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Qualitative PI Control

The document discusses a lab experiment on using proportional-integral control to control the speed of a QNET DC motor. Students will use LabVIEW to implement PI control of motor speed and vary the P and I gains to understand their effects on the closed-loop response. The objectives are to design and tune a PI controller for speed control of a DC motor using experimental data.

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Abeer Chaudhry
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433 views

Qualitative PI Control

The document discusses a lab experiment on using proportional-integral control to control the speed of a QNET DC motor. Students will use LabVIEW to implement PI control of motor speed and vary the P and I gains to understand their effects on the closed-loop response. The objectives are to design and tune a PI controller for speed control of a DC motor using experimental data.

Uploaded by

Abeer Chaudhry
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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American University of Sharjah

Department of Electrical Engineering

Project Assignment #3
ELE 353L
Qualitative PI Speed Control

Topics Covered
• QNET DC Motor speed control.

• Proportional-integral (PI) compensator design.

Prerequisits
• The QNET DC Motor has been setup and tested. See the QNET DC Motor Quick Start Guide for details.

• You have access to the QNET DC Motor User Manual.

• You are familiar with the basics of LabVIEW™.


1 Background
The speed of the QNET DC Motor is controlled using a proportional-integral control system. The block diagram of
the closed-loop system is shown in Figure 1.1.

Figure 1.1: QNET DC Motor PI closed-loop block diagram

The transfer function representing the DC motor speed-voltage relation with steady-state gain K and time constant
τ is
Y (s) K
= (1.1)
U (s) τs +1
and will be used to design the PI controller. The input-output relation in the time-domain for a PI controller with
set-point weighting is

ki (r − y)
u = kp (bsp r − y) + , (1.2)
s

where kp is the proportional gain, ki is the integral gain, and bsp is the set-point weight. The closed loop transfer
function from the speed reference r to the angular motor speed output ωm is

K (kp bsp s + ki )
Gω,r (s) = . (1.3)
τ s2 + (K k p + 1)s + K ki

1.1 Speed Control Virtual Instrument


The LabVIEW™ virtual instrument for speed control laboratory experiment is shown in Figure 1.2.

2
Figure 1.2: Virtual instrument for QNET DC Motor speed control
2 In-Lab Exercise
1. Ensure the QNET DC Motor Speed Control.vi is open. Make sure the correct Device is chosen.

2. Run the VI. The DC motor should begin rotating and the scopes should look similar to Figure 1.2.
3. In the Signal Generator section set:
• Amplitude (rad/s) = 25.0
• Frequency (Hz) = 0.40
• Offset (V) = 100.0
• Signal = 'Square'
4. In the Control Parameters section set:

• kp (V.s/rad) = 0.050
• ki (V/rad) = 1.00
• bsp = 0.00

5. Examine the behaviour of the measured speed, shown in red, with respect to the reference speed, shown in
blue, in the Speed (rad/s) scope. Explain what is happening.

6. Increment and decrement kp by steps of 0.005 V.s/rad.

7. Look at the changes in the measured signal with respect to the reference signal. Explain the performance
difference of changing kp .

8. Set kp to 0 V.s/rad and ki to 0 V/rad. The motor should stop spinning.

9. Increment the integral gain, ki, by steps of 0.05 V/rad. Vary the integral gain between 0.05 V/rad and 1.00 V/rad.
10. Examine the response of the measured speed in the Speed (rad/s) scope and compare the result when ki is
set low to when it is set high.
11. Stop the VI by clicking on the Stop button.

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