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UNIVERSITI TEKNOLOGI MARA

FAKULTI KEJURUTERAAN MEKANIKAL


___________________________________________________________________________

Program : Bachelor of Engineering (Hons) Mechanical (EM220/EM221)


Course : Control Lab
Code : MEC 522
Lecturer : EN. MUHAMMAD SIDDIQ B. MAT DRIS
Group : EMD6M8A
___________________________________________________________________________

MEC 522 - LABORATORY REPORT

TITLE : CLOSED LOOP SPEED CONTROL SYSTEM

No NAME STUDENT ID SIGNATURE


1. MUHAMMAD FARIS B MD JAAFAR 2017806464
2. MUHAMMAD SYARIFUDDIN B BAKRI 2017806372
3. MUHAMMAD AKRAM B AZMAN 2017806332
4. MOHAMAD HAZRIN B KADIR 2017665738
5. MUHAMMAD LUQMAN IRFAN B MOHD HILMI 2017806382
6. MUHAMMAD HAZIM B MUHAMED ASRI 2017806584
7. MOHD SHAHRUL AZWAR B IBRAHIM 2016229692

*By signing above you attest that you have contributed to this submission and confirm that all work you have contributed to this
submission is your own work. Any suspicion of copying or plagiarism in this work will result in an investigation of academic msconduct
and may result in a “0” on the work, an “F” in the course, or possibly more severe penalties.

Marking Scheme

No 1 2 3 4 5 6 7 8 Total

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Table of content

No. Title Page no.


1 Introduction 3
2 Objectives 4
3 Theory 4-5
4 Procedure 5

5 Result 6-7
6 Discussion 8-9
7 Conclusion 10
8 Appendix 11
9 Reference 12

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INTRODUCTION
A combination of components that act together is called system. There are two
types of systems which are composed of open loop and close loop control systems. Systems
in which the output quantity has no impact on the input quantity are open-loop control
systems. Systems in which the output quantity has an impact upon the input quantity where
primarily to maintain the desired output value are close-loop control systems.

Closed-loop Systems use feedback where a segment of the output signal is fed back
to the input to reduce errors and improve stability. Systems in which the output quantity
has no impact upon the input to the control process are called open-loop control systems,
and that open-loop systems are just that, open ended non-feedback systems. The quantity
of the output being measured is called the “feedback signal”, and the type of control system
which utilizes feedback signals to both control and adjust itself is called a Close-loop
System.

A Closed-loop Control System, also known as a feedback control system is a


control system which uses the concept of an open loop system as its forward path but has
one or more feedback loops or paths between its output and its input. The reference to
“feedback”, simply means that some portion of the output is returned “back” to the input
to form part of the systems excitation.

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1. OBJECTIVES

 To investigate the performance of speed control system using Closed Loop controller.
 To analyse and evaluate the performance of the control system.
 To obtain overall transfer functions of control system using close loop control system.
 Observing the step responses of closed-loop control system

2. THEORY

The first step to designing a closed-loop controller is to identify a mathematical representation of


the plant, or create a model. Many types of systems can be modeled, including mechanical
systems, electronic circuits, analog and digital filters, and thermal and fluid systems. For this
experiment, we are going to create a model for a DC motor.

The DC motor can be best represented by a transfer function. A transfer function provides a
mathematical description for how the inputs and outputs of a system are related. In our case, the
input to the system is voltage (Vm) and the output from the system is angular velocity (Ωm). We
can use the equation below to represent the model of our DC Motor where:

km = Motor back-EMF constant (V/(rad/s))


Rm = Motor armature resistance (Ohms)
Jeq = Equivalent moment of inertia (kg*m2) (Assume that Jeq=Jm(Motor armature moment
of inertia))

Figure 1. Mathematical Model or Transfer Function for a DC Motor

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The next step is to choose a control method and design a controller. When designing a controller
it is best to fully understand the plant, in our case, the DC Motor. This understanding comes from
analysis of specialized graphs, such as Bode, root-locus, and Nyquist plot, which build intuition
of how the plant will behave. Graphs in the time domain, such as the step response, provide
immediate feedback on the ideal behavior of the system, such as rise time, overshoot, settling
time, and steady-state error.

Figure 2: Schematic of a Closed-Loop Control System

Now that we can simulate both our controller and the response of the DC motor, we can follow
an iterative process to optimize our controller. We will tune the controller parameters from the
LabVIEW front panel while verifying the system performance.

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3. PROCEDURE

1. Verified the wiring connection of the control system.


2. Start the LABVIEW program RT myRIO target (Main_control_PID_DC.vi).
3. Set the speed setpoint at 3.0
4. Changed the desired parameter of the PID
5. Run and analysed the graph
6. Repeated step 4 and 5 until get the best data with no overshoot and less steady state error

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4. RESULT
From the experiment that been done, this is the result that we have obtained:

Parameter1 Parameter2 Parameter3

Figure: Result
Parameters 1:
 Proportional gain (Kc) = 1.000
 Integral time (TL min) = 0.020
 Derivative time (Td, min) = 0.000
 Speed Setpoint = 3.00

Parameters 2:
 Proportional gain (Kc) = 0.7500
 Integral time (TL min) = 0.020
 Derivative time (Td, min) = 0.000
 Speed Setpoint = 3.00

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Parameters 3:
 Proportional gain (Kc) = 0.500
 Integral time (TL min) = 0.020
 Derivative time (Td, min) = 0.000
 Speed Setpoint = 3.00

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6.0 DISCUSSION

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Name : Muhammad Faris B Md Jaafar
Student ID : 2017806464

PID algorithm consists of three basic coefficients; proportional, integral and derivative
which are varied to get optimal response. In this experiment, we use Proportional-Integral-
Derivative (PID) control and it is the most common control algorithm used in industry and has
been universally accepted in industrial control. As in this experiment, we try tuning the setting
by using trial and error method to get an ideal and optimal response. To meet the specifications
of stability and no any disturbance condition of control system by adjusting three different
parameters behaviour of system of proportional gain (K c ), integral time (T𝑖 ) and derivative time
(T𝑑 ). From the result, we can see the relationship between speed of the DC motor and PID
parameter with different value to the system performances of closed loop control.

For case 1, our proportional gain,(Kc) and our integral time,(Ti) were set up to 0.500 and
0.02 respectively while derivative time is zero. From the graph drawn, we can see that the output
loop is oscillate. So in case 2, we try to counter this problem by increase the proportional gain,(Kc)
to 0.75. From there we can see that the output loop didn’t oscillate and was in steady-state.
Unfortunately, we still cannot manage to get the optimal response as the output is located higher
than the set point.

For the case 3, we put 1.0 for the proportional gain,(Kc) and maintain the derivative time
to zero and the integral time,(Ti) to 0.02 and record the result. From the graph drawn, we can
observe that only the small overshoot were drawn at the result. By doing this three case, we manage
to catch up with this three perimeter how it work for the result.

From the experiment, we can see that optimal response can be achieved by increase the
proportional gain,(Kc) until the output of the loop oscillates. Then, we can increase the integral
time,(Ti) value to stop the oscillate because it react to reduced the steady state error, but sometimes
it can increase overshoot to our result. Last but not least, we need to increase derivative time,(Td)
to make the loop is acceptable quick to its set point because it react to decrease overshoot and
higher gain with stability.

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Name: Mohamad Hazrin bin Kadir
Student ID: 2017665738

The Proportional-Integral-Derivative (PID) controller figures a controller output (CO) signal for
the final control component each example time T. The PID controller is a "three mode" controller.
That is, its performance and activity depend on the values picked for three tuning parameters, one
each seemingly connected with the proportional gain (Kc), integral time (Ti) and derivatives time
(Td). The red line is the actual output meanwhile the white line is the desired output. The output
value in the graph by simple method of PID controller tuning in which to be discussed.

This trial and error techniques began with Case 1. Firstly, all gains were set to 0 and the
value of Kc and Ti were set to 1.000 and 0.020 min respectively while Td remain 0. For Case 2,
Td remain at 0 while Kc to 0.7500 and Ti remain at 0.020 min. The system oscillates. For Case
3, Td value remain at 0 and the value of Kc and Ti were set to 0.500 and 0.020 respectively. It
produces steady state output. This can explain the changes Td where the Td is looking at the rate
of change of the error Δε. The more error changes or the longer the derivative time, the larger the
derivative factor becomes. The effect of the derivative is to prevent the overshoot caused by Kc
and Ti. Larger derivative time makes the derivative more aggressively reduce Kc and Ti.

Hence, these three parameters do affect the graph of Amplitude VS Time. From the graph,
the actual output is closer to desired output. Difference between the actual outputs is overlap with
desired one. This is due to errors with derivative control, Td. The larger the control signal, the
large the error begins sloping upward. However, the magnitude of the error is still moderately
small. In order to decrease overshoot, the damping time, T𝑑 must be adjusted

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Name : Mohd Shahrul Azwar bin Ibrahim
Student ID : 2016229692

An open loop system is a control system in which the control action is totally independent of output
of the system then it is called open loop control system. A manual control system is also an open
loop control system. Open-loop system, also referred to as non-feedback system, is a type of
continuous control system in which the output has no influence or effect on the control action of
the input signal.

In other words, in an open-loop control system the output is neither measured nor “fed
back” for comparison with the input. Therefore, an open-loop system is expected to faithfully
follow its input command or set point regardless of the final result. Besides, an open-loop system
has no knowledge of the output condition so cannot self-correct any errors it could make when the
present value drifts, even if this results in large deviations from the present value.

The study was to find the precision of angular position control for DC geared motor using
PID controller. The gains of a PID controller are obtained by trial and error method. In this method,
the I and D terms are set to zero first and the proportional gain is increased until the output of the
loop oscillates. As one increases the proportional gain, the system becomes faster, but care must
be taken not make the system unstable. Once P has been set to obtain a desired fast response, the
integral term is increased to stop the oscillations.

The integral term reduces the steady state error, but increases overshoot. Some amount of
overshoot is always necessary for a fast system so that it could respond to changes immediately.
The integral term is tweaked to achieve a minimal steady state error. Once the P and I have been
set to get the desired fast control system with minimal steady state error, the derivative term is
increased until the loop is acceptably quick to its set point. Meanwhile, the Increasing derivative
term decreases overshoot and yield higher gain with stability but would cause the system to be
highly sensitive to noise.

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Name : Muhammad luqman Irfan bin Mohd Hilmi
Student ID : 2017806382

In this experiment, we use Proportional-Integral-Derivative (PID) control and it is the most


common control algorithm used in industry and has been universally accepted in industrial control.
PID algorithm consists of three basic coefficients; proportional, integral and derivative which are
varied to get optimal response. As in this experiment, we try tuning the setting by using trial and
error method to get an ideal and optimal response.

For parameter 1, we put 1.000 for our proportional gain, (Kc) and 0.020 for our integral
time, (Ti) while derivative time is left zero. From the graph we can see that the output loop is
oscillate. In parameter 2, we increase the proportional gain, (Kc) to 0.7500. From there we can see
that the output loop didn’t oscillate and was in steady-state. However, we still didn’t get the optimal
response as the output is located higher than the setpoint.

In the parameter 3, we then try to reset the derivative time to zero and put 0.500 for the
proportional gain. Then we put 0.020 for the integral time and record the result. From the graph
we can saw that its quite good result with small overshoot. After these three cases, we barely saw
how this three-perimeter effect the result.

From the experiment, I can say that to achieved the optimal response, the proportional gain
needs to be increase until the output of the loop oscillates and make the system faster. Then we
can increase the integral time value to stop the oscillate. The integral time reduced the steady state
error, but it can increase overshoot. Lastly, we need to increase derivative time to make the loop
is acceptable quick to its setpoint. Increasing the derivative time can decrease overshoot and higher
gain with stability.

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Name : Muhammad Syarifuddin bin Bakri
Student ID : 2017806372

The main limitations in this experiment is that when finding the points that help obtaining
controller parameters such as settling time on the simulation graph using the cursor tool, it was
not always possible to find the exactly expected value. For example, we worked out the value
(vertical component) of 10% of the response is 10% _ 1 = 0:1, when we found the point. We
might only find a point quite close to the it but not exactly with the same value. This slight
difference can cause a slight error in terms of the obtained corresponding time parameters. To
solve this problem, it is suggested that the maximum step size should be set smaller so that the
points display on the simulation result can be more concentrated and the possibility of finding
the point with the exact value can be reached.

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Name : Muhammad Hazim bin Muhamed Asri
Student ID : 2017806584

From the experiment, we have set the parameter 1 for proportional gain (Kc), integral time (TL
min), derivative time (Td, min), and speed set point for 1.000, 0.020, 0.000, and 3.00
respectively. For parameter 2, Kc was set to 0.7500 and then 0.500 for parameter 3 with same
value of TL min, Td, min, and speed set point. From the graph that we obtained, we can see that
there are some overshoot occurs at the beginning after we run the system. Overshoot of the
system will occurs at the beginning and it will slowly drop and at a certain time, it began to
remain constant. From the graph we can observe that the overshoot is shorter but undershoot is
higher. From three of the parameters, parameter 1 with the value of Kc (1.000) shows the better
result. The time taken for the system to accomplish the set point is shorter where it needs less
time to become stable. The time intervals between the two peaks are decline as diminishing the
integral value since the oscillation decreases. This occurred because of the integral and
proportional behaviour. Proportional gain (Kc) has the important role to give a different result
for the overshoot, undershoot, and stability rate of the system.

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7.0 CONCLUSION

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Name : Muhammad Faris B Md Jaafar
Student ID : 2017806464

In conclusion, I would like to state the experiment was completely success because we
had achieved the objective of this experiment. Besides that, we successfully achieved a stable
system with parameter of K c = 1.0, T𝑖 = 0.02 and T𝑑 = 0. Simulation results of the output system
proved that effect of the variation of the mechanical load of DC motor controlled by a PID
controller. If PID controller doesn’t act adaptively to the speed, it will give disturbance to the
motor speed. PID controller has better control and sustain the speed of the motor under varying
load condition thus it can eliminate the disturbances effects on the motor speed.

The targeted result is achieved successfully under the given suitable conditions.
However, some improvements can be made in the control aspects of the proposed system design.
In this experiment, the PID controller is well performed for the motor speed control under the
loaded condition while the speed is kept constant. The ultimate parameter values of PID
controller were setup by Manual Tuning method. An Adaptive approach of PID controller may
be used in the prospective development in order of effectively speed control of the motor with
reference to input speed under the effect of load.

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Name: Mohamad Hazrin bin Kadir
Student ID: 2017665738

As the conclusion, the experiment was successful because we had achieved the objective
of this experiment. Besides, we could achieve a stable system with parameter of K c = 0.500, T𝑖 =
0.020 min and T𝑑 = 0 min. Simulation results of the output system proved that effect of the
variation of the mechanical load of DC motor controlled by a PID controller. If PID controller
does not act adaptively to the speed, it will give disturbance to the motor speed. PID controller
has better control and sustain the speed of the motor under varying load condition thus it can
eliminate the disturbances effects on the motor speed.

The result achieved successfully under the given suitable conditions. However, some
improvements can be made in the control aspects of the proposed system design. In this
experiment, the PID controller is well performed for the motor speed control under the loaded
condition while the speed is kept constant. The ultimate parameter values of PID controller were
setup by Manual Tuning method. An Adaptive approach of PID controller may be used in the
prospective development in order of effectively speed control of the motor with reference to
input speed under the effect of load.

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Name : Mohd Shahrul Azwar bin Ibrahim
Student ID : 2016229692

In conclusion, The PID control algorithm is a robust and simple algorithm that is widely used in
the industry. The algorithm has sufficient flexibility to yield excellent results in a wide variety of
applications and has been one of the main reasons for the continued use over the years. NI
LabVIEW and NI plug-in data acquisition devices offer higher accuracy and better performance
to make an excellent PID control system. Hence, we have seen that a controller called open loop
system can manipulate its inputs to obtain the desired effect on the neither output of a neither
system by the neither fact that the output signal or condition is neither measured nor “fed back”
for comparison with the input signal or system set point

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Name : Muhammad luqman Irfan bin Mohd Hilmi
Student ID : 2017806382

Based on this experiment, it can be conclude that, the objective of this experiment was
achieved. We are able to investigate the performance of speed control system using Closed Loop
controller and analyse its performance successfully. From the result we obtain, I could summarize
that the 3 parameters involve which is proportional gain (Kc), integral time (Ti, min) and
derivatives time (Td) plays the important role and good combination to gain the best result. No
matter what, we had achieved the best result on the last parameter (parameter 3) which the actual
output and desired output produced one-line graph and overlap each other. Those condition was
directly minimized the error of the experiment

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Name : Muhammad Syarifuddin bin Bakri
Student ID : 2017806372

The open-loop system using FOPDT model, and closed-loop control system with P, PI, and
PID controllers were built and investigated comprehensively. Reasonable deduction based on
The obtained results were proposed which generally agreed with the related theoretical
knowledge provided in Theory sections.
The limitation that it was difficult to mark points with exact expected values using cursor was
Assumed to be possible to be solved by decreasing the step size. For future improvement, it was
suggested that more types of controllers can be analyzed using similar approaches to better
understand the controller design.

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Name : Muhammad Hazim bin Muhamed Asri
Student ID : 2017806584

As conclusion, we have completed and achieve the objectives for this experiment. We were able
to investigate the performance of speed control system using Closed Loop controller. From the
three parameter, we have observe the performance base on several observations which are
overshoot, undershoot, and stability rate of the system. Then, we were also able to analyse and
evaluate the performance of the control system. Based on these observations, we can analyse
which one is better. The lower value of overshoot and undershoot have a better performance but
stability rate is vice versa. After considering all of the criteria, the best parameter was parameter
1 with a proportional gain (Kc) 1.000, integral time (Ti,min) = 0.020 and derivative time
(Td,min) = 0.000.

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APPENDIX

Parameters of DC-Servomotor

DC-Motor Parameters Specifications

Motor inertia, Jo (kgmm2 ) 21.4

Torque Constants, Km (mNm/A) 90

Back-EMF constant, Kb (mVs/rad) 108.2

Nominal Voltage (V) 24

Power output (W) 15

No-load speed (rpm) 1600

Mass (kg) 0.90

Maximum radial force (N) 100

Maximum axial force (N) 15

Rate torque (mNm) 120

Stall Torque (mNm) 270

Terminal Resistance() 7.8

Rotor Inductance (mH) 5

Motor viscous damping Co Nms/rad 10

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REFERENCE

1 Nasir, S. (2017, August 19). Introduction to myRIO. Retrieved from

https://www.theengineeringprojects.com/2017/08/introduction-to-myrio.html

2. National Instrument. (2018, June 5). Teach Tough Concepts: Closed-Loop Control with LabVIEW

and a DC Motor. Retrieved from http://www.ni.com/tutorial/12944/en/

3. In Depth Tutorials and Information. (NA). Closed-Loop Control (Motors and Drives).

Retrieved from http://what-when-how.com/motors-and-drives/closed-loop-control-motors-and-drives/

4. Rouse, M. (2017, December). Closed Loop Control System. Retrieved from

https://whatis.techtarget.com/definition/closed-loop-control-system

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