ME 411 LABORATORY EXERCISE # 3

Course Instructor: Dr.Atul Kelkar Lab Instructor: Ruchir Goswami (goswami@iastate.edu) Time Allocated: 1 Week Total points: 40 DUE: At the start of lab on Oct 1, 2012.

PID Controller Design for DC motor Position Control Using Root Locus
A transfer function for a rotary inertia system driven by a dc motor is given by: ) ) )

where output is the angular displacement of the motor/inertia system and input is the applied voltage to the dc motor. Assume the following values for the physical parameters of the system: 1. 2. 3. 4. moment of inertia of the rotor (J) = 3.2284E-6 kg.m2 damping ratio of the mechanical system (b) = 3.5077E-6 Ns/m electromotive force constant (K=Ke=Kt) = 0.0274 Nm/amp electric resistance (R) = 4 ohm

The controller design criteria is given by the following specifications for the closed-loop step response:
1. 2.

Settling time less than 0.04 seconds (Use 5% criterion). Overshoot less than 16%.

Part (I) - Plot open-loop root locus: The main idea of root locus design is to generate the locus of closed-loop characteristics from the open-loop pole-zero plot for varying gain and determine what controller gains will yield the desired closed-loop pole locations. Plot root locus diagram using the rltool in Matlab and then plot the lines of constant damping ratio () and damped natural frequency (d) using the grid function in the tool. (Note: while numerator and denominator vectors for defining transfer function in Matlab make sure that the transfer function is re-written such that the denominator is a monic polynomial in s). Attach printout of the root locus in lab report.

Part (II) Add P-control: Now let us add proportional controller to the system. Again use the rltool to add P- controller. Pick the value of P-controller gain Kp such that the resultant closedloop system has natural frequency of 15 rad/sec. Report what is the value of Kp required to achieve this. What is the closed-loop damping ratio for this value of Kp. Is there any value of Kp that can give you same natural frequency but increased damping ratio? Part (III) Design PD controller: In this part we will add a zero to the system by designing a PD-controller. Using property tab for the grid settings set the real-axis range to be -20 to 10 and imaginary axis range to be -20 to 20. Determine the zero location on real axis using add zero feature such that the closed-loop poles can have natural frequency of 15 rad/sec and damping ratio of 0.52. For this value of zero determine the PD controller gains. Check to see if this controller design satisfies the design criteria. If it satisfies only some of the criteria but not all state which ones are satisfied and which ones are not. Part (IV) Use the same controller type (PD) as in Part III but tune the gains such that you can meet both of the design specifications. For this design of controller determine the steady-state error to the unit step and unit ramp inputs.