DESIGNING THE PROPORTIONAL (P) AND PROPORTIONAL-INTEGRAL (PI) CONTROLLERS

Jaudah Abd Rani (AE 110136), Mohd Syazwan Jaafar (AE110085), Siti Nurulhuda Razali (AE110058), Mohamad Sabri Kamal (AE110143) Muhammad Aaqhimullah A Rahman (AE110103), Mohamad Syakir Mohamed Yusuf (AE110054)

Section 2 Dr. Rosli Bin Omar

Faculty of Electrical and Electronic Engineering. University Tun Hussein Onn Malaysia Nyquist plot and to the feasible design specifications for a given process, are derived. These functions, which are particularly useful for the general design of PI and PIDtype controllers for UFOPDT processes are accurately approximated, in order to simplify the tuning procedure. With the proposed approximations, the tuning rules require relatively small computational effort and are particularly useful for online applications. III. FUNCTION OF SERVO SYSTEM The control system for this experiment consists of several servo motor block function. These are the list and the function : A. Power Supply Module (PS150E) Provides the 15 volt DC power supplies through two sets of sockets. These sockets are used to operate small amplifiers and provide reference voltage. The Ammeter is used for monitoring motor overload. Only DC outputs is used in this experiments.

I. INTRODUCTION Control system is a device or set of devices that manages commands, direct or regulates the behavior of other device or system. There are two common types of control system, open loop control system and closed loop system. For this project the closed loop system has been chosen. For this project, we want to determine the rpm speed, overshoot, rise time and seconds settling time of the result. A proportional control system is a type linear feedback control system. PI controllers are fairly common, since derivative action is sensitive to measurement noise, whereas the absence of an integral term may prevent the system from reaching its target value due to the control action. To determine it, the procedure has been followed to make sure the project can be done in specific period that has been decided. The objective of this project is encourage students to know how to obtain the transfer function of certain system that have been learn theory in lecture class and practical in the lab. At the same time by having this kind project is a step to expose the student to the dc motor module (DCM 150 F). The scopes of the project are the stimulation of the project using the MATLAB and the performance of uncontrolled system. II. Literature Review PID Controller is used for tuning of three constants (P, I &D). It stabilizes the system by reducing oscillations and settling time. In the proposed method, new tuning rules based on the exact satisfaction of gain and phase margin specifications using proportional-integral (PI) and proportional-integral-differential (PID) type controllers are used for unstable first-order plus dead-time (UFOPDT) processes. The tuning rules are given in the form of iterative algorithms, as well as in the form of accurate, analytical approximations. Moreover, several specific functions, related to the crossover frequencies of the

Figure 1

B. Input Potentiometer Module (IP150H) And Output Potentiometer Module (IP150K)

D. Attenuator unit module (AU150B)

Figure 2 A potentiometer measuring instrument is essentially a voltage divider used for measuring electric potential (voltage). The input potentiometer (IP150H) and output potentiometer (OP150K) provided by Feedback Instruments Limited are one-turn rotary potentiometers. The input potentiometer has 150 usable range of motion and can be used to supply a reference voltage. The output potentiometer is coupled to the output shaft of the Tacho Gear Box. C. Tacho unit module (GT150X) Figure 4 An attenuator is an electronic device that reduces the power of a signal without appreciably distorting its waveform. An attenuator is effectively the opposite of an amplifier, though the two work by different methods. While an amplifier provides gain, an attenuator provides loss, or gain less than 1. Attenuators are usually passive devices made from simple voltage divider networks. Fixed attenuators in circuits are used to lower voltage, dissipate power, and to improve impedance matching. In measuring signals, attenuator pads or adapters are used to lower the amplitude of the signal a known amount to enable measurements, or to protect the measuring device from signal levels that might damage it. Attenuators are also used to 'match' impedance by lowering apparent SWR.

E. Pre-amplifier (PA150A) A preamplifier (preamp) is an electronic amplifier that prepares a small electrical signal for further amplification or processing. A preamplifier is often placed close to the sensor to reduce the effects of noise and interference. It is used to boost the signal strength to drive the cable to the main instrument without significantly degrading the signal-to-noise ratio (SNR).

Figure 3 A tachometer is an instrument measuring the rotation speed of a shaft or disk, as in a motor or other machine. The device usually displays the revolutions per minute (RPM) on a calibrated analogue dial, but digital displays are increasingly common. This Tacho unit is used to measure the RPM of the motor in this experiments.

F. Operational amplifier (OA150A)

A servo drive receives a command signal from a control system, amplifies the signal, and transmits electric current to a servo motor in order to produce motion proportional to the command signal. A sensor attached to the servo motor reports the motor's actual status back to the servo drive. The servo drive then compares the actual motor status with the commanded motor status. It then alters the voltage frequency or pulse width to the motor so as to correct for any deviation from the commanded status.

H. DC motor module (DCM150F)

Figure 5 An op-amp normally connected as a unity-gain summinginverter by means of the 3-position switch mounted on it. It is used as the angular-position-error detector. Since the unit is a summing amplifier, the feedback signal polarity must be reversed with respect to the reference signal, in order that the output will represent the error. The unit has three summing input terminals, and the output is available at two (or three) output sockets. The unit also has a zero-set control and a selector switch, which selects the feedback (normally resistive) within the unit. The selector switch is normally switched to the leftmost position indicating resistive feedback with unity gain. The op-amp must be zeroed before use. G. Servo amplifier module (SA150D)

Figure 7 A DC motor is a mechanically commutated electric motor powered from direct current (DC). DC motors have a rotating armature winding but non-rotating armature magnetic field and a permanent magnet. The speed of a DC motor can be controlled by changing the voltage applied to the armature or by changing the field current. DC motors can operate directly from rechargeable batteries. Today DC motors are still found in applications as small as toys and disk drives, or in large sizes to operate steel rolling mills and paper machines.

IV. MATHEMATICAL MODEL OF DC MOTOR MODULE DCM150F

Figure 6

The motor torque, T Eq. 1 The generated voltage, Eq. 2 Based on Newtons Law combined with Kirchhoff Law produce Eq. 3 Eq. 4 Laplace Transform equation (3) and (4) produce Eq. 5 Eq. 6 Rearrange equation (6) Eq. 7 Substitute equation (7) in equation (5) produce Eq. 8 From equation (8), the transfer function from the input voltage, V(s) to the output angle, Eq. 9 Figure 10 : P Controller Simulink Design V. MATLAB PROPORTIONAL (P) AND PROPORTIONALINTEGRAL (PI) CONTROLLER DESIGN

Figure 9 : P Controller PID Tuner Viewer

Figure 8 : DC Motor Module

Figure 11 : PI Controller PID Tuner Viewer

Figure 12 : PI Controller Simulink Design

VI. LAB PROPORTIONAL (P) AND PROPORTIONAL-INTEGRAL (PI) CONTROLLER DESIGN The control system are represented by the given set up and block diagram. Firstly, the parameters to obtain from the motor plant is the time constant, . A. Control system plant design without controller.

Figure 14 : Output and Input Graph

Figure 13: Block Diagram Given: Rpm speed: 2500 rpm = = 0.402 V

B. Control system with proportional controller. Below are the block diagram representing the control system with proportional controller.

= 4.82 v = 12 Figure 15 : Block Diagram Block diagram:

=0.18 Ignore value of

Let s=0

b = 13.84

= = = ,

= = =

= 2 =

= 11.015 = = 0.363

= 22.03 = 0.094

Tr = = =
Figure 16 : Output and Input Graph

=
C. Control system with proportional-integral controller. Below are the control system design with proportionalintegral controller in place. =14.8ms

Figure 17 : Block Diagram

= = = =
= 13840 = 117.64 2 = 22.03

Figure 18 : Output and Input Graph

VII.

COMPARISON OF RISE TIME, SETTLING TIME, RPM SPEED AND OVERSHOOT. P CONTROLLER Matlab Laboratory 2780 0 396 ms 0.719 s Laboratory 2920 0 14.8 ms 0.094 s

IX. DISCUSSION. From the findings, the results show some difference in all of the method, whether without controller, with P and PI controller and practical practise. Firstly, the system is observed using MATLAB simulink. When no controller is used to drive the plant (motor transfer function), the result shows that the system has overshoot and the time for system to rise, settling time and so on takes a bit long, compared to other result. This is because, there is no controller to control the input that keeps rotation in the close loop system until steady state, and hence the systems become less efficient. After applying P controller at the system, the value of rise time, settling time and so on becomes faster, showing that the system efficiency has improved. After applying the PI controller, rise time, settling time and others become even faster, showing the system much more efficient. When applying the system with PI controller in laboratory, result shows that the rise time, settling time and so on in increase, even better compared to system without controller. However, the value is quite big compared to system with PI controller by using MATLAB simulink. This is because, in practical use, noise can interface by many source surround the system. For instance, thermal noise that is generated while signal is going through the ic and man-made noise. To reduce the noise, we can decrease the value of frequency at function generator.

RPM speed (rpm) Overshoot (%) Rise Time, Tr (s) Settling Time, Ts (s)

58.9 0.722 1.29 PI Controller Matlab

RPM speed (rpm) Overshoot (%) Rise Time, Tr (s) Settling Time, Ts (s)

13.8 0.81 2.96

VIII.

APPARATUS SETTING

REFERENCES
[1] [2] [3] [4] Dorf and Bishop, Modern Control Systems, 9th Ed., Prentice-Hall, Inc. 2001, 1998. Franklin, G. F, Powell, J. D. ,and Emami-Naeini, A. Feedback Control of Dynamic Systems, 2ded. Addison-Wesley, Reading, MA, 1991. The Math Works. Control System Toolbox 8 User's Guide. The Math Works, Natick,MA. 2001-2009. The Math Works. MATLAB Jfc 7 Getting Started Guide. The Math Works. Natick,MA. 1984-2009.

Figure 19 : Control System Set Up

Figure 20 : P and PI Controller Circuit