COMPLEXENGINEERING PROBLEM

MR.M ABDUL AHAD

COMPLEX ENGINEERING PROBLEM

CONTROL ENGINEERING

SUBMITTED TO:

• MR.M ABDUL AHAD

GROUP MEMBERS:

• HASNAIN ARIF: (UW-18-ME-BSc-034)

• SAMEER IFTIKHAR: (UW-18-ME-BSc-001)
• SALAR KHAN: (UW-18-ME-BSc-028)
• NOUMAN MALIK: (UW-18-ME-BSc-039)

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MR.M ABDUL AHAD
Problem Statement:

1. In the era of Industry 4.0, autonomous systems are gaining prominence in

every industry. For a system to be autonomous, it must have a suitable
control system in place. Developing a control system
requires implementation of both the modern and classic control theories. The
students are required to:
1. Select a practical dynamic mechanical, electrical or electromechanical. (C-4)
2. Analyze the selected system through its mathematical model. (C-4)
3. Evaluate the system’s state space representation. (C-5)
4. Evaluate the system’s transfer function using classical control theory. (C-5)
5. Illustrate the system through block diagram representation. (C-4)
6. Distinguish if the system is stable, marginally stable or unstable using the
Routh Hurwitz Stability Criteria, pole-zero map. (C-4)
7. Analyze the system to find its natural frequency, damping ratio, settling
time, rise time, peak time and percentage overshoot. (C-4)
8. Evaluate the steady state error and check the system’s response through Mat
lab or scilab commands, using different types of inputs. (C-5)
9. Integrate a PID controller with the proposed system in a way that the
overshoot is ≤10 % and a time constant of 2 seconds. (C-4)
10. Evaluate the system’s response with controller and plot the response and
comment on the controlled system behavior. (C5)

Requirements from Students:

The students are required to adhere to the following guidelines and provide the
deliverable(s).

1. This Complex Engineering Problem (CEP) is meant to be carried out in the

form of a group of students. Each group is required to have at least 3 and a
maximum of 4 students.
2. Each group is required to select a dynamic
mechanical/electrical/electromechanical system to analyze and evaluate. The
system selected should be different for each group and should hold a degree
of complexity.

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3. To deliver the findings/results/outcome of the CEP a technical report is
required and viva will be conducted.
4. The information gathering for the CEP shall be taken from conference
papers, journal papers, technical articles, and books. Whereas the citation of
any reference text is necessary, otherwise it will be
1. Page 2 / 5
2. Considered as an act of plagiarism. So, the students are required to insert
cross-references while writing the report, and the citation at the end of the
document in the references section. The citation should be in the IEEE
format.
5. To assure the originality of the written technical reports, a plagiarism check
will be carried out during the assessment of the reports. Therefore, when
necessary the students are required to paraphrase the text of the reference
literature under review. However, the similarity index shouldn’t exceed
10%; that would lead to a negative evaluation for the report.
6. Each student shall equally contribute to writing the report.
7. The final report is to be submitted in soft form to the Lecturer. The finalized
file is to be submitted as .PDF file. The name of the file shall be given as
CEP_Group_No.pdf

WORKING TASK OF OUR GROUP:

Motor control system auto position using a robust PID controller

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ABSTRACT:

In this new Era a Dc motor is one of the most important parts used in our daily life
applications as well as in industrial use. So a position control for a Dc motor is one
of the most important aspects for those applications. In this complex engineering
problem our group works on motor position control system auto position. In this
we shall generate a mathematical model of the control system and simulates it on
MATLAB. Also our main focus is on robust PID controller because it is used to
control a Dc motor. PID parameter (Kd, Kp and ki) turning was done by using
algorithms and bys generating a mathematical model and run it on Mat lab
software for further stimulation.

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INTRODUCTION:

A Dc motor is a device which converts electrical energy into mechanical energy. In

this CEP we shall discuss about a PID control use for controlling the position of a
Dc motor. PID stands for proportional integral derivative and it is one kind of
device used to control different process variables like pressure, flow, temperature,
and speed in industrial applications. In this controller, a control loop feedback
device is used to regulate all the process variables. For large position control Dc
drives are used and there are also many other motor with great speed.

DYNAMIC DC MOTOR:

The transfer function of the dynamic DC motor can be found from the schematic of
the dynamic DC motor in figure 1. Also the dynamic DC motor depends on the
base of the left palm where the thumb of the direction of the force (torque or thrust
(t(t ). The finger between the thumb and center represents the direction of the
magnetic field orientation (fixed (EMF)). The middle finger represents the
direction of the current in the wire (current i(t )).

Where:

• V= Armature Voltage (V).

• I= Armature Current (I).
• Kt= Motor Torque Constant (Nm/A).
• La= Motor inductance (H).
• Jm= Armature moment of inertia (Kg – m2).
• Ra = Armature Resistance (Ω).
• Bm =Viscous – Friction Coefficient (Nm/Rad/Sec).
• kb = Back EMF Constant (V/Rad/Sec).

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WHAT PID A PID CONTROLLLER?

PID stands for proportional integral derivative and it is one kind of device used to
control different process variables like pressure, flow, temperature, and speed in
industrial applications. In this controller, a control loop feedback device is used to
regulate all the process variables.

With the use of a low cost simple ON-OFF controller, only two control states are
possible, like fully ON or fully OFF. It is used for a limited control application
where these two control states are enough for the control objective. However
oscillating nature of this control limits its usage and hence it is being replaced by
PID controllers.

P- Controller

Proportional or P- controller gives an output that is proportional to current error e

(t). It compares the desired or set point with the actual value or feedback process
value. The resulting error is multiplied with a proportional constant to get the
output. If the error value is zero, then this controller output is zero.

P-controller

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This controller requires biasing or manual reset when used alone. This is because it
never reaches the steady-state condition. It provides stable operation but always
maintains the steady-state error. The speed of the response is increased when the
proportional constant Kc increases.

P-Controller Response

I-Controller

Due to the limitation of p-controller where there always exists an offset between
the process variable and set point, I-controller is needed, which provides necessary
action to eliminate the steady-state error. It integrates the error over a period of
time until the error value reaches zero. It holds the value to the final control device
at which error becomes zero.

PI controller

Integral control decreases its output when a negative error takes place. It limits the
speed of response and affects the stability of the system. The speed of the response
is increased by decreasing integral gain, Ki.

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PI Controller Response

In the above figure, as the gain of the I-controller decreases, the steady-state error
also goes on decreasing. For most of the cases, the PI controller is used particularly
where the high-speed response is not required.

While using the PI controller, I-controller output is limited to somewhat range to

overcome the integral wind up conditions where the integral output goes on
increasing even at zero error state, due to nonlinearities in the plant.

D-Controller

I-controller doesn’t have the capability to predict the future behavior of error. So it
reacts normally once the set point is changed. D-controller overcomes this problem
by anticipating the future behavior of the error. Its output depends on the rate of
change of error with respect to time, multiplied by derivative constant. It gives the
kick start for the output thereby increasing system response.

PID controller

In the above figure response of D, the controller is more, compared to the PI

controller, and also settling time of output is decreased. It improves the stability of
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the system by compensating for phase lag caused by I-controller. Increasing the
derivative gain increases the speed of response.

PID Controller Response

So finally we observed that by combining these three controllers, we can get the
desired response for the system. Different manufacturers design different PID
algorithms.

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COMPLEXENGINEERING PROBLEM
MR.M ABDUL AHAD

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COMPLEXENGINEERING PROBLEM
MR.M ABDUL AHAD

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COMPLEXENGINEERING PROBLEM
MR.M ABDUL AHAD

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COMPLEXENGINEERING PROBLEM
MR.M ABDUL AHAD

WAH ENGINEERING COLLAGE

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COMPLEXENGINEERING PROBLEM
MR.M ABDUL AHAD

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SIMULATION AND RESULTS:

In this case we are using the dynamic Dc motor parameter values which are .

• Motor torque constant (Kt) = 0.05 Nm/A

• Load of armature (La) = 0.1 H
• Armature resistance (Ra) = 1.39 ohm
• Motor moment of inertia (Jm) = 0.02 kg.m2
• Viscous damping Coefficient (Bm) = 0.02 N.m/rad/sec
• Back emf constant (Kb) = 0.02 V/rad/sec

THE RESULTS ARE:

TABLE 1

STEP UNIT
Wn 7.0952
Kp 9.6442e+006
Kd 1.7116e+006
ki 2.5344e+007

➢ Open and close Loop Dynamic Dc motor:

By putting the values in the above equation we got.

0.05
𝐺𝐷𝑐 (𝑆) = (0.002𝑆3 +0.0298𝑆2 +0.0278𝑆)

Characteristics Equation becomes:

0.002𝑆 3 + 0.0298𝑆 2 + 0.0278𝑆 = 0

The figure below is the response of close loop dynamic motor without a PID
controller and the equation is.
0.05
𝐺𝑝 (𝑆) = (0.002𝑆3 +0.0298𝑆2 +0.0278𝑆+0.0025)

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SETTLING TIME = 40.1s

RISE TIME = 22 sec

PEAK AMPLITUDE >= 0

AT TIME > 80sec

OVERSHOOT= 0%

➢ POLE ZERO MAP

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The out value of the above response is given in the table so the equation for the
system is.

8.558𝑒0042𝑆 2 +4.822𝑒005𝑆+1.267𝑒006
𝐺𝑠𝑦𝑠 (𝑆) = ( 0.002𝑆4 +0.0298𝑆3 +0.0278𝑆2 +0.0025𝑆 )

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NOW:

The structure and the response for a dynamic Dc motor with PID controller using
step unit and the equation of the dynamic Dc motor of close loop will become.

8.558𝑒0042𝑆 2 + 4.822𝑒005𝑆 + 1.267𝑒006

𝐺𝑠𝑦𝑠 (𝑆) = ( )
0.002𝑆 4 + 0.0298𝑆 3 + 8.558𝑒0042𝑆 2 + 4.822𝑒005𝑆 + 1.267𝑒006

SETTLING TIME = 0.03s

RISE TIME = 0.1s

SEADY STATE = 1

PEAK AMPLITUDE >= 0

OVERSHOOT= 0%

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NOW

In the next we find the integral time absolute error for structure of close loop
dynamic Dc motor response:

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CONCLUSION:

In this complex engineering problem the position of a dynamic DC motor is

controlled using robust PID controller. The dynamic DC motor was used (open,
close) loop system without and with the robust PID controller. A robust PID
controller based on the ITAE coefficients. The parameters of PID controller are
tuning using robust method algorithm. The parameters of the robust PID controller
were extracted: and apply this method for the selection of the controller the ITAE
performance index method, application of the equation and use of the step unit.
The results are obtained from step unit, stable to the system, error steady state
equal to zero ( ), increasing speed of response for position dynamic DC motor
using MATLAB program.

REFRENCE:

https://www.elprocus.com/the-working-of-a-pid-controller/

https://ctms.engin.umich.edu/CTMS/index.php?aux=Home

https://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition&section=
ControlStateSpace

http://ee.sharif.edu/~industrialcontrol/Example_DC_Motor_State_Space_position_
Controller.pdf

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