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    Lab Report CS 4

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    ubaid
    This document describes an engineering lab experiment on designing PID controllers for various systems using MATLAB. The objective is to learn how to design PID controllers and apply them to different systems, including a mass-spring-damper model and a ball and beam system. The document provides the methodology, including obtaining open-loop responses, adding proportional, derivative and integral controls to achieve desired step responses with fast rise time, minimum overshoot and no steady-state error. It also lists the tasks completed, which involve implementing PID controllers on the given systems and analyzing the responses.

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    Lab Report CS 4

    Uploaded by

    ubaid
    36 views8 pages
    This document describes an engineering lab experiment on designing PID controllers for various systems using MATLAB. The objective is to learn how to design PID controllers and apply them to different systems, including a mass-spring-damper model and a ball and beam system. The document provides the methodology, including obtaining open-loop responses, adding proportional, derivative and integral controls to achieve desired step responses with fast rise time, minimum overshoot and no steady-state error. It also lists the tasks completed, which involve implementing PID controllers on the given systems and analyzing the responses.

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    LAB REPORT CS 4

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    This document describes an engineering lab experiment on designing PID controllers for various systems using MATLAB. The objective is to learn how to design PID controllers and apply them to different systems, including a mass-spring-damper model and a ball and beam system. The document provides the methodology, including obtaining open-loop responses, adding proportional, derivative and integral controls to achieve desired step responses with fast rise time, minimum overshoot and no steady-state error. It also lists the tasks completed, which involve implementing PID controllers on the given systems and analyzing the responses.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    36 views8 pages

    Lab Report CS 4

    Uploaded by

    ubaid
    This document describes an engineering lab experiment on designing PID controllers for various systems using MATLAB. The objective is to learn how to design PID controllers and apply them to different systems, including a mass-spring-damper model and a ball and beam system. The document provides the methodology, including obtaining open-loop responses, adding proportional, derivative and integral controls to achieve desired step responses with fast rise time, minimum overshoot and no steady-state error. It also lists the tasks completed, which involve implementing PID controllers on the given systems and analyzing the responses.

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    © All Rights Reserved
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    of 8

    EEE325– Control Systems

    Lab # 04
    Design of Proportional-Integral-Derivative (PID) Controller using
    MATLAB

    Name Ubaid Ur Rehman

    Registration Number FA18-BEE-121

    Class FA18-BSEE-E

    Instructor’s Name Sir Abubakar Talha Jalil

    1
    LAB #4: Design of Proportional-Integral-Derivative (PID) Controller
    using MATLAB
    Objective
    • To Design PID Controller for different systems
    Required:
    Software
    • MATLAB/LABVEIW

    Methodology
    In this lab we learn how to design the PID controller using MATLAB. A PID controller calculates an error
    value as the difference between measured output and a desired set point. The controller attempts to
    minimize the error by adjusting the process control inputs. The transfer function of the PID controller looks
    like the following

    In this lab while desigining PID controller we follow the following step to obtain a desired step
    Obtain an open-loop response and determine what needs to be improved
    Add a proportional control to improve the rise time
    Add a derivative control to improve the overshoot
    Add an integral control to eliminate the steady-state error
    Adjust each of 𝐾𝑝,𝐾𝑖,𝑎𝑛𝑑 𝐾𝑑 until you obtain a desired overall response
    In this lab we are given with mass spring system with transfer function and had to design a PID controller
    to achieve Fast Rise Time, Minimum Overshoot, No Steady-State Error we also design the ball and beam
    system .we are given with their transfer function and had to design the PID controller to achieve the given
    criteria Implement the designed controller in MATLAB and analyse the response of your system before
    and after designing the controller
    Lab tasks
    Task 1
    Mass-Spring-Damper Model
    clc
    clear all
    close all
    m=1
    b=10
    k=20
    fa=1
    num=[1]
    denum=[m b k]
    sys2=tf(num,denum)

    kd=50
    kp=350
    ki=300
    num1=[kd kp ki]
    denum1=[0 1 0]
    sys1=tf(num1,denum1)

    sys3=series(sys1,sys2)
    sys4=feedback(sys3,1,-1)
    stepinfo(sys4)
    abs(dcgain(1-sys4))
    step(sys4)
    output

    Task 2
    Design problem: Ball and Beam System

    clc
    clear all
    close all
    m=0.111
    r=0.015
    g=-9.8
    l=1
    d=0.03
    j=9.99*10^-6
    num=[0 0 (-1)*m*g*d]
    denum=[l.*(j/r^2+m) 0 0]
    sys=tf(num,denum)
    kd=5
    kp=75
    ki=20
    num1=[kd kp ki]
    denum1=[0 1 0]
    sys1=tf(num1,denum1)
    sys2=series(sys1,sys)
    sys3=feedback(sys2,1,-1)
    stepinfo(sys3)
    abs(dcgain(1-sys3))
    post task
    task 1
    clc
    clearall
    closeall
    kp1=2
    kp2=10
    kp3=100
    ki1=kp1/1
    0
    ki2=kp2/1
    0
    ki3=kp3/1
    0 kd=.9
    p1=pid(kp1,ki1,kd)
    p2=pid(kp2,ki2,kd)
    p3=pid(kp3,ki3,kd)
    num=[400]
    denum=[1 48.5 0]
    system=tf(num,denum)
    system1=p1.*system
    system2=p2.*system
    system3=p3.*system
    sys1=feedback(system1,1)
    sys2=feedback(system2,1)
    sys3=feedback(system3,1)
    step(system)
    figure
    subplot(311)
    step(sys1)
    subplot(312)
    step(sys2)
    subplot(313)
    step(sys3)
    stepinfo(system)
    stepinfo(sys1)
    stepinfo(sys2)
    stepinfo(sys3)
    output
    Part c
    clc
    clearall
    closeall
    kp=100
    ki=10
    kd1=0.1
    kd2=0.9
    kd3=2
    p1=pid(kp,ki,kd1)
    p2=pid(kp,ki,kd2)
    p3=pid(kp,ki,kd3)
    num=[400] denum=[1
    48.5 0]

    system=tf(num,denum)
    system1=p1.*system
    system2=p2.*system
    system3=p3.*system
    sys1=feedback(system1,1)
    sys2=feedback(system2,1)
    sys3=feedback(system3,1) step(system)
    figure subplot(311) step(sys1)
    subplot(312) step(sys2)
    subplot(313) step(sys3)
    stepinfo(system)
    stepinfo(sys1)
    stepinfo(sys2)
    stepinfo(sys3
    task 2
    clc clearall
    closeall
    kp=50
    ki=3
    kd=0.5
    p=pid(kp,ki,kd)
    K=1
    b=10
    R=0.01
    5 L=1.0
    J=9.99*10^-6
    num=[K]
    denum=[J*L (J*R+b*L) (b*R + K*K)]
    system=tf(num,denum) system1=p.*system
    sys=feedback(system1,1) step(system)
    figure step(sys)
    stepinfo(system)
    stepinfo(sys)
    error_before =abs(dcgain(1-system))
    error_after=abs(dcgain(1-sys))

    task 3
    clc
    cleara
    ll
    closea
    ll
    kp=100
    0
    ki=100
    0
    kd=100
    0
    p=pid
    (kp,k
    i,kd)
    R=0.0
    15
    g=9.8
    L=1.0
    d=0.3
    J=9.99*10^-6
    num=[1]
    denum=[J*L ((J*R)+(L*b)) R*b 1 ]
    system=tf(num,denum)
    system1=p.*system
    sys=feedback(system1,1)
    step(system)
    figure

    step(sys)
    stepinfo(system) stepinfo(sys) error=abs(dcgain(1-sys))
    CONCLUSION
    We learn about the PID controller and how to design in MATLAB. In this lab we learn how to design
    different PID controller of different system which include mass spring damper model, ball and beam
    system.it also helped to familiarization with systems, their types and transfer function. With the
    help of LabVIEW different systems and their combinations were observed and their responses of
    different types of inputs were observed. LabVIEW helped to construct the equivalent
    mathematical model of a complicated system

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