Title : Linear Experiment [Position Control]

Objective :

 To become familiar with the fundamentals of

control system design using PID-types of
compensators. The present of the lab is to
control the position of IP01 or IP02 linear
motion servo plant.
 To change, during the simulation, the two gains,
Kp and Kv, of the PV controller and observe the
effect on the position response.

Apparatus : Linear Motion Servo Plant

Introduction :

PID Compensator
The PID Compensator consists of an integrator and differentiator with proportional
gain (PID Controller) together with a high-frequency roll-off filter.

 Gain K: The controller gain K determines the frequency gain of the controller in
the pass band (where integration and differentiation are of no interest).
1
 Integrationτ i : The integration time constant τ i determines the frequency f i = τ
i

[rad/s] after which the integrating behavior stops.

 Differentiationτ d: The differentiation time constant τ d determines the frequency f d
1
= [rad/s] after which the differentiation behaviour starts.
τd
1
 HF roll-offτ h: The filter time constant tau h determines the frequency f h = τ
h

[rad/s] of the high-frequency roll-off filter. Frequencies higher than f h are filtered
out.
 Tameness β : The tameness factor beta influences the differentiating behavior.
fd
After frequency f db = the differentiation behaviour stops. Decreasing beta
β
 increases this frequency f db, resulting in a more pure differentiating behavior and
therefor in a reduce of differentiation tameness.

Transfer function of the controller:

that equals

IP01 : The IP01 is instrumented with a 10-turn potentiometer to

measure cart position. Pendulum angle is measured using a
potentiometer whose range is restricted by mechanical stops.

IP02 : The IP02 is instrumented with two quadrature optical encoders,

one each for cart position and pendulum angle. The shaft to
which the pendulum is attached allows for the pendulum to be
suspended in front of the cart, free of the mechanical stops. This
permit additional configuration with unrestricted movement of
the pendulum.

Procedure :

1. Set up the PV Controller. Read and understand the experiment

objective.
2. Maintain the value of Kv, adjust the value of Kp and run the system
until get the Percent Overshoot (PO) less than 0.011 and time peak (tp)
is less than 0.15 on the graph.
3. After get the value of Kp that we want, assume this value is the highest
value of Kp to maintain the value of PO < 0.011 and tp < 0.15.
4. Decrease the value of Kp and run the system and get the value of PO
and tp on the graph.
 5. Repeat step 4 with decreasing the value of Kp until the value of tp is
= 0.15 or less.
6. Repeat step 2 until 5 with maintains the value of Kp and adjust the
value of Kv.
7. Record the data in table and calculate the value of tp.

Result
Constant Kv

Tp Kp Kv Output
1 0.108 680 16 0.0110
2 0.111 660 16 0.0109
3 0.114 640 16 0.0108
4 0.118 620 16 0.0107
5 0.121 600 16 0.0106
6 0.126 580 16 0.0105
7 0.131 560 16 0.0104
8 0.136 540 16 0.0103
9 0.146 520 16 0.0103
10 0.150 500 16 0.0102

Constant Kp

Tp Kp Kv Output
1 0.109 700 17.0 0.0110
2 0.114 700 18.0 0.0106
3 0.121 700 19.0 0.0104
4 0.128 700 20.0 0.0102
5 0.140 700 21.0 0.0101
6 0.146 700 21.5 0.0101
7 0.156 700 22.0 0.0101

Analysis
Assignment 1

Derive open-loop transfer function of IP01 or IP02 from mechanical and

electrical first principal.

Applying Newton‘s second law of motion

d2 d
M
[ dt 2 ] (
x (t) =F c ( t )−B eq
dt
x (t) )
The driving force, F generated by the DC motor and acting on the cart
through the motor is shown as

ηg K g T m
Fc= [1]
r mp

From

By using Kirchorff Law

V m −R m I m −Lm ( ∂∂t I )−E

m emf =0

Since Lm<<Rm

V m−E emf
I m=
Rm
Eemf is proportional to the motor shaft velocity ω m

V m−K m ωm
I m= [ 2]
Rm

Torque is calculate from motor efficiency equations

T m=η m K t I m [3]

Sub [2] & [3] into [1]

ηg K g η m K t (V m−K m ωm )
Fc= r mp R m
[4]

The motor angular velocity can be written as a function of the cart linear
velocity

ω m=
Kg ( dtd x (t)) [5]
r mp

Sub [5] into [4]

Fc= ηg K g η m K t (V m−K m
Kg ( dtd x (t )) )
r mp
r mp Rm

Rearrange

Fc=
ηg K g η m K t (V m r mp−K m K g ( dtd x(t)))
r 2rmp Rm

By applying the Laplace transform

r mp ηg K g ηm k t
G(s)= x=
R M r s +n K n K K + B R r

By consider the inertial force due to the motor's armature in rotation, and
applying Newton's second law of motion together with the D'Alembert's
principle, the initial Newton’s Law becomes
 d2 d
M
[ dt 2 ]
x (t) + F ai (t)=F c (t )−Beq
dt
x(t) ( ) [6]

The armature inertial force due to the motor rotation and acting on the cart

ηg K g T ai
Fai = r mp
[7]

Applying Newton's second law of motion to the motor shaft

d2
Jm ( dt 2 )
θm ( t) =T ai (t) [8]

The mechanical configuration of the cart's rack-pinion system

Kg x
θm = [9]
r mp

Sub [9] and [8] into [7]

d2
Fai =
ηg K 2 g J m ( dt 2
x (t) ) [10]
2
r mp

Sub [10] into [6] then Laplace Transform and rearrange the equation

r mp ηg K g η m K t
G(s)= x= ¿¿
[11]

Assignment 2

1) Derive a block diagram to represent such a transfer function

 2) Determine the plant's pole(s), zero(s), and DC gain.
The system open-loop transfer function
2.46
G( s )  [1]
The ( s  17.13 ) s

system
has no zero and two poles, which are: 0 and -17.13.
The system's DC gain, Kdc,

Kdc  lim s G( s ) [2]

s
→ 0

Apply [2] into [1], the system's DC gain results:

K  0.143 m
dc
Vs

Assignment 3

Determine and calculate Kp and Kv

A standard closed-loop position control system with a unity feed-back

loop

Closed-loop transfer function, T(s):

x( s )  Gc( s ) G( s ) [1]
 x d( s ) 1  Gc( s ) G( s ) H( s )

For quadratic lag systems with no zero

T(s)  Kdc ω n2
s2  2 ζ ω n s ω n
2

Where Kdc is the system's DC gain

The characteristic equation of the closed-loop transfer function

s2  2 ζ ω n s ω n
2

Move the second summing point ahead of the K p block and combine
the two parallel feedback loops

Kv s
H( s )  1 [2] and Gc( s )  Kp [3]
Kp

Sub [2] and [3] into [1]

x( s )  Kp G( s )
xd( s ) 1  Kp G( s ) G( s ) Kv s

Sub G(s) from equation [11] into the equation

x ( s) r mp η g K g ηm K t K p
= 2
x d (s) ( S Rm M r mp + S Rm η g K g J m+ S ηg K g ηm K t K m + S B eq Rm r mp2 +r mp ηg K g ηm K t K v S+r mp η g K g ηm K t K p )
2 2 2 2

Assuming Kv constant, what happens to ωn and ζ when you increase/decrease Kp?

Assuming Kv constant, and Kp increase, ωn will increase and ζ will decrease.

This would translate into a shorter t p and a larger PO. These changes also
correspond to a faster but also less damped closed-loop response.
Assuming Kp constant, what happens to ωn and ζ when you increase/decrease Kv?

Assuming Kp constant, and Kv increase, ωn will not change and ζ will increase.
This would translate into a similar tp but a smaller PO. This change adds
damping into the closed-loop system.

Discussion

* The students should respond with all the limitations and problems they faced
during this lab. They should also comment on how they were able to overcome them.
*explain the result
*explain the graph(suppose to have it)
Conclusion
This experiment was perform in order to determine the effect of changing the two gains, Kp
and Kv, of the PV controller, during the simulation, and observe the effect on the position
response. When Kv constant, and Kp increase the time to first peak (tp) shorter and a Percent
Overshoot (PO) is become larger. When Kp constant, and Kv increase the time to first peak
(tp) will maintain and a Percent Overshoot (PO) is become smaller.

Recommendation
References

 http://www.20sim.com/webhelp/toolboxes/control_toolbox/filter_editor/controllers/pi
dcompensator.htm
 FKM, Student Lab Sheet- Linear Experiment [Position Control], 2010