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Palestine Polytechnic University College of Engineering

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Palestine Polytechnic University College of Engineering

Uploaded by

215187
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Palestine Polytechnic University

College of Engineering

Electrical Engineering Department


Control Lab

Experiment #4

Closed loop system part 1:


Speed control using Proportional Controller

Student name

Mohannad Shalalfeh (215031)


Bahaa Qafesheh(215187)
Mohammad najjar (215003)
Mosa daajneh(215269)
2024

Objective :
1) Study the characteristics of an closed loop control system .
2) Effect of adding external loads to a DC Motor
Methodology:
A closed loop control system is a mechanical or electronic device that automatically
regulates a system to maintain a desired state or set point without human interaction. It
uses a feedback system or sensor.

In a closed loop system, the transfer function defines the mathematical relationship
between the input and the output. The change on the output by the input or the
relationship between the detected sensor value is known as the gain of the system.
Defining the transfer function of the system based on the gain and the desired state
may require careful calculation for best results.

A proportional controller (P-controller) is a type of feedback control system that adjusts


the control signal of a system u(t) in proportion to the error e(t) calculated between
the setpoint and the actual output y(t)This type of controller is commonly used in
closed-loop control systems to ensure that the output of the system remains as close as
possible to the setpoint.
result and Tables
1) P controller characteristics

Fig (1) a: P controller input characteristics (5v,100Hz)


Kp = 3
Vi(volt) 0 1 2 3 4 5 6 7 8
Vo(Volt) 0 3 6 8.9 11.1 11.2 11.3 11.3 11.3
Vi 0 -1 -2 -3 -4 -5 -6 -7 -8
Vo 0 -3 -6 -9 -11.3 -11.3 -11.3 -11.3 -11.3

Fig(1) b : P controller output characteristics (Kp =3)

Table 1: Input output relation with constant Kp

And the relation between input and output is :


Fig(2) : P-controller input output relation
2) Closed loop speed Control system with P-controller at input voltage 1.5V
Table 2 : Effect of Kp on the output response
Kp 1 2 4 6 8 10 20 30
ꞷout 130 380 690 880 1000 1100 1200 1320
Ts 2 1.75 1.5 1.2 0.9 0.75 0.5 0.4
Ess(measured) 1370 1120 810 620 500 400 300 180
Ess(calculated) 1071 833.3 681.8 441.1 357.1 300 166.6 115.3
Ess measured = 1500 - ꞷ out | ess calculated = 1.25ꞷI / (1.25+0.5Kp)

3) To find the disturbance effect at Ts = 1.5s


τ = 1.5/5 = 0.3  α =3.333  α = 1.25+0.25Kp  Kp = 8.3
Table 3: Disturbance effect with the presence of P-Controller

Multisim

Loads τ1(one lamp) τ2(two lamp) τ3(three lamps)


ꞷ output(rpm) 980 980 960
Ts(sec) 1 1.05 1.1
ess 20 20 40
1) P controller

Kp = 3
Vi(volt) 0 1 2 3 4 5 6 7 8
Vo(Volt) 0 2.9 5.9 8.9 11.8 12 12 12 12
Vi 0 -1 -2 -3 -4 -5 -6 -7 -8
Vo 0 -2.9 -5.9 -8.8 -11.8 -12 -12 -12 -12

fig(1) the p controller

2) Closed loop speed


Fig(2) closed loop system
The result from the curve

Fig(3) a- result at Kp = 1/ Ts=1.16sec


b- at Kp = 2 \ Ts = 0.94 sec

c- at Kp = 30 \ Ts = 0.85 sec
3) The disturbance effect

fig(3): closed loop system with loads

The result for add 3lamps @ Kp = 8.3 will be :


1) One lamp

Fig(4) : a- the curve at one lamp( speed = 1172rpm )


2) Two lamp

b) the curve at 2lamp (speed = 1160 )

3) Three lamps :

c) the curve at 3 lamps (speed = 1155 rpm)


conclusion :
1- In this system the transducer convert the speed to the voltage and controller that increase
gain (leads to increase voltage ).
2- In p-controller the increase in gain leads to decrease in (𝜏) that’s leads to decrease settling
time .
3- P-controller has zero phase shift and linear .

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