Mechanical Engineering and Science 8

Alabdallat Ayssar Group 09

H00256874
Part 1:
Figure 1 Block Diagram
 Table 1 Results from Lab

P- Controller Gain Measured Steady State Calculated Steady State

Error (V) Error (V)
0.25 2.525 2.4
0.5 2.1 2
1 1.57 1.5
1.25 1.4 1.33
1.5 1.255 1.2
2 1.045 1

Figure 2 Steady State Error from Table 1

Steady State Error

3 3

Calculated Steady State Error (V)

Measured Steady State Error (V)

2.5 2.5

2 2

1.5 1.5

1 1

0.5 0.5

0 0
0 0.5 1 1.5 2 2.5
P-Controller Gain

Measured Steady State Error (V) Calculated Steady State Error (V)

Above graph denotes the characteristics of measured and calculated steady-state error,
there is a negligible error of approximately 5% at 0.25 this error is decreased as gain
increases. Source of error the glitches showed in output display during testing.
Part 2
Figure 3 Block Diagram

Part 3

Figure 4 Graph from table 2

 Figure 5 Graph from table 2

Figure 6 Graph from table 2

Table 2 Results from the test rig

Ki KP Peak time Max. overshoot Settling time

0.3 0.01 12.5 7 16
0.3 0.1 13.2 8.7 16.3
0.3 1 22 5 24
Using integral control gain Ki steady-state error can be eliminated from the system when it
is accompanied by a proportional controller, by varying its value decrease in steady-state
error.
Figure 7 Graph from table 3

Figure 8 Graph from table 3

 Figure 9 Graph from table 3
Table 3 Results from a Test rig

Ki KP Peak time Max. overshoot Settling time

0.5 1 13 3 15
1 1 4 3.7 7
1.5 1 5 3.4 5.7

Part 4

Table 4 Calculated Ki and KP

Ki KP 𝜔𝑛 𝜁 𝜏
0.0648 -1.296 0.2 0.5 1.62
0.405 -0.81 0.5 0.5 1.62
1.62 0 1 0.5 1.62
Figure 10 from Table 4

Figure 11 from Table 4

 Figure 12 from Table 4
The integral gain controls the amount of the control output is created because of the
accumulated position error or speed error, separately.
Calculated natural frequency error is 20 – 35% it quite a big error source of this error as
mentioned uneven moments caused by discs (weights). In this part, overshoot time is
decreasing as the increase in natural frequency.