MECHINCAL ENGINEERING SCIENCE 8

SERVO TRAINER EXPERIMENT

Proportional and Proportional Plus Integral Control
of Servo Trainer Speed

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Proportional control of Servo Trainer Speed
PART 1: Steady State Errors for proportional controller.
Objective:
The objective of this experiment is to implement a proportional controller of the
Servo Trainer speed and to investigate the steady state errors.
Procedure:
Construct the block diagram as shown below.

CE 122 Digital Interface

 Potentiometer turned fully anti-clockwise (i.e., set to 0V output)
 PID Controller: Proportional (according to the values given in the table) switched in,
while Derivative and Integral blocks switched out.

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Steps:
1. Set the potentiometer to give a reference speed signal of 5V.
2. Vary the controller gain and record values in Table 1.

Proportional plus Integral control of Servo Trainer Speed

Objective:
The objective of this experiment is to investigate the effect of proportional plus
integral control upon the servo-motor speed control loop in terms of steady state
errors, and transient responses.

Part 2: Effect of the integral action on steady state errors for PI controller.

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  Observe the speed slowly increase and the error signal slowly decrease to 0
as the integrator output increases so as to cancel the error. Switch the
integrator out the circuit.
 Repeat the above procedure for the different given values of k i (Values will
be provided by the instructor).

Part 3: Selection of proportional and integral control gains

Use the equipment connections for Part 2 and notice that this corresponds to the
block diagram of
Figure 2.

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Note that the values of the gains described above will vary from one group to
another.

PART 4: Selection of proportional and integral controller gains for specific

transient response.

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Requirements:
PART 1: Steady State Errors for proportional controller.

1. For the block diagram shown in Fig.1, Show that the steady state error is
given by

2. Fill the results into Table 1. Discuss the steady state error and in particular
give reasons for any sufficient differences between the measured and the
theoretical values of steady state errors.

P-Controller Gain Measured Steady Calculated Steady

State error (V) State error (V)

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PART 2: Effect of the integral action on steady state errors for PI controller.
3. For the block diagram shown in Fig.2, show that the steady state error equals
Zero.

4. Discuss the steady state error results in terms of varying the values of
integral control gain, ki and in particular give reasons for any sufficient
difference between the measured and the theoretical values.

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PART 3: Selection of proportional and integral control gains
5. Plot the responses of ki=0.3 while varying the values of kp. For each plot,
calculate the peak time, maximum overshoot and settling time. Summarize
your finding in a tubular form.
6. Plot the responses of kp=1 while varying the values of ki. For each plot,
calculate the peak time, maximum overshoot and settling time. Summarize
your finding in a tubular form.

PART 4: Selection of proportional and integral controller gains for specific

transient response.
7. Refer to Fig.2, show that

8. Select a damping factor and calculate the required gains of ki and kp

for a step responses with natural frequencies
Summarize your findings in a tubular form.
9. Plot the step responses for each set of gains calculated in 8. Use the obtained
graphs to find the natural frequency for each gains set. Discuss the results in
terms of the percentage of error.

Submission Instructions:
. The deadline of submission will be at 4:00 PM on the next day of your
experiment date. (Refer to the Lab. schedule for more details). This is based on
individual submission. Your report should include all relevant graphs and clear
response to the above requirements (i.e. 1-9). You should submit the hard copy to
the Academic Administration Office. Also one soft copy should be submitted
through the link provided on Vision.

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