Sana’a University Analog Control Systems MT311
Faculty of Engineering 3rd Level
Mechatronics Engineering Department
Practical Lab of Analog Control Systems
DC Motor Position PID Controller
Design
Lab 3
Eng. Moayad [Link]
Winter, 2023
1
Agenda 2
Introduction
DC Motor Position: System Modeling
Design Criteria of Controller
Closed-loop Response
P Control - System's response to a step input
PI Control - System's response to a step input
PID Control - System's response to a step input
Exercise
Introduction 3
We will consider the Analog version of the DC motor position
control problem.
A mathematical model of the system will be derived in order
to get the transfer function.
Then, the procedure to get appropriate values for each
parameter of PID will be introduced.
DC Motor Position: System Modeling 4
The continuous open-loop transfer function for an input of
armature voltage and an output of angular displacement will
be as the following:
DC Motor Position: System Modeling 5
The transfer function of DC motor position:
DC Motor Position: System Modeling 6
The transfer function of DC motor position:
Design Criteria of Controller 7
To design a PID controller and add it into the system. First create
a new m-file to build the model of the system.
Design Criteria of Controller 8
For a 1-rad step reference, the design criteria are the
following:
Settling time less than 0.040 seconds
Overshoot less than 15%
No steady-state error, even in the presence of a step
disturbance input
Open loop step response 9
Closed loop step response 10
We would now like to analyze the closed-loop response of
the system without any additional compensation.
Proportional Control - System's response to a step input 11
In order to facilitate the process of manual tuning; an array of LTI
models, each with a different proportional gain, can be built using
a for loop
Proportional Control - System's response to a step input 12
We can conclude that, increasing values of Kp has the adverse effect
of increasing the overshoot and settling time as can be seen from the
step reference plot.
PI Control - System's response to a step input 13
Let's first try a PI controller to get rid of the steady-state error due to
the disturbance. We will set Kp= 21 and test integral gains Ki ranging
from 100 to 500.
PID Control - System's response to a step input 14
Adding a derivative term to the controller means that we now
have all three terms of the PID controller. We will investigate
derivative gains Kd ranging from 0.05 to 0.25.
PID Control - System's response to a step input 15
However, the overshot of Kd=0.25 is less than Kd=0.15, but both satisfy
the Overshoot criteria. The difference is that Kd = 0.25 has settling time
slightly higher than required, that’s why we will ignore it and choose
Kd=0.15.
Assignment 1: 16
For the following DC Motor speed system :
For a 1-rad/sec step reference, the design criteria are the following.
Settling time less than 2 seconds.
Overshoot less than 5%.
Steady-state error less than 1%.
17
