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TITLE Linear Experiment (Position Control) INTRODUCTION The IP01 or IP02 linear motion servo plants serve as the

base unit for Quansers linear family of products. Both plants are ideal platforms to introduce fundamental control concepts and theories on an easy to use and intuitive platform. They consist of a cart driven by DC motor, via a rack and pinion mechanism to ensure consistent and continuous traction. The cart is also equipped with a rotary joint to which a free turning rod (or pendulum) can be attached. In the case of the IP01, both cart position and pendulum angle are sensed via potentiometers. By contrast, the IP02 system has two encoders, which allow for multiple turns. As a result, the IP02 pendulum can suspend in front of the cart to perform the selferecting and gantry experiment.

OBJECTIVES 1. To become familiar and understand with the fundamental of control system design using PID-types of compensator. 2. To know how to mathematically model the IP01 and IP02 servo plants from first principle in order to obtain open loop transfer function, in the Laplace domain. 3. To know how to design and simulate a Proportional-Velocity (PV) position controller to meet the required design specification. 4. To know how to tune the PV controller gains and their effect on the closed-loop system dynamics response.

APPARATUS Power Module : Quanser UPM 1503/2405 or equivalent, Data Acquisition Board: Quanser MultiQ PCI/MQ3 or equivalent, Linear Motion Servo Plant: Quanser IP01 or IP02, Real-Time Control Software: The WinCon-Simulink-RTX configuration.

THEORY In the present laboratory, the system will design and implement control strategy based on the Proportional-Velocity (PV) control scheme as shown in Figure 1, in order for IP01 or IP02 closed- loop system to satisfy the following performance requirements (which are time domain specifications) : 1. The Percent Overshoot (PO) should be less than 10% i.e: PO10%

2. The time to first peak should be 150 ms, i.e: Tp = 0.15 s

Figure 1: PV Position Control Scheme

PROCEDURE 1. In Simulink, a model called s_position_pv_ip01_2.mdl was opened. This diagram should be similar to the one shown in Figure 1. It includes a subsystem containing your IP01 or IP02 modeled plant, as well as the PV controller two feedback loops. In order to be conveniently changed on-the fly, the two controller gains Kp and Kv are both set by slider gains. The signal block properties were checked and properly set to output a square wave signal, of amplitude 1 and of frequency 2/3 Hz. The Matlab script called setup_lab_ip01_2_position_pv.m was ran. This file initializes all the IP01 IP02 system parameters and configuration variables used by the Simulink Diagrams.

2. Ensure that the Simulink simulation mode is set to Normal. Click on Simulation start from the Simulink menu bar and bring up the position response(m) scope. Monitor the position response, adjust Kp and Kv using the slider gains. Try a variety of combinations and notes the effects of varying each gain (one at a time) on the system response. Also discuss the effect of varying Kp and Kv (one at a time) on the resulting position error and the commanded voltage applied to our IP01 or IP02 DC motor.

3. Enter in the designed Kp and Kv have calculated to meet the system requirements.

4. After running the simulation with the gains set to their calculated values.

5. If the simulated response is close to meeting the set requirements, try fine-tuning the controller gains to achieve the desired response. If the system response is far from the specifications, then WE have to re-iterate our design process and recalculate our controller gains Kp and Kv.

6. The results obtained from the graph then were record.

EXPERIMENT RESULTS A) When Kp = 400 V/m is contant Kp (V/m) Kv( Vs/m) Maximum Overshoot (%OS) 1 2 3 400 400 400 11 11.1 11.2 Peak Time. Tp(sec) 5.45-5.304=0.146 5.452-5.304=0.148 5.451-5.304=0.147

B) When Kv = 15 Vs/m is constant Kp (V/m) Kv( Vs/m) Maximum Overshoot (%OS) 1 2 3 600 610 620 15 15 15 Peak Time. Tp(sec) 5.42-5.304=0.116 5.4175-5.304=0.1135 5.4165-5.304=0.1125