NATIONAL UNIVERSITY

OF
SCIENCES AND TECHNOLOGY
COLLEGE OF ELECTRICAL AND MECHANICAL ENGINEERING

Control Systems Lab Experiment #10

DC Motor Control Trainer
Speed Control (Part-a)

GROUP MEMBERS:
NS Moeez Aslam (2010-021)
NS Taha Hamid (2010-044)
GC Waleed Nisar(2010-083)

Objectives:

Introduction to Proportional Integral Controller

Designing based on conditions
Effect of the set point weight
Experimental verification of the results

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As k is increased the system is tracked more accurately but oscillations increase.

K pc = 0.5

T= (5.18-3.95)/20 = 0.0615s

As kp increases Steady state error decreases.

Offset = 145 V , Amp = 250 V , kp = 0.2 , Saturation occurs at 15V

As torque is applied velocity decreases.

By increasing kp we can improve tracking performance and reduce steady state error. In
order to achieve saturation the conditions in step 5 are implemented. As torque is applied
to the motor its velocity decreases.

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As ki is increased tracking improves and overshoot and oscillations increase.

kic = 3.6

T= (59 - 57.8) / 5 = 0.24s

ki = 0.2
Ts=0.753s

Amp = 215 V , Offset = 100 V , ki=0.2 , Saturation occurs at 15 V

As torque is applied velocity decreases.

Step 3. Noting kic

Step 5. Signal Saturation

Step 4. Response without overshoot

Step 6. Applying Torque

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The error decreases.

The flat line portion in the control signal changes to a line with a slope as ki is increased.

In the tracking response overshoot decreases and settling time increases.

Overall tracking error reduces.
The bumps in the control input become sharper.

Step 2. Increasing ki

Step 3. Changing Kc

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kp = 0.4kpc = 0.4*0.5 = 0.2

Ti=0.8Tpc = 0.0615*0.8 = 0.0492
ki = kp/Ti = 4.065

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Ts=0.4s
Settling time has decreased from previous results now overshoot is also present.

ki= 1.97
kp=0.2

Step 2. Using Zeigler Nichols Values

Step 3. Getting an underdamped response

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As bsp is decreased overshoot decreases and settling time increases.

Step 1. bsp=1

Step 1. bsp=0.5

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