MADHAY INSTITUTE OF TECHNOLOGY & SCIENCE. GWALIOR (A Govt Aided UGC Autonamouy NAC Accredited Instituse A{Dliated to RGPY, Bhopal Depariment of Electronics Engincering LAB MANUAL LINEAR CONTROL THEORY (140504) SUBMITTED TO SUBMITTED BY Manoj Kumar PRIYAM JAIN Golya 0901EC191088 EC: 3rd YR. Vth Sem SECTION B Spe Scanned with CamScannerPRIYAM JAIN Teil fom 77 Exp NOy sscsesssseeen site DSO1ECITIOBE Scanned with CamScanner{ixpl Na, “y nm ceutrol —tiplon fe wa at put Luh 4 Shauutinke J das hk tha aud 1 thle operas ald leer ae ila Working o ~ agai -aussptifion de Ai -| Date Pape No. Th tualunt lupe forssrevises ’, 21 Po and | Pip tewbrottors id Sinurlis a f Rts — COURSE—puTcomes ——_—— Au gt aA: trol -aba_purfer pe perfomance tof ayrehnentu Aan _oad i003] Gucaduakt the perpfersuesiee of the de rueler afeedl | toutrebler tei Mey oped Leos closed Anep touted ysl [cy Ohta | — sfta_Hewan_Conied_Syation using MATIN SCLAB Aaa Sa_fofermaces af wanioua contains Scanned with CamScanneroe PRIYAM TAIN - Wen 2 1 wr Hs aanies se ceteeeetveueneen 090) E f 1 3 | oss Ey, Mv tt position ) A aly tute ou shrethin algmal 9 aygdiann Lonuned Tore Oe Hu td nas Firansrritt elu dyruclasunas coabiel Fads Thy ane atin ealled “atte Dahas E r 7 Uo, 3 ofhwoximentil, Bneas itll asrantas | i td i ta bath thu als aie! lu sie | fy ne AL athe dita [py do eeu tied ots yt 1 | peansett | eee Ls {ites ——“absi as — play te a_i thshe ee pee ee Scanned with CamScannerFEATURES OF — =F SYNCHRONOUS * TRANSMITIER Scanned with CamScannerSS or rr — “Thit__tosactructionas fa Giasta »——thecdnttes, Adi —L__dohumatie 2ysasbin fos _absasits dio fe || Aensie step tus 4) ey coda! 4 -_ Lit “ Ee tA xf ft la foal bs eras 120" oes Scanned with CamScanneriin ae [STUDY OF SYNCHRONOUS TRANSMITTER?= | —$statn¢ ——— ——— 3” Winding ot — : : ~——neceiver Scanned with CamScannerScanned with CamScannerScanned with CamScanner| CorreQuustasy :— j The Syne ones Sronsaitlen 0 ae dnd recehiin olnisa tiaa_a_l | abiaegtut an nd tate, satiny — Of Tenwaittin taal _| | decchity hes flee etal 2A ean tt Alf | Curler Rx “tt eal siddhe ds_6__ ale, | a ee nl eta tonmectioum ma Te be cmelded (WY) Renelérgs i weelers wat or hes aa frasallac_tson | fii) Howelle 41 protutirs ta _ tutte manen | (wy Oo net actin 4 ay "hull re the Petatin, oo Scanned with CamScannerPRIYAM JAIN OSOIECIS 1088 Scanned with CamScannerSE eon | —= : got} fa 4 “Sh tainar © bf 2S CONTROL Tt -¥o ——ttrewt “= p94 ___MATANETIC “AMPITELERS.- bigcvat_[ saat [SERIES DONNECTED Mai NETIC AMILIELERS = GONTROL. | of MINEING | LoD WINDING alis z = *b ] AC SUPPLY 1 4 _— a wk - |] = Jue WINDING © a e TOAD WINDING ae fs Scanned with CamScanner| janine’ LORD = be ~ stone! eT Saf i aT TT GutrLy el) PARALLEL CONNECTED MAGNETIC AMiiFiEn - AC SUPPLY _ [4a —) fa “ nas i | is [winning | | (OAD WINDING | nl pe a oe ee " . es t a Surrey “i pa | SI ft eA +— se “DE 4 alle | LIE 2) HELE SATURATED MAGNETIC AMITETELERS Scanned with CamScannerCRSERVATION TABLE t- 01) #F1ES Coney b MAMMETIC AMPLDE Tee She COMTPOL CURRENT [oap Cuenemt tral ' 6 ® 2 Lima {hema r Koma HEE ani 4 dooms Moms 5 tomas LbOmA é 10 mA T8O mA L RSE EVATION 7 t TAR b CONMECTED MAGMETL OBSERVATION TABLE (2) ** FABALIEL COMMECTED Ma: Nee cpaeR OL CURRENT «LOAD CURRENT Comad Zoe wA SELF SATURATED MAGNETIC AMPLIFIER (OBSERVATION : ; TABLE 3) ep CONTROL CURRENT LOAD evr RENT Oi) Scanned with CamScannerPRIYAM JAIN OSOIECIS1098 Scanned with CamScannerScanned with CamScannerS$ a. Scanned with CamScannertee ee end Hinds oasede nt a : (wii)_pviie A 1-999 volt furth= sea =if data DYE seouistrd naa th “Yow te aurrindete {2 tiv | Surfed ‘ui Dutt wet de uy Scanned with CamScannerOSSERVATION TABLE =~ TABiE 1) OPEN LOOF be MoTOR SPEED CONTROL { witheat add, Kaarvunt stad) suo, @awetha Vi lVoits) STEED OF DC MoTOR (Ms) lapem I € \ he Cog ene t 7 7064 JAELE 2) OFEN Loar be MOTOR SfEED CONTROL [with od tauwant Ivaal 5 No. GRRE Vi VOLTS) SPEED oF oc MOTOR LH) (nem) 1. ‘ 0 le . if Scanned with CamScannerTAIT S.No Sara th Me S)CLose LOOT DC MOTOR SPEED CONTROL [with Ady Vr (veuts) SPEED OF BO MOTOR (i) | (apm) f ts ‘ 276 Soe « éT?¢ i jad £ Bd 905 1) CLOSE LOO DE MOTOR SPEED CONTROL | withew! edeeg } rasa Vi (vo.Ts) SPEED OF be MOTOR LN) Capen) paca Scanned with CamScannerEXPERIMENT NO: 4 TRANSFER FUNCTION CODE AIM/OBJECT: TO OBTAIN THE TRANSFER FUNCTION OF AN OMEN LOOP AND CLOSELOOF CONTROL SYSTEM USING MATLAB/SCILAB. REQUIREMENT: MATLAB/SCILAB SOFTWARE ‘THEORY: OPEN LOOP CONTROL SYSTEM: ‘TRANSFER FUNCTION OF OPEN LOOP CONTROL SYSTEM ISC(S) 6) RS) CLOSE LOOP CONTROL SYSTEM: ‘TRANSFER FUNCTION OF CLOSE LOOP CONTROL SYSTEM ISC(S) GIs) R(S) 1+G(S) H(S) ‘THE OPEN LOOP AND CLOSE LOOP CONTROL SYSTEM MAY BE OF FIRST OR SECONDORDER SYSTEM, THE TRANSFER FUNCTION (TF) IS A RATIO OF LAPLACE TRANSFORM OF T-TO THE LAPLACE TRANSFORM OF INPUT UNDER ALL INITIAL CONDITIONS ARE FIRST ORDER SYSTEM EXAMPLE-1: cs) 1 R(S) 148 SCILAB CODE cLe; Scanned with CamScannerNUM=POLY([1}’S, COEFF); // NUMERATOR COEFFICIENTS OF 'S: DEN=POLY({1 1)S\;COEFF’); // DENOMINATOR COEFFICIENT OFS: YSLIN(*C.NUM,.DEN) // TRANSFER FUNCTION OF THE SYSTEM EXAMPLE-2: cs) 1 R(S) 1435 SCILAB CODE. cle; NUMI=POLY([1]'S', COEFF}; // NUMERATOR COEFFICIENTS OF ’S. DEN1=POLY({1 3],'S\' COEFF); // DENOMINATOR COEFFICIENT OF ' ‘TFLSSYSLIN(C,NUMIDEN1) // TRANSFER FUNCTION OF THE SYSTEM ‘SECOND ORDER SYSTEM EXAMPLE*1: cs) 1 RCS) +545’ SCILAB CODE CLC; NUM2=POLY([1]’S', COEFF"); // NUMERATOR COEFFICIENTS OF 'S'. DEN2=POLY([1 1 1].'S\"COEFF'); // DENOMINATOR COEFFICIENT OF 'S* TF2=SYSLIN(C.NUM2,DEN2) // TRANSFER FUNCTION OF THE SYSTEM c(s) 5 RS) 7 geass! SCILAB CODE cle; NUM3=POLY([5],S', (COEFF); // NUMERATOR COEFFICIENTS OF ‘S, DEN3=POLY([5 2 1],'S'COEFF); // DENOMINATOR COEFFICIENT OF ‘S’ ‘TF3=SYSLIN('CNUM3,DEN&) // TRANSFER FUNCTION OF THE SYSTEM Scanned with CamScannerEXAMPLE:3: c{s) ROS) ‘Wi'+2 6 W545" SCILAB CODE cle; WNT: DELTA=0.5; NUM=POLY((WN*2]/S' COEFF); DEN=POLY{[WN*2 2*DELTA"WN 1]/'S,COEFF');TR_SOCS=SYSLIN(‘C’,NUM,DEN) Scanned with CamScannerEXPERIMENT NO. 5 ‘TIME RESPONSE OF FIRST AND SECOND ORDER CONTROL SYSTEM AIM/OBJECT: TO OBTAIN THE IMPULSE, STEP AND RAMP SIGNAL RESPONSE OF THEFIRST AND SECOND ORDER CONTROL SYSTEM USING MATLAB/SCILAB CODING. REQUIREMENT: LAPTOP /DESKTOP COMPUTER, MATLAB OR SCILAB SOFTWARE. ‘THEORY: 1. FIRST ORDER CONTROL SYSTEM c Ri 459 (5) FIG. 1: BLOCK DIAGRAM GF FIRST ORDER CONTROL SYSTEM WITH UNITYFEEDBACK GAIN ‘TRANSFER FUNCTION OF FIRST ORDER CONTROL SYSTEM 15- crs) 1 R(S) 1st OUTPUT OF FIRST ORDER CONTROL SYSTEM FIG. 2: BLOCK DIAGRAM OF SECOND ORDER CONTROL SYSTEM WITH UNITYFEEDBACK GAIN ‘TRANSFER FUNCTION OF SECOND ORDER CONTROL SYSTEI Scanned with CamScanner‘SCILAB CODE FIRST ORDER CONTROL SYSTEM: -OLY([1]’S' COEFF) DEN=POLY(|1 T'S. COEFF) ‘TReSYSLIN('C:, NUM, DEN) 05:5; IM['STEP'T,TF); FIGURE(1); PLOT(T.SYS1): XLABEL( TIME): YLABEL('C(T)'); TITLE( TIME RESPONSE OF FIRST ORDER CONTROL SYSTEM FOR UNIT STEP INPUT}; SYSZ=CSIM[IMPULSE.T.T FIGURE(2); PLOT(T.SYS2): XLABEL( TIME"): YLAB VW ‘TITLE( TIME RESPONSE OF FIRST ORDER CONTROL SYSTEM FOR IMPULSE INPUT):RAMP=T; ‘SYS3=CSIM(RAMP,T,TE}; FIGURE(3); PLOT(T,SYS3); XLABEL( TIME"); YLABEL(‘C(T)'): ‘TITLE[‘TIME RESPONSE OF FIRST ORDER CONTROL SYSTEM FOR RAMP INPUT); Scanned with CamScanner“Tame sana none et fiat areas enntret ween fas unit nap emt Tome FIG.1; TIME RESPONSE OF FIRST ORDER CONTROL SYSTEM FOR UNIT STEP INPUT ‘Tine response of fimt order esintre! system fo! Impulse Input 1 os. os: 04. o2. Thine 2: TIME RESPONSE 01 FIRST ORDER CONTROL SYSTEM FOR IMPULSE INPUT Scanned with CamScannerTime tesponse of fint onde} cantral system for ramp input Time FIG.3: TIME RESPONSE OF FIRST ORDER CONTROL SYSTEM FOR RAMP INFUT ‘SCILAB CODE SECOND ORDER CONTROL SYSTEM a + Dhan th ls) Ris) cLe: VS COEFF); DEN1=POLY{IWN*2 2*DELTA"WN uM XLABEL(TIME"; YLABEL(‘C(T)'); TITLECTIME RESPONSE OF SECOND ORDER CONTROL SYSTEM FOR UNIT STEP ‘SIM(‘IMPULSE',T,TF_SOCS); PLOT(TIMP. XLABEL(’TIME Ve Scanned with CamScannerYLABEL(‘C(T)): TITLE[(TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM FOR IMPULSEINPUT’); RAMP_RI CSIM(RAMP,T,TE_SOCS): FIGURE(4); PLOT(T.RAMP_RESP); XLABEL('TIME’ YLABEL('CIT)'): TITLE(' TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM FOR RAMP INPUT"); Time tespense of secen order contiel system fo! unit step input 15 os Time FIG: TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM FOR UNIT STEP INPUT Time fespense of sect 4 id ere | eerttol yptern for impute Input Thine FIGS: TIME RESPONSE OF SECOND QRDER CONTROL SYSTEM FOR IMPULSE INPUT Scanned with CamScannerFIG.6: TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM FOR RAMP INPUT. ‘Scanned with CamScannerEXPERIMENT NO: 6 TIME RESPONSE OF FIRST AND SECOND ORDER CONTROL SYSTEM AIM/OBJECT; TO OBTAIN THE IMPULSE, STEP AND RAMP SIGNAL RESPONSE OF THE FIRST AND SECOND ORDER CONTROL SYSTEM USING THE SIMULINK/XCOS TOOL IN MATLAB/SCILAB. REQUIREMENT: LAPTOP/DESKTOP COMPUTER, MATLAB OR SCILAB SOFTWARE. THEORY: 4. FIRST ORDER CONTROL SYSTEM RCs ct) FIG. 1: BLOCK DIAGRAM OF FIRST ORDER CONTROL SYSTEM WITH UNITYFEEDBACK GAIN ‘TRANSFER FUNCTION OF FIRST ORDER CONTROL SYSTEM 15+ c(s) 1 RIS) 14st OUTPUT OF FIRST ORDER CONTROL SYSTEM Cs) = ) RU) 2. SECOND ORDER CONTROL SYSTEM. R(s) FIG. 2; BLOCK DIAGRAM OF SECOND ORDER CONTROL SYSTEM WITH UNITYFEEDBACK GAIN ‘TRANSFER FUNCTION OF SECOND ORDER CONTROL SYSTEM: Scanned with CamScannerFIG.3: FOCS WITH UNIT STEP INPUT (A) BLOCK DIAGRAM (1) TIME RESPONSE Scanned with CamScanner‘SECOND ORDER CONTROL SYSTEM (SOCS) USING SCILAB XCOS FiG.6: SOCS WITH RAMP INPUT (A) BLOCK DIAGRAM (8) TIME RESPONSE Scanned with CamScannerEXPERIMENT NO :7 ANALYSIS OF DAMPING BEHAVIOR GF SECOND ORDER CONTROL SYSTEM FOR UNITSTEP INPUT AIM/OBJECT: TO ANALYZE THE DAMPING BEHAVIOR OF A SECOND ORDER CONTROLSYSTEM FOR UNIT STEP INPUT USING SIMULINK/XCOS, REQUIREMENT: LAPTOP/DESKTOP COMPUTER, MATLAB OR SCILAB SOFTWARE. ‘THEORY: SECOND ORDER CONTROL SYSTEM Ris) FIG 1: BLOCK DIAGRAM OF SECOND ORDER CONTROL SYSTEM WITH UNITYFEEDBACK GAIN ‘TRANSFER FUNCTION OF SECOND ORDER CONTROL SYSTEM: aa (ety) of P+ the par FIG2 SIMULATION BLOCK DIAGRAM OF SECOND ORDER CONTROL SYSTEM WITH UNITSTEP INPUT USING XCOS. HERE EACH FORWARD PATH BLOCK SHOW DIFFERENT VALUE OF DAMPING RATIO (6) AND A CONSTANT VALUE OF Wy CONSIDE VALUE OF W.=5, AND DAMPING RATIO (5) = (0, 0.1, 0.5, 0.8, 1, 2}, FIG.3 SHOWS THE TIME RESPONSE CURVE FOR DIFFERENT VALUE OF DAMPING RATIO. THE SYSTEM SHOWS DIFFERENT RESPONSES FOR DIFFERENT VALUE OF DELTA. Ad =O; OSCILLATORY RESHONSE Scanned with CamScannerB) 6 <1, UNDER DAMPED RESPONSE C) &=1; CRITICAL DAMPED RESPONSE 1D) 6 >1; OVERDAMPED RESPONSE Bes 254 2805x5si a 25 254 2x0Bx5s+ 5° 25 25+ 10s+e FIG2; SIMULATION BLOCK DIAGRAM OF SECOND ORDER CONTROL SYSTEM WITH UNIT STEP INPUT USING XCOS, HERE, EACH FORWARD BLOCK CONSIDER THE VALUE OF DAMPING RATIO (8) = (0, 0,1, 0,5, 0,8, 1, 2), RESPECTIVELY. Scanned with CamScannerof damping tatiotay utp or Ampltode FIGS: TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM WITH VARYINGVALUE OF DAMPING RATIO, SCILAB CODE WE CAN PERFORM THE SAME WITH THE USE OF SCILAB CODE HERE, IS THESCILAB CODE FOR THE SAME. DISPTRANSFER FUNCTION OF SECOND ORDER CLOSE LOOP CONTROL SYSTEM'IS="%S; WNeS.// NATURAL FREQUENCY QF OSCILLATION D=[0 0.1.0.5 0.8 | 2):// D IS DAMPING RATIO OF ‘TRI=(WN*2)/ ((5*2)+(2°B( 1 W'S) +(WN*2)) TR2=(WN*2)/ (82) + (2°02) WNS)+(WN42)) TF3=(WN*2) /((S*2)+(2°0(3)"WN'S)+(WN*2)) ‘TRA=(WN*2)/((S*2)+(2*0 C4)" WH'S)+ CWN%Z)) TRS (WINOZ)/ (82) (2405) Whes)+(WNOZ)) TEG= (WN*2)/ ((S*2) + (2°D(G)WN'S) + (WN*2)) ‘T=0:0.005:5; // TIME FOR XAXIS: Scanned with CamScannerSYSTSCSIM[('STEP\T.TF1); SYS: : SYS: SYS4=CSIMU'STEP.T.TF4); IM'STEP'T.TFS): SIM[STEP'T,TF6); DISP('STEP RESPONSE OF SECOND ORDER CLOSE LOOP CONTROL SYSTEM WITH VARYING VALUE OF 0’) PLOTIT,SYS1, T,SYS2, T, SYS3, T, SYS4, T, SYSS, T, SYS6) ‘TTLE((TIME RESPONSE OF SECOND ORDER CONTROL SYSTEM WITH VARYINGVALUE OF DAMPING RATIO(D)') XLABEL( TIME’) YLABEL('OUTPUT OR AMPLITUDE’) HL=LEGEND((" Scanned with CamScannerEXPERIMENT NO: 8 EVALUATE THE PERFORMANCE OF CONTROLLERS AIM/OBJECT: TO EVALUATE THE PERFORMANCE OF P, PI, PD AND PID CONTROLLERS USING SIMULINK/XCOS, REQUIREMENT; LAPTOM/DESKTOP COMPUTER, MATLAB OR SCILAB SOFTWARE. THEORY: CONSIDER THE FOLLOWING UNITY FEEDBACK SYSTEM SHOWN IN FIG. 1. IT CONSISTS OF CONTROLLER, PLANT, AND-COMPARATOR UNIT. CONTROLLER PROVIDES EXCITATION FOR ‘THE PLANT; DESIGNED TO CONTROL THE OVERALL SYSTEM BEHAVIOR. THE CONTROLLER, (AN ANALOGUE/DIGITAL CIRCUIT, AND SOFTWARE),IS TRYING TO KEEP THE CONTROLLED VARIABLE SUCH AS TEMPERATURE, LAQUIDLEVEL, MOTOR VELOCITY, ROBOT [INT ANGLE, ATACERTAIN VALUE CALLED THE SET POINT, A FEEDBACK CONTROL SYSTEM DOES THIS BY. LOOKING AT THE ERROR (E) SIGNAL, WHICH IS THE DIFFERENCE BETWEEN WHERE THE CONTROLLED VARIABLE (CALLED THE PROCESS VARIABLE) 1S, AND WHE! SHOULD BE, BASED UPON THE ERROR SIGNAL, THE CONTROLLER DECIDES THE MAGNITUDE AND THE DIRECTION OF THE SIGNAL TO'THE ACTUATOR. Controller FIG: UNETY FEEDBACK CONTROL SYSTEM WITH CONTROLLER THESE CONTROLLERS ARE P (PROPORTIONAL), | (INTEGRAL), D (DERIVATIVE), PL (PROPORTIONAL + INTEGRAL), PD (PROPORTIONAL + DERIVATIVE), AND PID (PROPORTIONAL + INTEGRAL) + DERIVATIVE). EACH CONTROLLER IS EXPLAINEDBELOW: 1, PROPORTIONAL CONTROL IN PROPORTIONAL CONTROLLER, THE OUTPUT OF A CONTROLLER IS PROPORTIONAL TO THE ERROR SIGNAL. WITH PROPORTIONAL CONTROL, THE ACTUATOR APPLIES A Scanned with CamScannerCORRECTIVE FORCE THAT IS PROPORTIONAL TO THE AMOUNT OF ERROR: UT} = KP ™»E(T) UCT) = KP ECT) WHERE, U(T) = SYSTEM OUTPUT DUE TO PROPORTIONAL CONTROL. KP = PROPORTIONAL CONSTANT FOR THE SYSTEM CALLED GAINE(T}= ERROR SIGNAL, ‘THE LAPLACE TRANSFORM OF ABOVE EQUATION IS U(S)=KP. E(S) 2. PROPORTIONAL + DERIVATIVE CONTROLLER IN DERIVATIVE CONTROLLER, THE OUTPUT OF CONTROLLER 1S THE DERIVATIVE OFTHE ERROR SIGNAL. THE DERIVATIVE CONTROLLER OUTPUT IS: eet) (mo cc at «x WE CANNOT USE DERIVATIVE CONTROLLER ALONE, [T CAN BE USED WITH THE COMBINATION OF PROPORTIONAL AND DERIVATIVE, NAMED AS PD CONTROLLER. Be (a) MO) = es Maem) + tr 3. PROPORTIONAL + INTEGRAL CONTROLLER IN INTEGRAL CONTROLLER, THE OUTPUT OF CONTROLLER ISTHE INTEGER OF THEERROR SIGNAL, THE DERIVATIVE CONTROLLER OUTPUT IS: THE OUTPUT OF AN INTEGRAL CONTROLLER IS: O(n) o fo(e)oo (2) = Me f memyee SIMILARLY, DERIVATIVE CONTROLLER, WE CANNOT USE INTEGER CONTROLLER ALONE, IT CAN BE USED WITH THE COMBINATION OF PROPORTIONAL CONTROLLER, NAMED AS PI CONTROLLER PROPORTIONAL-INTEGRAL (PI) CONTROLLER OUTPUT: 8(G) = 8 B(8) +o. faceyae Ba) = a, Bia +8 8) Scanned with CamScannerBe (0) = (Be + 9) UE) 4. PROPORTIONAL + INTEGRAL + DERIVATIVE CONTROLLER: PID CONTROLLER [5 THE COMBINATION OF EACH CONTROLLER. IN PID CONTROLLER, THE OUTPUT OF CONTROLLER 15 THE SUM OF PROPORTIONAL CONTROLLER OUTPUT, INTEGER CONTROLLER OUTPUT AND DERIVATIVE CONTROLLER OUTPUT. ents) O(@) = Gy O(8) +O, [o(o)e8 + is on (0) G(A) = Sy OO) + ——+ me O(a) mcmy= (0 4 Beem yeep ag Ff ADVANTAGES OF CONTROLLERS © THE PROPORTIONAL CONTROLLER (K-) WILL HAVE THE EFFECT OF REDUCING THE RISE TIME AND WILL REDUCE, BUT NEVER ELIMINATE, THE STEADY STATE ERROR. © AN INTEGRAL CONTROLLER (K) HAVE TI STEADY STATE ERROR, BUT [T MAY MAKE THE TRANSIENT, OF ELIMINATING THE ESPONSE WORSE. © A DERIVATIVE CONTROL (K.) WILL HAVE THE EFFECT OF INCREASING THE STABILITY OF THE SYSTEM, REDUCING THE OVERSHOOT AND IMPROVING THE TRANSIENT RESPONSE. EFFECT OF EACH CONTROLLER Ks, Ki AND Ky ON THE CLOSED-LOOP SYSTEM ARE SUMMARIZED BELOW CL Response | Rive Thine Overshoot Settling Time Error Kp Decreave Increise ‘Small Change | Deetease Ki Dectease [increase ncreases Eliminate Kp, HChonge | Decreases Decreases ‘Small Change NOTE THAT THESE CORRECTIONS MAY NOT RE ACCURATE, BECAUSE K,, Ki AND KARE DEPENDENT OF EACH OTHER, IN FACT, CHANGING ONE OF THESE VARIABI eS Scanned with CamScannerCAN CHANGE THE EFFECT OF THE OTHER TWO. FOR THIS REASON THE TABLE SHOULD ONLY BE USED AS A REFERENCE WHEN YOU ARE DETERMINING THE VALUES FOR KP, Ki, AND EK), ‘SCILAB XCOS: ‘THE CLOSED-LOOP TRANSFER FUNCTION OF THE SECOND ORDER SYSTEM WITH A PROPORTIONAL CONTROLLER IS: ma Re) 79 loss Gem LOCK DIAGRAM OF P CONTROLLER FIG.3:XCOS SIMULATION DIAGRAM WITH CONTROLLER IN ‘THE ABOVE DIAGRAM, EACH BLOCK SETTINGS ARE SHOWN BELOW: Scanned with CamScannerL STEP LOCK PARAMETER SETTING 2 Pit BLOCK PARAMETER SETTING 3. CLOCK BLOCK PARAMETER FiGe, OUTTIT RESPAVSE OH CENTER (P=, =, AND =D} ig 5 OUTTET RESTUNSE CHTETHOLERR (KP?*200. 20, AND K-=10) P-CONTROLLER RESPONSE: Scanned with CamScannerTHE ABOVE PLOT SHOWS THAT THE PROPORTIONAL CONTROLLER REDUCED BOTHTHE RISE TIME AND THE STEADY-STATE ERROR, BUT, INCREASED THE OVERSHOOT, AND DECREASED THE SETTLING TIME BY SMALL AMOUNT, PD-CONTROLLER RESPONSE THIS PLOT SHOWS THAT THE DERIVATIVE CONTROLLER REDUCED BOTH THE OVERSHOOT: AND THE SETTLING TIME, AND HAD A SMALL EFFECT ON THE RISE TIME AND THE STEADY: STATE ERROR, Time rearee wpe Gear “Te nae) ° . “me an) F166: OFTTOT RESPONSE OF FH CONTTORLER (39-3100, E~70,%E-0) G7) OFTRUT mESEORSE HF 1D CNTHERLER (KP*300, E-20,¥, 300) Pl- CONTROLLER RESPONSE WE HAVE REDUCED THE PROPORTIONAL GAIN (KP) BECAUSE THE INTEGRAL CONTROLLER ALSO REBUCES THE RISE TIME AND INCREASES THE OVERSHOOT AS THE PROPORTIONAL CONTROLLER DOES (DOUBLE EFFECT).THE ABOVE RESPONSE SHOWS THAT THE INTEGRAL CONTROLLER ELIMINATED THE STEADY-STATE ERROR. PID- CONTROLLER RESPONSE NOW, WE HAVE OBTAINED A CLOSED-LOOP SYSTEM WITH NO OVERSHOOT, FAST RISE ‘TIME, AND NO STEADY-STATE ERROR. SO, THE PROPERTY OF PID CONTROLLERIS TO SHOW YOU HOW EACH OF KP, K, AND K, CONTRIBUTES TO OBTAIN: J. FAST RISE TIME 2. MINIMUM OVERSHOOT 3. NO STEADY-STATE ERROR Scanned with CamScannerSUBMITTED BY PRIYAM JAIN 0901EC191088 EC 3rd YR. Vth Sem SECTION B Spe” Scanned with CamScanner