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This is lab report Control Systems lab. It was assigned by and submitted to Dr. Anbu Manghirmalani at Birla Institute of Technology and Science. It includes: Implement, System, Simulink, Modeling, Equation, Matlab, Transfer, Controlled, Sisotools, Loop
Typology: Exercises
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Lab 14: Working with PID Controller FA06_BET_
Implement the system done in m-file and Simulink using PID block
The modeling Equation is:
F = Mx’’ + Bx’ + Kx
Suppose: M = 1kg B = 10 Ns/m K = 20 N/s
% original transfer function num1 = 1; den1 = [1 10 20]; G1 = tf(num1 , den1) figure, step(G1)
Lab 14: Working with PID Controller FA06_BET_
%P controlled transfer function kp = 300; num2 = [kp]; den2 = [1 10 20+kp]; G2 = tf(num2 , den2) figure, step(G2)
%PD controlled transfer function kp = 300; kd = 10; num3 = [kd kp]; den3 = [1 10+kd kp]; G3 = tf(num3 , den3) figure, step(G3)
%PI controlled transfer function kp = 30; ki = 70; num4 = [kp ki]; den4 = [1 10 20+kp ki]; G4 = tf(num4 , den4) figure, step(G4)
%PID controlled transfer function kp = 350; ki = 300; kd = 50; num5 = [kd kp ki]; den5 = [1 (10+kd) (20+kp) ki]; G5 = tf(num5 , den5) figure, step(G5)
Lab 14: Working with PID Controller FA06_BET_
Lab 14: Working with PID Controller FA06_BET_
Gp(s) =
Use Zingler-Nichols rule to control the given plant using P, PI, and PID controls. What difference it makes to an open loop system.
num = 1; den = [1 6 5 0]; G =tf(num,den) figure,step(G)
kc = 30; G3 = G * kc; H1= feedback(G3,1) figure, step(H1)
Lab 14: Working with PID Controller FA06_BET_
ku = 30; pu = 2. kp = ku/2; G2 = kp*G; H2 = feedback(G2,1) figure, step(H2)
kp = ku/2.2; Ti = pu/1.2; ki = kp/Ti; T = tf([kp ki],[1 0]); G3 = T*G; H3 = feedback(G3,1) figure, step(H3)
kp = ku/1.7; Ti = pu/2; ki = kp/Ti; Td = pu/8;
kd = kpTd; T = tf([kd kp ki],[1 0]) G4 = TG; H4 = feedback(G4,1) figure, step(H4)
