project2c

project2c - PID CONTROLLER FOR A DC MOTOR Timothy Hill EE...

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PID CONTROLLER FOR A DC MOTOR Timothy Hill EE 3530 – Control Systems Project #2 December 8, 2003
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I. 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 (Ziegler-Nichols 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 steady-state error to unit ramp input. The project required the use of the Ultimate Gain Method as in Ziegler-Nichols 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 steady-state performance, the system disturbance, and noise modeling
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project2c - PID CONTROLLER FOR A DC MOTOR Timothy Hill EE...

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