Report

Control systems 2015
School of Engineering and Information Technology
ASSESSMENT COVER SHEET
Muhammad Sheri iqbal sheikh, Ahmed Aaqib Sajjad Hossain,

Student Name
Md Tanvir Alam Shishir ,Hossain Mursalin
s263776, s266141,s261303,s 284653,

Student ID
Assessment Title Servo Control System Laboratory Report
ENG476 CONTROL SYSTEMS

Unit Number and Title
chen
Lecturer/Tutor
Date Submitted 16/10/2015
Date Received
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Signed Sundeep Mathews Date: 01/10/12
Page 1
Table of contents
Lab # Description:
Lab 1 Modeling of a Dc Servo Motor
1.1 Description
1.2 block diagram
1.3 sinusoidal response
1.4 bode plot
1.5 transfer function
1.6 conclusion
Lab 2 Proportional Feedback Control

2.1 descriptions:
2.2 block diagram:
2.3 Kp:
2.4 Step Response:
2.5 Transfer function
2.6 root locus
2.7 Bode plot
2.8 conclusion
Lab 3 Position and Velocity Feedback Control
3.1 Overview
3.2 Block diagram
3.3 Finding Error
3.4 Tacho position
3.5 Observing Rise time tuning Kp and Kv

3.6 Finding Delay time , Rise time , Settling time ,
Overshoot
3.7 Finding Gtacho
3.8 Finding Open loop transfer function
Page 2
3.9 Finding Pole
3.10 Finding Kp
3.11 Matlab File
Lab 4 Lead Compensator Design
4.1 Description
4.2 Design Calculation:
4.3 Phase margin calculation
4.4 Step Signal Generation
4.5 parameters calculation

4.6 Simulated Step Response
4.7 Conclusion
Lab 5 PID Control
5.1 Finding Critical Gain

5.2 Calculation
5.3 Calculation for different types of controller
5.4 Measuring Step response

5.5 Calculation from the Graph
5.6 simulation
Page 3
Laboratory # 1
1.1 description:
This laboratory is providing us the basic approach, functionalities gives us basic idea to
recognize the components of servo motors. It also gives the logical way of signal lowing and
processing through the control system. Lab view Is using to get the graphical approach and
calculation to determine magnitude and phase o sine response.
1.2 block diagram:
Potentiometer D/A Computer A/D Gear

converter converter motor
Tachometer Position
Fig 1.1 Block diagram of lab 1
Page 4
1.3 sinusoidal response:

This figure shows us the sinusoidal response of a servo motor at f=2000hz and voltage
amplitude is at 1volt.
Fig. 1.2 sinusoidal response of a servo motor
Page 5
1.4 Bode plot:

There are two methods
1. graph
2. FFT
 Method#1 using graph
We can see in the above figure that

8.2
𝐴𝑚𝑝 = 4.1
2
360
𝜃= = 57.14𝑜
40.99 − 34.69
𝑃ℎ𝑎𝑠𝑒 = −57.14 × (8.07 − 6.43)
𝑃ℎ𝑎𝑠𝑒 = −93.70𝑜
 Method#2 Using FFT
MATLAB is used to to done this job. We have already attached the matlab code for
analyzing the frequency response and amplitude.
 Magnitude = 3.86
 Phase = -99.84
Page 6
Comparing both methods:
The following table shows the comparison by using frequencies to calculate amplitude.
Amplitude difference:
s.no Freq. Method 1 Method 2 percentage error
1 0.5 8.5 8.013 5.95%
2 0.7 6.7 6.413 4.42%
3 1 3.87 3.66 5.18%
4 2 1.89 1.72 8.51%
5 4 0.83 0.791 4.69%
6 5 0.6 0.632 6.64%
7 8 0.31 0.379 18.20%
8 10 0.15 0.125 10.71%
9 16 0.13 0.10 16.66%
Table 1.1 for amplitude
Page 7
Phase difference:
s.no Freq. Method 1 Method 2 percentage error
1 0.5 -95.32 -90.022 5.56
2 0.7 -88.45 -79.904 9.661
3 1 -99.01 -99.83 0.82
4 2 -102.31 -106.813 4.26
5 4 -115.119 -110.213 4.24
6 5 -123.05 -113.115 8.07
7 8 -133.14 -144.017 7.56
8 10 -145.36 -159.37 8.79
9 16 -154.9 -172.427 10.11
Table 1.2 for phase
Page 8
Fig 1.3 Bode plot
1.5 Transfer function:

we have found several responses using ifferent frequencie. Each of them has been analyzed
with different calculus method and hand written calculation to get the vectors of magnitude
and phase.
K= 3.75
Τ=0.11
3.75
G( s) 
s  (0.11s  1)
Page 9
1.6 conclusion:
we have observed from Fig 1.3 that accuracy of method#2 is much more reliable than method#1.
Graphical method can also be more improved by taking average peak points value.
Page 10
Laboratory # 2
Proportional Feedback Control
Lab Description:
In this laboratory we will investigate proportional position feedback control of electric servo
motors. We have used the open loop transfer function of the servo motor that we found in Lab 1.
From this lab we will develop a systematic approach for the addition of proportional feedback
loop to the system. From this feedback loop we will compare the output position signal and the
reference position signal and then make a error signal from which we will adjust the output
signal to match with the reference signal .
2.1 Block Diagram
2.2)Value Of Kp
We have tuned the position feedback so that the overshoot is approximately 16%.
We recorded the gain kp of the position feedback at which this occurs.
K p = 2.95
Page 11
2.5) Step Response

We used the data that we found from task 2.3 and 2.4 to find the step response. Using
matlab software we found the following figure :
Step respose
1
position
0.5
4.5 5 5.5 6 6.5

time
Step respose
1
position
0.5
-0.5
4.5 5 5.5 6 6.5
time
Fig 2.1:Step Response
Page 12
The top graph shows the step response of the system with brake and the bottom graph
shows the step response of the system without brake. From these two graphs we can see that
the system with brake doesn’t have any overshoot and the system without brake have an
overshoot. Because the brakes provide friction, which limits the motor speed and thus it
prevents the system from having an overshoot.
Response Response Without Brakes Response with Brakes
Delay Time(s) 0.1 0.13
Rise Time (s) 0.18 0.3
Overshoot(s) 0.14 0
Settling time(s) 0.43 0.33
From the above table we can see that without the brake, the step response takes longer
time to settle down.The response without brake will have a higher spin speed thus longer
settling time.
Page 13
2.6) Detemine the closed loop Transfer Function Using FFT.
This procedure involves using FFT (Fast Fourier Transform) to locate the magnitude and
phase as it is done in lab 1.
Page 14
1
Magnitude comparison
10
0
10
-1
10
-2
10
-1 0 1 2
10 10 10 10
phase comparison
0
-50
-100
-150
-200
-1 0 1 2
10 10 10 10
Fig 2.2:Magnitude and Phase match
From the above figure 2.2 we can see that the estimated model does not match with the data
points at high frequency . This happens when the frequency gets higher, the effect of interference
also gets higher and the system becomes less stable.
Page 15
2.7)Root Locus Plot
The figure 2.3 demonstrates the root locus plot.
Root Locus
5
0.86 0.76 0.64 0.5 0.34 0.16
4
0.94
3
2
Imaginary Axis (seconds-1)
0.985
1
9 8 7 6 5 4 3 2 1
0
-1
0.985
-2
-3
0.94
-4
0.86 0.76 0.64 0.5 0.34 0.16
-5
-9 -8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis (seconds -1)
Fig 2.2: Root locus plot
From the above plot we found the location of the pole at -4.3500 + 7.530i. We also can found
the particular position feedback gain with the desired pole location by using the rlocfind
function. We found that the KP is to be 2.385. So the error percentage of the measured KP and
Page 16
calculated KP is 20%. This error percentage is negligible if we consider the drift and friction.
Root Locus
25
25
0.23 0.16 0.115 0.08 0.05 0.025
20
20
0.36 15
15
10
10
Imaginary Axis (seconds-1)
0.6
5
5
-5
5
0.6
-10
10
-15 0.36 15
-20
20
0.23 0.16 0.115 0.08 0.05 0.025
-25
-6 -5 -4 -3 -2 -1 250 1
Real Axis (seconds -1)
Fig2.3 Root locus
Page 17
2.7) Bode Plot
Bode Diagram
20
Magnitude (dB) 0
-20
-40
-60
-80
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
Fig2.4 Bode Plot
The above two graphs demonstrates the comparison of the bode diagram of the two transfer
function. The experimentally determined transformer function is represented by the green line
and the theoretically gained transfer function is represented by the blue line. From these two
graphs we can see that these two transfer functions are almost same. In the high frequency zone a
small variation happens.
Conclusion:
In this lab the theoratical and measured results are alomost same.
Page 18
Page 19
Laboratory # 3
3 .0 Overview
The aim of this labratory is to investigate how the proportional position feedback control of
electric servo motors is influenced by the velocity feedback .
3.1 Block Diagram :
e Kp G(s)
Kv Kt
Figure 3.1 : Block Diagram
here ,
Kt = Tachometer gain constant
Kv = The additional gain
3.2 Tacho position

For this lab , we measure tacho position signals for Kv and Kp equal to zero .
3.3 Making overshoot 16%

In this task , we switch the controller back to closed loop mode and generate a step like
reference signal between 0 to 1 v . We set the velocity feedback Kv = 2 . We tuned the
position feedback and make the overshoot 16 % .
Page 20
3.4 Observing Rise time tuning Kp and Kv

After that we fine tuned Kp and Kv , reduced the rise time while maintaining 16%
overshoot . While we were increasing Kv the rise time increased and increasing Kp make
the rise time decreased . We got Kv = 2 and Kp = 14
3.5 Finding Delay time , Rise time , Settling time , Overshoot
Figure 3.2 : Step Response
from the figure we get ,
Delay time , td= 0.06s
Rise time , tr = 0.1s
Settling time , ts = 0.27s
Overshoot = 0.162*100 = 16.2 %
3.6 Finding Gtacho
Page 21
.Figure 3.3 : Position at constant signal
Figure 3.4 : Velocity Response Measurement
From those 2 figure we can get Ytacho , Ypos which we need to get Gtacho
Ytacho = 1.02v
(0.03+10.14)
Ypos = = 4.78 v
4.26−2.14
𝒀𝒕𝒂𝒄𝒉𝒐 1.02
Gtacho(s) = = 4.78 = 0.21
𝒀𝒑𝒐𝒔
Page 22
3.7 Finding Open loop transfer function
Root Locus Diagram
G(s)
Kv Kt
Figure 3.5 : Root Locus Diagram

𝐺𝑠
Gopen (s) = (𝑆×𝐺𝑠 ×𝐾𝑡𝑎𝑐ℎ𝑜 ×𝐾𝑣)+𝟏
Kv = 2
Kt = 0.22
𝟑.𝟕𝟓
Gopen (s) = 𝟎.𝟏𝟏𝐬𝟐 +𝟐.𝟔𝟓𝐬
Now Root Locus plot of control system is given below
Page 23
Figure 3.6 : Root Locus
Figure 3. 7 : Root Locus
3.8 Finding Pole

we got wn × 𝜁= -12.3.
maximum overshoot = 0.16
Page 24
𝜁ʆ
0.16 = 𝜋 ×
√1−𝜁ʆ2
ʆ2 = 0.25
so ʆ = 0.5
The desired pole location will be (-12.3 , 12.3×2×√1 − 𝜁ʆ2 ) = (-12.3,22.2).
3.9 Finding Kp
𝐾𝑝 ×𝐺𝑠
open loop transfer function = 1+ 𝐺 ×𝑆×𝐾
𝑠 𝑡𝑎𝑐ℎ𝑜 ×𝐾𝑣
𝐾𝑝 ×𝐺𝑠
magnitude:|1+ 𝐺 ×𝑆×𝐾 |=1
𝑠 𝑡𝑎𝑐ℎ𝑜 ×𝐾𝑣
|(0.11×((−12.3+22.2𝑖)2 +2.65×(−12.35+22.2𝑖))
Kp = = 17.78
3.75
3.10 Matlab File
The matlab file for this task has been attached
3.11 Finding Error
Experimental kp = 14
Using rlocfind function = 17.78
Page 25
𝟏𝟕.𝟕𝟖−𝟏𝟒
The error percentage = = 𝟐𝟕%
𝟏𝟒
The error is quite high because we have taken approximate value with manual
calculation for Ytacho and Ypos . Also noise in the system makes the error huge .
Page 26
Laboratory # 4
4.1 Description:
In this laboratory we design a lead compensator within a required phase margin with then help of
frequency response method. We also have to calculate the variable to get a step signal from 0 to
1 by using Labview software.
4.2 Design Calculation:
Assuming that
𝛼× Kc = K =10
The transfer function we have obtained from Lab 1 is,
3.75
G( s) 
s  (0.11s  1)
Transfer function of Lead compensator
𝑆+1/𝑇
G c(s) = Kc 𝑆+1/𝛼𝑇
𝛼 = attenuation factor.
𝑇𝑆+1
= 𝛼× Kc 𝛼𝑇𝑆+1
𝑇𝑆+1
Gc(s) = K𝛼𝑇𝑆+1
lim
KV  sG ( s )Gc(s)
s0
Page 27
Therefore,
lim 10 * 3.75
KV   37.5
s  0 0.11s  1
4.3 Phase margin calculation:
A phase margin of 60degree is desired
3.75 37.5
G1 ( s )  KG( s)  10  
s  (0.11s  1) 0.11s 2  s
A below figure shows the bode plot transfer function
Page 28
Fig4.1 bode plot
phase margin of the system is 25 degree at the value of w= 17 rad/sec
(60-27)= 33 we can add an additional 5 degree to 12 degree to the phase-lead angle required
After then the attenuation factor α is calculated manually by using formula

1− α
sin(450) = 1+α
α=0.17.

[1  sin( 45  )]
 180

[1  sin( 45  )]
180
G1(jw)= G1 to  20 log 10 (1 /  )  7.7db
wn=27.5 rad/s
1
wm 
T
1

Zeros = T
 11.1
1
Poles =  65.3
T
K
KC   58.8

1 K
s sK C  C
G( s)  K C T  T  58.8s  652.68
1 1 s  65.3
s s
T T
Page 29
Fig4.2: Bode diagram Phase margin
4.4 Step Signal Generation:
After getting values of a, b and c in the Labview program the step signal can be generated
between 0 and 1.
Page 30
Fig 4.3 Step Response Generation
4.5 parameters calculation:
Delay time =(1.79-1.6)=0.13s

Rise time =(1.86-1.66)=0.2s
Overshoot =(1.158-1)*100%=15.8%
Settling time =(3.09-1.66)=1.43s
Page 31
4.6 Simulated Step Response
The below fig4.4 shows us the simulated response of the system. It can be seen that the measured
step response of lead compensator ha become unstable
Fig4.4 Simulated Step Response
4.7 Conclusion:
We have learned the step by step procedure to design a lead compensator but in this lab we
gained a practical understanding of designing a lead compensator.
Page 32
Laboratory no. 5
By this laboratory P, PI and PID controller can be demonstrated in a
servo-motor.
5.1 Finding Critical Gain:
The required value of gain at which the system is critically stable can be
obtained from the graph. The value of critical gain, Kcr= 10
5.2Calculation:
The value of the critical period Pcr has been found by matlab using the
data saved in labview.
Page 33
0.1
0.08
0.06
0.04
0.02
-0.02
-0.04
-0.06
-0.08
-0.1
0 5 10 15 20 25 30
Figure 5.1
Pcr = 4.26-4.0 Pcr = 0.18
Calculation for different types of controllers
Page 34
For P:
P= Kp= 0.5×Kcr=0.5×10=5
For PI:
P= Kp= 0.45K×cr=0.451×0=4.5
Ti=Pcr÷ 1.2=0.18÷1.2=0.15
I= Kp÷(Ti×10) = 4.5÷(0.15×10) = 3
For PID:
P = Kp =0.6×Kcr = 0.61×0= 6
Ti = 0.5 Pcr= 0.5×0.1 = 0.09
I= Kp÷(Ti1×0) = 6÷(0.09×10) =6.667
Td= 0.125 Pcr=0.125×0.18=0.0225
D= Kp ×Td = 6×0.0225 = 0.135
Page 35
Controller P I D
P 5 0 0
PI 4.5 3 0
PID 6 6.667 0.135
5.3 Measuring Step response:
The values found for the different controllers are put into Labview and
from the table above the data is collected for the three controllers for
measuring the step response.
5.4 Calculation from the Graph:
Page 36
For each controller step response has been saved and inserted into
MATLAB.
For P: the figure 5.2 given below shows the step response with P
controller
The delay time, td= 449.9 – 440 = 0.099 s
The rise time, tr= 454.9 – 440 = 0.149 s
𝑐(𝑡𝑝 )− 𝑐(∞) 1.32−1

The maximum overshoot 𝑀𝑝 = × 100 = × 100 =32%
𝑐(∞) 1
The settling time ts= 492 - 440 = 0.52 s
Page 37
Figure 5.2
For PI:
The figure 5.3 given below shows the step response with PI controller
The delay time,
Page 38
td= 107.4 – 97 = 0.104 s
The rise time,
tr= 112.5 - 97 = 0.155 s
The maximum overshoot
𝑐(𝑡𝑝 ) − 𝑐(∞) 1.386 − 1

𝑀𝑝 = × 100 = × 100 = 38.6%
𝑐 (∞) 1
Page 39
Figure 5.3
the settling time ts = 148.2 – 97 = 0.51 s
For PID: the figure 5.4 given below shows the step response with PID
controller
The delay time, td =107.2 – 98 = 9.2 = 0.092 s
Page 40
The rise time, tr= 112.3 – 98 = 0.143 s
The maximum overshoot
𝑐(𝑡𝑝 ) − 𝑐(∞) 1.223 − 1

𝑀𝑝 = × 100 = × 100 = 22.3%
𝑐 (∞) 1
Page 41
Figure 5.4
5.5 Simulation:
For P:
The transfer function is given by :
1+ Gc G(s) =0 ,Gc=5
3.75
G(s) =
(1+0.11𝑠)𝑠
3.75
1+5∗ =0
1 + 0.11𝑠
18.75
1+ =0
𝑠(1 + 0.11𝑠)
Transfer function,
Page 42
0.11𝑠 2 +𝑠+18.75
Tf =
𝑠(1+0.11𝑠)
The graph for step response is:
Step Response
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
Time (seconds)
Figure 5.5
For PI:
The transfer function is given by 1+ Gc G(s) =0
Page 43
3.75
G(s) =
1+0.115𝑠
0.675s + 4.5
Gc =
0.15s
0.675s + 4.5 3.75

1+ ∗ =0
0.15s 𝑠(1 + 0.11𝑠)
112.5 + 16.875𝑠
1+ =0
1 + 0.11𝑠
(s+6.57)(s+148.66)
Transfer function, Tf =
s(1+0.11s)
The graph for the step response for PI controller is given below:
Page 44
Figure 5.6
For PID:
The transfer function is given by
1+ Gc G(s) =0
3.75
G(s) =
1+0.115𝑠
0.135𝑠 2 + 6s + 66.675
Gc =
s
0.135𝑠 2 + 6s + 66.675 3.75

1+ ∗ =0
s 1 + 0.11𝑠
0.51𝑠 2 + 22.5𝑠 + 250.01

1+ =0
s(1 + 0.11s)
Page 45
Transfer function,
0.62𝑠 2 +23.5𝑠+250.01
Tf =
s(1+0.11s)
The graph for the step response for PID controller is given below:
Page 46
Figure 5.7
Page 47

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Control systems 2015

School of Engineering and Information Technology

ASSESSMENT COVER SHEET

Muhammad Sheri iqbal sheikh, Ahmed Aaqib Sajjad Hossain,

s263776, s266141,s261303,s 284653,

Assessment Title Servo Control System Laboratory Report

ENG476 CONTROL SYSTEMS

Date Submitted 16/10/2015

Lab 2 Proportional Feedback Control

Lab 3 Position and Velocity Feedback Control

3.4 Tacho position

3.5 Observing Rise time tuning Kp and Kv

3.8 Finding Open loop transfer function

4.2 Design Calculation:

4.3 Phase margin calculation

4.4 Step Signal Generation

4.5 parameters calculation

5.1 Finding Critical Gain

5.4 Measuring Step response

calculation to determine magnitude and phase o sine response.

1.2 block diagram:

Potentiometer D/A Computer A/D Gear

Fig 1.1 Block diagram of lab 1

1.3 sinusoidal response:

Fig. 1.2 sinusoidal response of a servo motor

1.4 Bode plot:

 Method#1 using graph

We can see in the above figure that

𝑃ℎ𝑎𝑠𝑒 = −57.14 × (8.07 − 6.43)

 Method#2 Using FFT

analyzing the frequency response and amplitude.

Comparing both methods:

s.no Freq. Method 1 Method 2 percentage error

1 0.5 8.5 8.013 5.95%

2 0.7 6.7 6.413 4.42%

3 1 3.87 3.66 5.18%

4 2 1.89 1.72 8.51%

5 4 0.83 0.791 4.69%

6 5 0.6 0.632 6.64%

7 8 0.31 0.379 18.20%

8 10 0.15 0.125 10.71%

9 16 0.13 0.10 16.66%

Table 1.1 for amplitude

s.no Freq. Method 1 Method 2 percentage error

1 0.5 -95.32 -90.022 5.56

2 0.7 -88.45 -79.904 9.661

3 1 -99.01 -99.83 0.82

4 2 -102.31 -106.813 4.26

5 4 -115.119 -110.213 4.24

6 5 -123.05 -113.115 8.07

7 8 -133.14 -144.017 7.56

8 10 -145.36 -159.37 8.79

9 16 -154.9 -172.427 10.11

Table 1.2 for phase

Fig 1.3 Bode plot

1.5 Transfer function:

Proportional Feedback Control

2.1 Block Diagram

2.5) Step Response

4.5 5 5.5 6 6.5

Fig 2.1:Step Response

Response Response Without Brakes Response with Brakes

Delay Time(s) 0.1 0.13

Rise Time (s) 0.18 0.3