Scribd
Upload
34 views9 pages

Rpdieukhiengocquay

The document summarizes research on building and tuning a PID controller for the angular position of a DC motor system. It describes creating an open-loop controller to read encoder data, then a closed-loop PID controller. Different PID tuning parameters are tested, including Kp at various values with Ki=Kd=0, Kp=4 with varying Ki and Kd=0, and Kp=4, Ki=0.2 with varying Kd. Response graphs are provided to analyze the effect of the different parameter values.

Uploaded by

21151016
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
34 views9 pages

Rpdieukhiengocquay

The document summarizes research on building and tuning a PID controller for the angular position of a DC motor system. It describes creating an open-loop controller to read encoder data, then a closed-loop PID controller. Different PID tuning parameters are tested, including Kp at various values with Ki=Kd=0, Kp=4 with varying Ki and Kd=0, and Kp=4, Ki=0.2 with varying Kd. Response graphs are provided to analyze the effect of the different parameter values.

Uploaded by

21151016
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 9

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCA

FACULTY of INTERNATIONAL EDUCATED

AUTOMATIC CONTROL SYSTEM IN PRACTICE


STUDENT REPORT
LESSON 5: Research the angular position PID controller
for the system
DC motor experiment
Lecturer : Nguyen Tran Minh nguyet
Student’s name : Nguyen Duc Hieu- 21151416
Phan Quang Huy-21151016
6.4.1. building opened loop controller.

Figure 6.1: Block diagram of open loop controller without feedback


6.4.2 building opened loop controller can read data from encoder.

set point
600 Encoder

500

400

300

200

100

-100

-200

1 2 3 4 5 6 7
Offset=0 Time

Figure 6.2: The set signal and read signal are returned from the system's encoder
Figure 6.3: Block diagram of the open-loop controller reading the signal returned
from the Encoder
6.4.3. building closed loop controller

Figure 6.4: Block diagram of PID closed-loop position controller


200

150
rotation

100

50

0
Rotation
Constant

1 2 3 4 5 6 7 8 9 10
Offset=0 Time

Figure 6.5: The output of the above system


6.4.4. Research PID controller.
6.4.4.1. Ki=0, Kd=0

0.5 1 2 4 5 10
(%) 0 0 0 0.04 1.45 4.21
(%) 27.5 13 4 -2.5 -2 0

(s) 2.30 1.21 1.1 1.07 1.05 1.00

(s) 3.69 2.06 1.37 1.42 1.36 1.57


250

200

150
rotation

100

Kp=0.5
Kp= 1
Kp= 2
50 Kp= 4
Kp= 5
Kp= 10
Setpoint

0
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 6.6: response of DC motor output

300
signal1
signal2
250
signal3
signal4
200 signal5
signal6

150
control signal

100

50

-50

-100
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 6.7: response of control signals


6.4.4.2. Kp=4, Kd=0

0.1 0.2 0.5 1 1.5 2


(%) 0 0 5.19 15.55 25.19 24.9
(%) -4 -5.5 -5 -2.5 0 0

(s) 1.00 1.08 1.08 1.03 1.01 1.01

(s) 1.57 2.06 4.33 7.80 8.65 6.96

300

250

200
rotation

150

100 Ki= 0.1


Ki= 0.2
Ki= 0.5
Ki= 1
50 Ki= 1.5
Ki= 2
Setpoint
0
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 6.8: response of DC motor output


300
signal1
signal2
250
signal3
signal4
200 signal5
signal6

150
control signal

100

50

-50

-100
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 6.9: response of control signals


6.4.4.3 Kp=4, Ki=0.2

0.1 0.2 0.5 1 1.5 2


(%) 0.11 0 0.02 0.02 0.02 0.02
(%) -4.5 -3.5 -0.5 0 0 0

(s) 1.09 1.08 1.07 1.15 1.3 1.49

(s) 1.45 1.45 1.46 1.77 2.07 2.40


250

200

150
rotation

100
Kd= 0.1
Kd= 0.2
Kd= 0.5
50 Kd= 1
Kd= 1.5
Kd= 2
Setpoint
0
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 7.0: response of DC motor output

300
signal1
signal2
250 signal3
signal4
signal5
200 signal6
control signal

150

100

50

-50
0 1 2 3 4 5 6 7 8 9 10
Time(s)

Figure 7.1: response of control signals

You might also like