DARREN FRESINA
EE 3530
PROJECT TWO
PID CONTROLLER FOR A D.C. MOTOR
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SUMMARY
Project 2 deals with designing a PID compensator for the DC motor model
obtained in Project 1.
For this project, two methods can be used to design the
PID compensator: the pole/zero cancellation and approximation method or the
ultimate gain method (ZieglerNichols tuning).
The controller had to be
implemented so that the overall system would meet the given requirements.
Once this was done, the performance of the control system was analyzed in
terms of its’ transient performance and steady state performance.
The control
systems sensitivity requirements were analyzed based on the results of Project
1.
Finally, the disturbance rejection and noise rejection of the system were
analyzed over different frequency ranges.
It was found that the system
rejected noise at high frequencies.
All of these operations were necessary to
analyze the overall performance of the control system.
II.
INTRODUCTION
In project 1 we found the mathematical model of a DC motor with load.
From
this mathematical model we obtained a signal flow graph and derived the
transfer function.
In this project we designed a PID controller to satisfy a
12% overshot requirement, while reducing both the settling time (with 4%
error) and the steadystate error to unit ramp input.
The project required the
use of the Ultimate Gain Method as in ZieglerNichols tuning.
This method
allowed us to design a PID controller that enabled our system to meet the
above specifications.
It was also necessary to analyze the sensitivity
requirements based on the results of Project 1.
The analysis of the transient
and steadystate performance, the system disturbance, and noise modeling
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 Fall '07
 Chen
 KU, 0.0105 seconds, 0.0108 seconds, DARREN FRESINA EE

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