Erciyes University Mechatronics Engineering Control Systems-II PID Control Project

Murat Sedat SEVNDK 1031120003

Index 1-Abstract 2-Introduction 3.1-Physical Model Of the System 3.2-Mathematical Model of the System 3.3-Control System 4-Control of the System wiht Controllers 5-Simulation Results 6-Conclusion

1-Abstract We will work to reducing the error which in the systems with various control method.Firstly we convert the mathematical model of the physical model.we find transfer function. We find the system transfer function of obtained from the mathematical model. We will get the transition curve of this transfer function. We will work to set P-PI-PD and PID parameters using rhe transition curve. 2-Introduction The systems need control effect how to set control value to intented value or control value provide to variable the depending different value and present control error reducing, if possible to reset. The controllers generate the control effect depending of systems transfer function.This effect send to last control system part how command signal. System control shown in Fig 2.1.

Figure 2.1 Control of the Systems The type of controllers are defined transfer function H(s) that signalize command effect of systems or implementing control type. The controllers block diagram shown in Fig 2.2. The controllers can include variable control effect. This effects are Proportional effect Integral effect Derivative effect.

Figure 2.2 : Block Diagram of the Control Member 3-Description of the System 3.1-Physical Model of the System Firstly we start explain the components these are in the system.M define the mass.C define the viscous damping characteristic parameter.K define the spring stability characteristic parameter. Before the solving the system we will assign values to variables for the mathematical model. M = 10 kg C1 = C2 = 100 Ns/m K1 = K2 = 200 N/m L = 10m F = Applied the force of rigid links = Horizontal angle of rigid links

Figure 3.1 Physical Model of the System

3.2-Mathematical Model of the System After of the defining in physical model we will find the mathematical model of the system.We will find the mathematical model of the system for see response of the system and make laplace transform.This equation will tell us transfer function in laplace domain.

Figure 3.2 Effects of Parts = = = = =

Firstly we will calculate the moment distribution.But effort distances are equal because of that we can add the forces.This sum give us the moment equality. Define the forces which clock wise positive force.

This equation charactarize the moment result. X parameter state movement of vertical axis.But we need to output that define the parameter. parameter is horizontal angle of rigid links.

For the solving the system we are admitted

and find X parameter.

After the all of the defines we can find the transfer function; ( ( ) ) ( ( ) ) ( ) ( )

Laplace transform of equation ( ) ( ) ( ) ( ) ( ) ( ) (( ( ) ) ( ( ) ) ( ) ( ( )) ) ( )

((

))

3.3-Control System We will use method of continuous vibration in control system.This method discovering by two researcher Ziegler and Nichols.This method provide determine the temporary P paramater experimental way.I ve D parameters will define 0 value.The first overlap called Kmax which we find the transition curve and the vibration period called Tp. Proportional Controllers K=0.5*Kmax Proportional+Integral Controllers K=0.45*Kmax Ti=Tp/1.2

Proportional+Derivative Controllers K=0.6*Kmax Td=Tp/8 Proportional +Integral+ Derivative Controllers K=0.6*Kmax Ti=Tp/2 Td=Tp/8 4.Control of the System with Controllers We will design the system in MATLAB Simulink. Find Kmax and prove the all of controllers.

Figure 4.1 Control System of Matlab Simulink

Before the prove all of controllers we must the find Kmax.

We can find Kmax experimantal P parameters define 50000. This time rate first overflow of second overflow is 1/4.We can see in Fig 4.2. Therefore Kmax=50000 and Tp=0.32.

Figure 4.2 System output(Scope)

Setting the P control parameters; K=0.5Kmax K=25000 Setting the PI control parameters; K=0.45Kmax K=22500 Ti=Tp/1.2 Ti=0.27

PI Control Parameters P=22500 I=K/T=84375 Setting the PD control parameters; K=0.6Kmax K=30000 Td=Tp/8 Td=0.04 PD Control Parameters P=30000 D=K*Td=1200 Setting the PID control parameters; K=0.6Kmax K=30000 T=Tp/2 T=0.16 Td=Tp/8 Td=0.04 PID Control Parameters P=30000 I=K/T I=187500 D=K*Td D=1200

5.Simulation Results Simulation Results for P Control;

Figure 5.1 P Control Simulation Results Simulation Results for PI Control;

Figure 5.2 PI Control Simulation Results

Simulation Results for PD Control;

Figure 5.3 PD Control Simulation Results Simulation Results for PID Control;

Figure 5.4 PID Control Simulation Results

6.Conclusion Some results stand out when we analyse above case. P control correct the rise time in the systems. After certain limit, increasing Kp will only increase overshoot.You can see this implication in fig4.2 and fig 5.1. I control eliminates the steady state error.So steady state error is zero but it provide the slowly control effect and it reduces rise time. You can see this implication in fig5.1 and fig 5.2. D control decreases the overflow in the systems.Also D control make fastly correction but steady state error isnt zero. Kd reduces settling time. You can see this implication in fig5.1 and fig 5.3.