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1. OBJECTIVES
The datasheets/application note for the devices can be found in the on black board.
The labview program is to read the cam position through the LVDT (terminals ACH0+
and ACH0- on NI ELVIS), feed it into a low pass filter to cancel the sensor noise, and
use a PID controller to provide a feedback correction to the system. The output of PID
block could be given as follows
where:
e=Set point-Process Variable
Kc, Ki, Kd are PID proportional, integral, and derivative parameters
The range of PID output is set between -120 and 120.
The output from PID controller is fed into the red Gecko to control the DC motor to
follow the set point or tracking trajectories set by the operator in the labview program.
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Open LVDT_ver2.vi. Please read the prelab reading 12 to know how to use the
labview program.
a. Regulator
Make setting as follows:
Signal Reference -> Square wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Ki=0, and Kd=0. Change Kp.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), rise time, steady
state error and stability (band of the signal oscillation). Copy the plot on the window
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“Displacement (for Measurements)” to a word document and label each case. Press
Meas.Stop to stop the simulation.
b. Ramp Tracker
Make setting as follows:
Signal Reference -> Ramp wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Ki=0, and Kd=0. Change Kp.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), steady state error
and stability (band of the signal oscillation). Copy the plot on the window
“Displacement (for Measurements)” to a word document and label each case. Press
Meas.Stop to stop the simulation.
c. Sine Tracker
Make setting as follows:
Signal Reference -> Sine wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Ki=0, and Kd=0. Change Kp.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as steady state error, and stability (band of the signal
oscillation). Copy the plot on the window “Displacement (for Measurements)” to a
word document and label each case. Press Meas.Stop to stop the simulation.
4.2 PI CONTROL
a. Regulator
Make setting as follows:
Signal Reference -> Square wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 80%. Keep Kp=400, and Kd=0. Change Ki.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), rise time, settling
time, steady state error, and stability (band of the signal oscillation). Copy the plot on
the window “Displacement (for Measurements)” to a word document and label each
case. Press Meas.Stop to stop the simulation.
b. Ramp Tracker
Make setting as follows:
Signal Reference -> Ramp wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 80%. Keep Kp=400, and Kd=0. Change Ki.
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Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), steady state error
and stability (band of the signal oscillation). Copy the plot on the window
“Displacement (for Measurements)” to a word document and label each case. Press
Meas.Stop to stop the simulation.
c. Sine Tracker
Make setting as follows:
Signal Reference -> Sine wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 80%. Keep Kp=400, and Kd=0. Change Ki.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as steady state error, and stability (band of the signal
oscillation). Copy the plot on the window “Displacement (for Measurements)” to a
word document and label each case. Press Meas.Stop to stop the simulation.
4.3 PD CONTROL
a. Regulator
Make setting as follows:
Signal Reference -> Square wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Kp=400, and Ki=0. Change Kd.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), rise time, steady
state error, and stability (band of the signal oscillation). Copy the plot on the window
“Displacement (for Measurements)” to a word document and label each case. Press
Meas.Stop to stop the simulation.
b. Ramp Tracker
Make setting as follows:
Signal Reference -> Ramp wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Kp=400, and Ki=0. Change Kd.
Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as percentage overshoot (%OS), steady state error
and stability (band of the signal oscillation). Copy the plot on the window
“Displacement (for Measurements)” to a word document and label each case. Press
Meas.Stop to stop the simulation.
c. Sine Tracker
Make setting as follows:
Signal Reference -> Sine wave, Amp=0.5 cm, Freq=0.05 Hz, Offset=1.7 cm, Duty
cycle= 60%. Keep Kp=400, and Ki=0. Change Kd.
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Press Run (arrow). Look at the simulation for a while. Press Sim.Stop to measure the
step response characteristics as steady state error, and stability (band of the signal
oscillation). Copy the plot on the window “Displacement (for Measurements)” to a
word document and label each case. Press Meas.Stop to stop the simulation.
5
LAB 12 REPORT
You need to copy all the responses in each case to a word file and print it out and
attach it to the report
a. Regulator
b. Ramp tracker
c. Sine tracker
d. Conclusion
Which reference signal has a better steady state error control (with same Kp value)?
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4.2 PI CONTROL
You need to copy all the responses in each case to a word file and print it out and
attach it to the report
a. Regulator
b. Ramp tracker
c. Sine tracker
d. Conclusion
How the PI control affect the steady state error (especially for regulator case)?
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4.3 PD CONTROL
You need to copy all the responses in each case to a word file and print it out and
attach it to the report
a. Regulator
b. Ramp tracker
c. Sine tracker
d. Conclusion