Jitendra Vishwakarma : 2016EE30517

Aman Singh: 2016EE30515

Indra: 2016EE10453
Siddharth Kumar: 2016EE30510

Aim:
To control the speed and position of the analog motor through PID
controllers.

Method and Observations:

We performed this experiment in two parts.
First we observed how the speed of analog motor can be controlled,
through PID controllers.
● Using different permutations of the PID controllers. We used Integral
controller, and varied the Integral constant from 1 to 12 and observed
the results.
● Then we suddenly applied the brake and then released the brake and
observed the results.
● And executed this for both the gains (1x and 0.1x).
Applying brake on the motor we obtained the result as follows:

Then we applied the ramp input in the Integral controller and obtained the
result as follows:

Next we employed Proportional and Integral controller to control the speed

of the analog motor. Varied the Integral and Proportional constants and
gain, and observed the results. We found out that as the proportional gain
increased the overshoot was eventually damped out. Proportional action
provides a damping action to pure integral control.

Varying the constants for different values we obtained the damping action.
Further we tried controlling the position of analog motor using all the three
Proportional, Integral and Derivative control. A virtually constant amplitude
of oscillation can be obtained using this controller. And after achieving this
stage we can find that it continues even after we remove the input.

This is the Critically Stable System. Then further increasing the value of
integral constant can make the system unstable. Observing the results for
several values of Integral Proportional and Derivative constants, we can
clearly observe the characteristics of the system, to be sometimes stable,
stiffer, unstable, and oscillatory.
Then we exerted the load on the output shaft and observed that the Integral
action trying to realign with the system. We are now having good response
but still more damping is required. So, we can employ either derivative
control or the velocity feedback. We can’t apply derivative action since it is
not suited to the characteristics of servo motor and it also responds badly
to the noise generated by the servo. So will use low pass filter at 34 Hz to
filter out the noise generated by the servo. Keeping the proportional
constant at 11 and Integral constant at and gain of the derivative constant
to be 0.01.
Now we had the negligible damping change. And now increasing the
derivative constant to 0.12, we observed a significant reduction in the
oscillation.