MEC522 - CONTROL ENGINEERING

SCHOOL OF MECHANICAL ENGINEERING

UNIVERSITI TEKNOLOGI MARA (UiTM) SHAH ALAM SELANGOR

Problem Based Learning (PBL) Project

Closed Loop PID Position Control System

1. Title
Closed Loop Angular Position Control System using PID Controller

2. Objectives
 To develop mathematical models and principles of control system for the Angular
Position Control System
 To propose appropriate solutions and analyze the performance of the PID controller
of the system

3. Method of Approach

Pulse Width Output,

Desired Angle
+ Controller Actual Angle
Modulation DC Motor
- (Arduino)
(PWM)

Measured Angle Angle Sensor Actual Angle

(Encoder)

Figure 1: Block diagram of the Position control using DC servomotor

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 Figure 2: Schematic diagram of system’s connection

 Read and understand the control system as shown in Figure 1.

 Identify input and output of the control system

 Verify the hardware configuration and the interfacing of the control system as shown
in Figure 2.

 Implement the P-I-D controller to the system.

i. Proportional controller (P controller)
ii. Proportional and integral controller (PI Controller)
iii. Proportional, integral and derivative controller (PID controller)

 Improve the performance of the system using Ziegler-Nichols Tuning Rules for PID
Controller. The requirement is open which means that you should try to achieve as
good as possible performance for transient, stability as well as signal tracking. Use a
unit step signal of magnitude 270o (384 counts).

 Attempt to achieve the best possible system performance. The best performance of
the control system based on
i. disturbance rejection
ii. steady-state error
iii. the peak time
iv. settling time
v. percentage of overshoot, etc.

 Write a report based on this PBL project

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 4. PBL Report 1

The report is a group report which has the following headings;

i. Introduction
ii. Objectives
iii. Methodology
iv. Results, Analysis and Discussion
v. Conclusions

The report shall also include but not limited to the following items; flow chart of the
computer algorithm, source code of computer algorithm, schematic diagram of the system
interfacing, explanation on the working principle of dc motor, encoder, PWM amplifier, and
the microcontroller.

5. Report Submission
Submission date: (Week 12, 8:10am)
Total marks: 10 marks (5 marks for Introduction, Objectives, and Methodology)
(5 marks for Analysis/evaluation, Discussion, and Conclusions)
LATE Submission: 5 marks per day will be deducted for late submission

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