Objectives The objective in this experiment is: To introduce the fundamentals of control using the PID family of compensators. To mathematically model the servo plant from first principles. To understand of the different tuning parameters in the controller. To design and simulate a PV controller to meet the required specifications. To implement your controller and evaluate its performance. Theory Mathematical Model We shall begin by examining the electrical component of the motor first. In Figure 1, you see the electrical schematic of the armature circuit. Figure 1 - Armature circuit in the time-domain
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condition goes same for the Kv. The damping ratio of the response is increasingly with the
increment value of Kv. The percentage overshot is 4. 39 %, the value of approximately is
about less than 5 %. The time peak of the response is 0.1487.
Discussion
For this experiment, we have to manipulate the value of K p and K v in order to achievethe target values required by this experiment. The target values are the time to first peak, t p =
0.15s and the percent overshoot, PO < 5 %. Theoretical values were calculated in order to
compare with experimental values.
The output response comes out as expected. We have tabulated several data for
getting an accurate response. From the data, we managed to have desired result. As usual, for
any experiment, we may encounter with several error throughout the experiment. The
limitation of resource in the lab may be one of our reasons in completing the experiment.
Furthermore, a further understanding about the MathLab software is vital and we
manage to have adequate knowledge regarding the task given. For future study, we find that
is important to have basic knowledge in the software, the PID controller and theories
regarding this session of experiment.
Apart from that, we have managed to have good response for the system and have