Docsity
Docsity
Prepare for your exams
Prepare for your exams

Study with the several resources on Docsity

Earn points to download
Earn points to download

Earn points by helping other students or get them with a premium plan

Guidelines and tips
Guidelines and tips
Sell on Docsity
Sell on Docsity
Docsity AI
Docsity AI
Log inSign up

Prepare for your exams

Study with the several resources on Docsity

Find documents

Prepare for your exams with the study notes shared by other students like you on Docsity

Search for your university

Find the specific documents for your university's exams

Docsity AINEW

Summarize your documents, ask them questions, convert them into quizzes and concept maps

Explore questions

Clear up your doubts by reading the answers to questions asked by your fellow students

Earn points to download

Earn points by helping other students or get them with a premium plan

Share documents
download point icon20 Points

For each uploaded document

Answer questions
download point icon5 Points

For each given answer (max 1 per day)

All the ways to get free points
Get points immediately

Choose a premium plan with all the points you need

Study Opportunities

Choose your next study program

Get in touch with the best universities in the world. Search through thousands of universities and official partners

Community

Ask the community

Ask the community for help and clear up your study doubts

Free resources

Our save-the-student-ebooks!

Download our free guides on studying techniques, anxiety management strategies, and thesis advice from Docsity tutors

Lab Exercise: Basic Control Actions in ME 460: Industrial Control Systems, Lecture notes of Control Systems

Australian College of Kuwait (ACK)Control Systems

A lab exercise in me 460: industrial control systems focused on the hardware implementation and physical effects of basic feedback controllers, specifically proportional, integral, and derivative controllers. Students will tune gains and observe individual contributions to control effort, developing an intuitive feel for p, pi, and pid controllers. The lab covers speed regulation of a motor using p control and pi control, as well as position regulation of a cylinder using pi control and pid control.

Typology: Lecture notes

2021/2022

Uploaded on 08/01/2022

fioh_ji
fioh_ji 🇰🇼

4.5

(70)

814 documents

1 / 4

Toggle sidebar

This page cannot be seen from the preview

Don't miss anything!

bg1
ME 460: INDUSTRIAL CONTROL SYSTEMS
Last updated: 1.29.19
By: Tyler Matijevich
Page 1/4
Lab 3: Basic Control Actions
Lab 3: Basic Control Actions
Introduction
The proportional, PI, and PID controllers are among the most basic of feedback controllers. They are
easily implemented and perform effectively in light of plant uncertainties. These controllers are widely
used in industry for applications in motion control and power systems. The PID controllers are a valuable
pedagogical tool as it requires an intuitive understanding of the feedback mechanism, which serves as the
basis for most material in classical control.
This laboratory exercise will focus on the hardware implementation and physical effects of basic feedback
controllers. Additionally, the individual effects of the proportional, integral, and derivative contributions
to the control effort will be observed. An intuitive feel for P, PI, and PID controllers will be developed.
Mathematical background for the three types of controllers will not be covered.
Objectives
Required:
1. Identify each portion of the unity feedback closed-loop control system (Figure 2 of the Prelab).
Match each portion to the corresponding component in the physical system.
2. Tune proportional, integral, and derivative gains to achieve a desirable output response.
3. Interpret the individual contributions of the proportional, integral, and derivative terms.
Experiment 1: Speed Regulation of the Motor using P Control
Tune the proportional motor controller and plot motor speed vs. time for two step reference speeds.
Software Setup:
1. Recall the usage of the Simulink software. If you need to refresh, refer to the Lab 2 manual.
Refer to the ‘B&R Code Generation Guide’ to remember how to build and run your model.
2. Start MATLAB and then Simulink. Copy the file ‘N:\HydralulicsLab\ME460\
Lab3_MotorPID.slx’ and place it in your own working directory ‘C:\ME460_SPxx\ABx\
Lab3\Motor’.
3. Lab3_MotorPID.slx is an incomplete block diagram. Complete the closed-loop system with a
proportional controller. Set the 𝑘𝑝 gain to 1 initially. Do not modify the conversion blocks.
4. Set the reference speed to be a step of 500 RPM and a duration of 5 seconds using the Custom
Step Input block. (Leave the start time and initial value as zero).
5. Find the scope that plots both the reference speed and measured speed.
a. Confirm the scope’s time span is 15 seconds and the y-axis ranges from −50 RPM to
800 RPM by viewing the scope’s settings, .
pf3
pf4

Partial preview of the text

Download Lab Exercise: Basic Control Actions in ME 460: Industrial Control Systems and more Lecture notes Control Systems in PDF only on Docsity!

Last updated: 1.29. Page 1 / 4 Lab 3: Basic Control Actions

Lab 3: Basic Control Actions

Introduction

The proportional, PI, and PID controllers are among the most basic of feedback controllers. They are easily implemented and perform effectively in light of plant uncertainties. These controllers are widely used in industry for applications in motion control and power systems. The PID controllers are a valuable pedagogical tool as it requires an intuitive understanding of the feedback mechanism, which serves as the basis for most material in classical control. This laboratory exercise will focus on the hardware implementation and physical effects of basic feedback controllers. Additionally, the individual effects of the proportional, integral, and derivative contributions to the control effort will be observed. An intuitive feel for P, PI, and PID controllers will be developed. Mathematical background for the three types of controllers will not be covered.

Objectives

Required:

  1. Identify each portion of the unity feedback closed-loop control system (Figure 2 of the Prelab). Match each portion to the corresponding component in the physical system.
  2. Tune proportional, integral, and derivative gains to achieve a desirable output response.
  3. Interpret the individual contributions of the proportional, integral, and derivative terms.

Experiment 1: Speed Regulation of the Motor using P Control

Tune the proportional motor controller and plot motor speed vs. time for two step reference speeds.

Software Setup:

  1. Recall the usage of the Simulink software. If you need to refresh, refer to the Lab 2 manual. Refer to the ‘B&R Code Generation Guide’ to remember how to build and run your model.
  2. Start MATLAB and then Simulink. Copy the file ‘N:\HydralulicsLab\ME 460
    Lab 3 _MotorPID.slx’ and place it in your own working directory ‘C:\ME460_SPxx\ABx
    Lab 3 \Motor’.
  3. Lab 3 _MotorPID.slx is an incomplete block diagram. Complete the closed-loop system with a proportional controller. Set the 𝑘𝑝 gain to 1 initially. Do not modify the conversion blocks.
  4. Set the reference speed to be a step of 500 RPM and a duration of 5 seconds using the Custom Step Input block. (Leave the start time and initial value as zero).
  5. Find the scope that plots both the reference speed and measured speed. a. Confirm the scope’s time span is 15 seconds and the y-axis ranges from − 50 RPM to 800 RPM by viewing the scope’s settings,.

Last updated: 1.29. Page 2 / 4 Lab 3: Basic Control Actions b. Note this scope is logging data to the MATLAB workspace, identify the variables that are logged to the workspace.

Hardware Setup:

  1. Connect the hydraulic hoses. Use the BD90 valve as the actuator and the motor as the plant.
  2. Connect the signal wiring. Connect the MW2000’s Analog Output Ch.1 to the BD90 valve driver box using a BNC cable. Connect the MW2000’s Analog Input Ch. 7 (Tach) to the tachometer’s feedback signal labelled “Tachometer” on the sensor box.
  3. Have your instructor check the wiring, block diagram and hose connections.
  4. Power on the valve driver box, the feedback sensor box, the MW2000, and the B&R control rack.
  5. Start the hydraulic trainer following the steps on the whiteboard. Set the pressure to 300 psi.

Run Controller:

  1. Build, connect, and run your input command from your Simulink model.
  2. Observe the difference between the output speed and the reference speed at steady state. Record the error.
  3. Without disconnecting from target, change the 𝑘𝑝 gain from 1. 0 to 1. 5. Again, record the error. Do the same for a gain of 2. 0.
  4. Calculate percentages of the relative error. Make a table to track gain, reference speed, error magnitude, and error percentage.
  5. Change the reference speed from 500 to 700 rpm. Repeat steps 2 through 4 for all three gains.
  6. Make sure to Disconnect from Target when completed. Leave the hydraulic trainer running. Experiment 2: Speed Regulation of Motor using PI Control

Software Setup:

  1. Use the same model ‘Lab3_MotorPID.slx’. Modify your model to create a proportional- integral controller. You must use the provided Custom Integrator block that is commented out. Set the proportional gain to 1. 0 and integral gain to 0. 0 initially.
  2. Set the reference speed to be a step of 500 RPM.

Hardware Setup:

  1. Same setup as Experiment 1.

Run Controller:

  1. Build, connect, and run your input command from your Simulink model.
  2. Observe the plant’s response for your controller.
  3. While remaining connected to the target, re-run the step input command for an integral gain of
    1. 0 and 25. 0 and again observe the response.

Last updated: 1.29. Page 4 / 4 Lab 3: Basic Control Actions

Hardware Setup:

  1. Same setup as Experiment 3.

Run Controller:

  1. Set the proportional gain to 10. 0. Set the integral gain to 0. 5. Set the derivative gain to 0. 0.
  2. Connect and run your input command from your Simulink model.
  3. Now, set the derivative gain to 2. 0 leaving the proportional and integral gains the same. Observe the new response.
  4. Note the difference between the full PID controller versus the PI controller in the last experiment.
  5. Halt your command input and Disconnect from Target.
  6. Power off all electrical equipment and shutdown the hydraulic trainer. Report Questions
  7. Relate all blocks and connections labeled in Prelab Figure 2 to the physical system implementation for Speed Regulation of the Motor using PI Control (Experiment 2).
  8. For proportional control of motor speed, a steady state error between measured speed and the reference speed 𝑅(𝑠) was observed. Was it possible to decrease this error? Why does this error exist? Is it possible to remove this error completely using just proportional control?
  9. Is it possible to remove steady state error for position regulation of the cylinder using only proportional control?
  10. What effect does integral control have on the plant’s step response and steady state error? Consider both the motor and cylinder systems.
  11. What effect does derivative control have? Why is it necessary to filter the measured voltage signal before taking its derivative? When is the derivative gain useful? References [1]. Ogata, Katsuhiko. Modern Control Engineering, 5th^ ed. Prentice Hall, New Jersey: 2009. [2]. Horowitz & Hill. The Art of Electronics 2nd^ ed. Cambridge University Press, MA: 1989.