Experiment: PID Control for Modular Servo System

Objective: The aim of this experiment is to investigate the performance of PID control
using the Modular Servo System

Part 1 – Modular Servo System: Modeling

Find out the model of the process at the conditions specified in the table given below.
Find out the system transfer function.

Part 2 – Modular Servo System: PID control

Implement PID control in the system for the same conditions of the setup used for
modeling. Note the transient response of the sensor and a save a copy of it for future
references

Part 3 – Matlab Simulation:

Simulate the above experiments using the transfer functions generated and compare the
actual close loop response with PID control with the simulated close loop responses and
comment on the differences.

Part 4- Analysis:
From the various experiments conducted, explain the effect of integral gain and
differential gain as a control action on the system in terms of tracking error and transient
response.
Next, can you correlate the dominant pole location of the close loop system with the
nature of the responses observed as well as simulated? If yes, give details of the
correlation. If no, give reasons as to why these two are not correlated.
Conditions:

Batch No. Condition Kp KI KD

1 Load + No Brake 0.02 0 0
0.02 0 0.002
0.02 0.002 0.002
0.02 0.02 0.02
2 Load + Brake 0.01 0 0
0.01 0 0.001
0.01 0.001 0.001
0.01 0.01 0.01
3 Load + No Brake 0.05 0 0
0.05 0 0.005
0.05 0.0005 0.005
0.05 0.005 0.005
4 Load + Brake 0.1 0 0
0.1 0 0.01
0.1 0.01 0.01
0.1 0.1 0.01
5 Load + No Brake 0.2 0 0
0.2 0 0.02
0.2 0.02 0.02
0.2 0.2 0.02
6 Load + Brake 0.02 0 0
0.02 0 0.002
0.02 0.002 0.002
0.02 0.02 0.02
7 Load + No Brake 0.01 0 0
0.01 0 0.001
0.01 0.001 0.001
0.01 0.01 0.01
8 Load + Brake 0.2 0 0
0.2 0 0.02
0.2 0.02 0.02
0.2 0.2 0.02
9 Load + No Brake 0.1 0 0
0.1 0 0.01
0.1 0.01 0.01
0.1 0.1 0.01
Procedure:
Modeling Modular Servo System:

First, set-up your system to the conditions specified. Open Matlab on the computer
attached to the system. Type “servo” in the command window to open Modular Servo
System interface. Open the “Basic Tests” module and carry out the basic tests. Next open
the “Time Domain Identification” module and then again click on “Time Domain
Identification” to run the experiment for modeling the system. Select
“Simulation/connect to target” option in the Simulink window and then click
“Simulation/Start real-time code” to run the experiment. You will get a first-order
response. Model the system accordingly.

PID Control:
Open the “PID Control Continuous” module to run the experiment for proportional
control for the system. Enter the gain values in the Matlab command window by
following instruction: K = [ KP KI KD]. Select “Simulation/connect to target” option in
the Simulink window and then click “Simulation/Start real-time code” to run the
experiment.