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CS Lab Report 11

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3 views

CS Lab Report 11

Uploaded by

madnir99
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Study The Characteristics of

Rectilinear Platform Control


Modes

5 / 08 / 24

11
EE-20-A

Muhammad Raza Madni 210401034


Nafaye Bin Faisal 210401030
Lab # 11
Objectives:
 The main purpose of this experiment is to study and observe the behavior of the rectilinear platform
under different control modes and by applying different control algorithms.
Equipment’s:
 Rectilinear plant
 ECP hardware and software
Task Procedure:
1. Turn on the Hardware.
2. Turn on the ECP (model 205 or 210) control box by pushing the BLACK ON button. Make sure the
mechanical system (weights/springs) is in the correct position before you start your experiments. The
ECP control box also has a RED OFF button. Use the RED OFF button to turn of the hardware in
case of emergency.

3. Turn on the computer and open the ECP software As the program starts, the following window appears.
4. Go to the ‘Setup’ menu and select ‘User Units’ Select the units with which you want to perform the
experiment (Preferably Millimeters).
5. Go to the ‘Command’ menu and select ‘Trajectory’ This opens the following dialogue:
6. You can select the input trajectory from the above options. For the current case, select ‘Impulse’ and
select the ‘Setup’ button. This opens the following dialogue:
7. Use the following specifications for the impulse trajectory:
 Amplitude (mm): 5
 Pulse Width (msec): 200
 Number of reps: 1
 Dwell Time (msec): 800
 Go to the ‘Setup’ menu again and select ‘Control Algorithm’ This opens the following dialogue.
In the ‘Type’ tab, select ‘Continuous Time’ and in the ‘Control Algorithm’ window select ‘PID’. Now click
the ‘Setup Algorithm’ button. This would open a new dialogue showing the control structure i.e. PID in the
current case. For the first time, do not change the gains. You must also select the desired feedback channel
by choosing the correct encoder(s) used for your control design. For the current case select encoder 1 only.
Upon clicking ‘Ok’ this dialogue would close. Now click the ‘Implement Algorithm’ button. This would
implement the selected controller so that the system can now be operated under control. Upon clicking ‘Ok’
this dialogue would close.
8. Go to the ‘Command’ menu and select ‘Execute’. This would open the following dialogue:
9. Click ‘Run’. This would start the system. Wait until the samples are uploaded.
10. Go to the ‘Plotting’ menu, add ‘Commanded Position’ to Left axis, and ‘Encoder 1 Position’ and ‘Encoder 2
Position’ to Right axis. Press the ‘Plot Data’ button.
11. Observe the plots and identify what control actions need to be taken in order to improve the
response. Based on these considerations, change the controller parameters in the ‘Setup Algorithm’
dialogue inside the ‘Control Algorithm’ dialogue till you get a more improved response with accurate
tracking and good transient behavior. Also prioritize the overshot characteristics while tweaking the
gains. Obtain a plot showing the ‘Commanded Position’ on the left axis and the ‘Encoder 1 position’
and ‘Encoder 2 position’ on the right axis. Attach this plot in the observations section of this manual.
12. Repeat the experiment by keeping the control algorithm to ‘PID’ with ‘impluse’ trajectory. Use the
following specifications for step trajectory:
 Step Size (cm): 0.5
 Dwell Time (msec): 800
 Number of reps: 2
13. Repeat the experiment by changing the control algorithm to ‘PI with Velocity feedback’ once using
‘Impulse’ trajectory and again with ‘Step’ trajectory. Use the same respective specifications for
impulse and step trajectories as used previously.

Task
Conclusion:
Increase ki to get closer to input signal is output is below the input signal, and opposite for output is higher
than input signal.
Use kp to lower overshoot.
Use kd to decrease oscillations.

…the end!

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