)

Table (7-2)
load W Vo Control signal

(amp. o/p)

10

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DISCOSSION:

1-Comment on your results in part 1 and part 2.

2-using matlab program , apply pid controller on the system G(s) =

Then determine the (MP,TS,TP) before and after adding the controller.

Take kp = 2.039 , ki = 0.0314 ,kd = 1.4078

3-describe what happen to the (MP,TS,TP) after adding the controller and
which response is better ? why?

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EXP 8
CLOSED-LOOP POSITION CONTROL SYSTEMS
USING PI CONTROLLER

OBJECTIVE:
When you have completed this experiment you will:
- Have observed the action of a simple motor driven closed-loop
position control system

EQUIPMENT REQUIRED

INTRODUCTION:
In a position control system it is of great importance that there should be
a smooth stop at any required position. If there is an overshoot then there
must be a reverse movement to compensate. If movement is rapid where
the system gain is high, it's because very difficult to get smooth, accurate
arrest. Indeed, the correcting movement might also produce an overshoot
that will again need correction and in an extreme case a system could be
moving to and across a required position is a state of instability

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PROCEDURE:

PART1 (POSITION CONTROL WITHOUT PI CONTROLLER)

1-connect the system as illustrated in figure (8-1).
2-make the selector in the op-amp on 100K ohm.
3- Change the input voltage as illustrated in table (8-1) and complete the
table.

Figure (8-1)

 Notice that if vi=12.5 v the motor will vibrate because it will be out
of the linearity rigion and jump from +12.5 to -12.5

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Table(8-1)
Vi Vo
(o/p pot.)
𝞱o

PART2 (POSITION CONTROL WITH PI CONTROLLER)

1-Connect the system as illustrated in figure (8-2).
2-Change the input voltage as illustrated in table (8-2).
3-Measure vi and vo of the op-amp then find error for each case.
4-Make kp=0.3 and ki at first out and at second case in (ki=1)

Figure (8-2)

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Table (8-2)
vi Ki=0 (out) Ki=1 (in)
error V0 error V0

DISCUSSION:

1. Comment on your results in table (8-1) and table (8-2).

2. State the range of voltage that you think the inputs should be kept.
3. What is the applications of position control?

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EXP 9
ROOT LOCUS
OBJECTIVE:
1- To locate the closed loop poles in s-plane.
2- To investigate the closed loop system stability.

EQUIPMENT REQUIRED:
- Matlab program

INTRODUCTION:
This method is used for determining the stability of the given system.
Now in order to determine the stability of the system using the root locus
technique we find the range of values of K for which the complete
performance of the system will be satisfactory and the operation is stable.

WHY WE USE ROOT LOCUS?

1. Root locus technique in control system is easy to implement as

compared to other methods.
2. With the help of root locus we can easily predict the
performance of the whole system.
3. Root locus provides the better way to indicate the parameters.

PROCEDURE:

1-connect figure (9-1) by using matlab program.

Figure (9-1)

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2-change the value of k as illustrated in table (9-1) then complete the

table.

Table (9-1)
k Ys.s MP Tp Ts

0.25

0.5

3- by using m.file ,write the following program to draw root locus.

n=[1];
d=[1 1 0];
rlocus(n,d);grid
axis([-2 2 -2 2])

4-search about the value of gain when k=(0.25, 0.5, 1) in the draw of root
locus then record the information of each case.

DISCUSSION:

1- Comment on your result.

2-Explain according to the plots obtained in the experiment the Effect of

gain on the behavior of the closed loop response

3-for the system below

( )
( )( )( )

,design unity feedback control system with proportional (gain k) ,then

select the value of k that violate os% less than 4% and peak time less than
3 second. Then draw the root locus of this system.

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EXP 10
Tuning process control

OBJECTIVE:

To apply the Ziegler and Nichols method for tuning a PID controller.

INTRODUCTION:

One of many important industrial problems to be considered is the design

of a controller. A commonly used controller in practice is the proportional
+integral +derivative (PID) controller. The three term controller is used to
combine the best properties of each of the controllers that can be utilized
many analytical methods have been developed to find the optimal PID
settings to control a process, the most commonly used method so far is,
the Ziegler- Nichols (Z-N) method which is based on the minimization of
the integral of the error between the input and output transient response.

The mathematical formula deduced is found in terms of some measuring

characteristics of the system running in open and closed loop fashion.

Ziegler and Nichols method:

To determine the controller settings based on the Z-N method, two

approaches can be used:

1- Reaction curve (open loop step response ), and

2- Close loop cycling response.
To perform the response in both cases, a first order lag with dead time
will be considered, which is, in general, a good representation of many
processes is.

1- Reaction curve method (open loop step response):

when a step i/p is applied to the system as shown in fig (10-1), a
step response of the form shown in fig (10-2) is obtained.
The maximum slope, R, and the dead time, Td , are obtained from
fig (10-2). knowing these parameter, the Z-N formulas for the
controllers settings are:

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INTEGRAL TIME, TI=2 Td

DEREVATIVE TIME, Td=0.5

Figure (10-1)

Figure (10-2)

2- Continuous oscillation method (closed loop method):

in this method a step i/p is applied to the system, with the proportional
control only, as shown in fig (10-3) by varying the gain k, the
response is obtained hence the natural period To is measured as in fig
(10-4).

Knowing To and PB*(the proportional band for critical stability), the

Z-N formulas are:

GAIN, PB=1.66(PB*)

INTEGRAL TIME, TI=0.5 To

DEREVATIVE TIME, TD=To/8

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Figure (10-3)

Figure (10-4)

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PROCEDURE:

1- Connect the following figure (10-5):

Figure (10-5)

Vary the value of K until you get oscillation response and find the
value of( kp,ki,kd) by using the following steps:

A- Find To and Kc .
B- PID = Kp(1+ + Kp S)
C- Ki = ,Kd = Kp S
D- Kp =0.6*Kc , Ti = To*0.5 , Td =To*0.155

2- Connect the following figure (10-6):

Figure (10-6)

Find Mp, Tp,Ys.s,Ts ,Es.s

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DISCUSSION:

1- Compare between the responces of compensated and

uncompensated systems for both the open and closed loop cases.

2- Discuss the effect of each of the controllers terms on the time

response characteristics (rise time ,overshoot , settling time ,
damping ratio , steady state error )

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EXP 11
TRANSFER FUNCTION OF A DC MOTOR

OBJECTIVE:
• To determine the transfer function of a DC Motor.
• Interaction between mechanical and electrical quantities of a
motor.
• Measuring time response of a DC motor and comparing with time
response obtained through transfer function.
EQUIPMENT REQUIRED:

MATLAB PROGRAM
INTRODUCTION:

The transfer function of a DC motor is studied ( in general) from figure

(11-1).

Figure (11-1)

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PROCEDURE:

• Type the program in the MATLAB editor that is in M-file.

• Save and run the program.
• Apply pi controller after take close loop to the system (apply three
values of kp & ki) according to table (11-1).
MATLAB PROGRAM:
J=0.01;
B=0.1;
K=0.01;
R=1;
L=0.5;
s = tf('s');
P_motor=( K/(((J*s+B)*(L*s+R))+K^2 ))
figure(1)
step(P_motor)
kp=0.1;
ki=0.1;
c=kp+ki/s;
system_cl=feedback(c*P_motor,1)
figure(2)
step(system_cl)

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Table (11-1)

kp ki ts

Discussions:
1. What are the effects of increasing and decreasing the gains of kp , ki ,
kd ?

2. When we use pi controller, what happen to the response? Discuss your

results.

3. write down three applications of dc motor.

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EXP 12
SIMULATION OF DC MOTOR POSITION CONTROLLER

INTRODUCTION:

In this experiment. PID controller is used as well as a position controller.

Position controller is the outer loop controller. It aims to give faster and
stable positioning control with maintain constant acceleration and
deceleration of the motor. In order to design position controller, the
velocity controller must be included in the design.

According to the Figure (12-1) which shows the Simulink linear of DC

Motor model with position controller: The system operates in two modes
to achieve high speed and accuracy: closed loop speed control and close
loop position control. The combination of these two modes allows the
system to travel rapidly towards the target position then stop precisely
without ringing.

EQUIPMENT REQUIRED:
-MATLAB PROGRAM

PROCEDURE:

1- Build the Simulink linear of DC Motor model as illustrated in

figure(12-1).
2- Set the required parameters with these values:
parameter value units

J (rotor inertia) 140*10-7 Nm/A (V.s/rad)

R (armature resistance) 2.5 Ω

L (armature inductance) 2.5 mH

K (torque constant ,back e.m.f. 0.052 Kgm2

constant)

B (total frictional torque coefficient) 1*10-6 Nms

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Figure (12-1) Simulink linear of DC Motor model with position controller

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3-Set the following : Step time=0 , stop time =0.5 , sample time =0.01.

4-use PI ,PD,PID controller and record the transient response

specifications for each one in table(12-1).

5-draw the response of position controller before and after adding

controllers .
Table (12-1)
controllers transient response specifications

pi

pd

pid

DISCOSSION:

1- Can we control on the speed?how ?if we can control draw the

response before and after adding PID controller ,record the
transient response specifications

2- Can we control on the current of armature?how ?if we can control

draw the response after adding PID controller ,record the transient
response specifications