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Lab 09 Speed Control of QNET DC Motor Using PI Control

This document describes an experiment to control the speed of a DC motor using PI control. It provides theoretical background on PI control. The objectives are to design a PI controller to meet specifications for step response and implement it on a QNET DC motor. Calculations are shown to find model parameters and PI gains. Lab tasks involve implementing the controller in software and measuring the step response to verify it meets specifications.

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Shoaib Ilyas
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© © All Rights Reserved
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23 views

Lab 09 Speed Control of QNET DC Motor Using PI Control

This document describes an experiment to control the speed of a DC motor using PI control. It provides theoretical background on PI control. The objectives are to design a PI controller to meet specifications for step response and implement it on a QNET DC motor. Calculations are shown to find model parameters and PI gains. Lab tasks involve implementing the controller in software and measuring the step response to verify it meets specifications.

Uploaded by

Shoaib Ilyas
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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DHA SUFFA UNIVERSITY Dept.

of Mechanical Engineering
Control Engineering Lab ME-4102L

LAB # 9
Speed Control of QNET DC Motor using PI Control
Objective
To control speed of QNET DC motor using Proportional Integral (PI) Control.

Theoretical Background
Recall the transfer function of DC Motor obtained in Lab 07 QNET DC MOTOR
MODELING. To control a plant usually an error is generated by taking the difference of input
and feedback of output as shown in Figure 11.1.

Figure 11.1 Typical Example of Unity Feedback System

As it is clear from Figure 11.1 that the plant performance can only be changed if and only if
you change the whole plant. At times it is very costly and sometimes very difficult to change
the performance of plant by replacing plant. Keeping in view the problem let’s examine the
block diagram as shown in Figure 11.2

Figure 11.2 Block Diagram for adding controller

Now let’s examine what happens to the performance of plant by adding a controller in series
with plant.

Lab 09 | Speed Control of QNET DC Motor using PI Control Page 1 of 4


DHA SUFFA UNIVERSITY Dept. of Mechanical Engineering
Control Engineering Lab ME-4102L
PID Control
The proportional, integral, and derivative control can be expressed mathematically as
follows
𝑡
𝑢(𝑡) = 𝑘𝑝 𝑒(𝑡) + 𝑘𝑖 ∫0 𝑒(𝑟)𝑑𝑟 + 𝑘𝑑 𝑑𝑒(𝑡) ….. (11.1)
𝑑𝑡
The corresponding block diagram is given in Figure 11.1. The control action is a sum
of three terms referred to as proportional (P), integral (I) and derivative (D) control
gain. The above controller Equation can also be described by the transfer function

𝑘𝑖 𝑘𝑑𝑠2+𝑘𝑝𝑠+𝑘𝑖
𝑐(𝑠) = 𝑘𝑝 + + 𝑘𝑑𝑠 = 𝑠
….. (11.2)
𝑠
The block diagram of PID Controller is shown in Figure 11.3

Figure11.3 Block diagram of PID control

The functionality of the PID controller can be summarized as follows.


 The proportional term is based on the present error
 the integral term depends on past errors, and
 the derivative term is a prediction of future errors.
The PID controller described by Equation 11.1 or Equation 11.2 is an ideal PID
controller. However, attempts to implement such a controller may not lead to a good
system response for real-world system. The main reason for this is that measured
signals always include measurement noise. Therefore, differentiating a measured
(noisy) signal will result in large fluctuations, thus will result in large fluctuations in
the control signal.

PI Control Design
The Block diagram of PI controller is shown in Figure 11.4

Figure 11.4 Block diagram of PI Controller

Lab 09 | Speed Control of QNET DC Motor using PI Control Page 2 of 4


DHA SUFFA UNIVERSITY Dept. of Mechanical Engineering
Control Engineering Lab ME-4102L
And the input-output relation for a PI controller is described by
𝑐(𝑠) = 𝑘 + 𝑘𝑖 = 𝑘𝑝𝑠+𝑘𝑖 ….. (11.3)
𝑝 𝑠 𝑠
the DC motor speed-voltage relation with steady-state gain K and time constant τ is
𝜔𝑚(𝑠) 𝑘
𝑔(𝑠) = = ….. (11.4)
𝑉𝑚(𝑠) (𝑐𝑠+1)
With the PI control Equation gives the closed-loop transfer function for unity feedback
of the motor speed-voltage system
𝑘(𝑘𝑝𝑠+𝑘𝑖)
𝐺= 𝑟
1+𝑘𝑘𝑝 𝑘𝑘𝑖
….. (11.5)
2
𝑠 +( 𝑟
)𝑠+ 𝑟

The standard characteristic equation 𝑠2 + 2𝜉𝜔𝑛𝑠 + 𝜔2𝑛 can be achieved by setting the
Integral gain to
𝜔2 𝑐
𝑘𝑖 = 𝑛 ….. (11.6)
𝑘
and the proportional gain to
−1+2𝜁𝜔𝑛𝑐
𝑘𝑝 = ….. (11.7)
𝑘

Lab Tasks
1. Calculate the expected peak time 𝑡𝑝 and percentage overshoot PO given theoretically
 ζ = 0.75,
 𝜔𝑛 = 16.0 rad/s.
2. Find the parameters of DC motor model steady-state gain K and time constant τ.
3. Find the step response of unity feedback system and note the following characteristics of
uncompensated system.
𝑇𝑟 =
𝑇𝑠 =
𝑇𝑝 =
𝑀𝑝 =
4. Calculate the proportional and integral control gains 𝑘𝑝 & 𝑘𝑖, respectively, to meet the
specifications as in step 1 using equation 11.6 and 11.7.
5. Find the step response of unity feedback compensated system and note the following
characteristics.
𝑇𝑟 =
𝑇𝑠 =
𝑇𝑝 =
𝑀𝑝 =

6. Open the “QNET DC Motor speed Control.vi” in “VI” folder on desktop.


7. Make sure the correct Device is chosen.
8. Run the VI.
9. You should see the DC motor start spinning.
10. In the Signal Generator section set:
 Amplitude (rad) = 25
 Frequency (Hz) = 0.40
 Offset (rad) = 100

Lab 09 | Speed Control of QNET DC Motor using PI Control Page 3 of 4


DHA SUFFA UNIVERSITY Dept. of Mechanical Engineering
Control Engineering Lab ME-4102L
 Signal = ‘square’
11. In the Control Parameters section, set the PI gains to the values found in Step 5.
12. Capture the measured speed response.
13. Make sure you include both the Speed (rad/s) and the control signal Voltage (V) scopes.
14. Measure the peak time and percentage overshoot of the measured speed response. Are the
specifications satisfied?
15. Stop the VI by clicking on the Stop button.
16. What have you learned from this Lab? (Explain in your own words)

NOTE: Attach following with your lab Manual


• All the calculations
• Attach all response

Learning Outcomes:
Upon successful completion of the lab, students will be able to:
LO1: understand the importance of Controllers in changing systems performance
LO2: design PI controller for speed control of DC Motor
LO3: implement design controller on hardware and verify

Lab 09 | Speed Control of QNET DC Motor using PI Control Page 4 of 4

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