Helwan University

Faculty of Engineering

Mechanical Department

Name: Alie Eldeen Ahmed Ali

Section:1
Problem

For the following open loop control system (DC motor):

Requirements
a)Determine the open loop response and approximated time delay , time constant and system DC
gain.

b) Determine the controller gains for P controller and then determine the step response for 0%
overshoot.

c) Determine the controller gains for PI controller and then determine the step response for 0%
overshoot.

d) Determine the controller gains for PID controller and then determine the step response for 0%
overshoot.

e) Determine the controller gains for P controller and then determine the step response for 20%
overshoot.

f) Determine the controller gains for PI controller and then determine the step response for 20%
overshoot

g) Determine the controller gains for PID controller and then determine the step response for 20%
overshoot.
a)

 The approximate time delay: 0.46

 The approximate time constant: 4.14
 System dc gain: 0.5
 𝐾∗𝐿 0.5∗0.46 1
B) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: P
 Overshoot: 0%
0.3
Kp= = 5.4
0.0556

Kp = 5.4

Comment: There is overshoot although we made calculation to be with

no overshoot according to CHR’s method
 𝐾∗𝐿 0.5∗0.46 1
c) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PI
 Overshoot: 0%

0.35
Kp= = 6.3 Ti = 1.2T= 1.2*4.14=4.968
0.0556
𝐾𝑝 6.3
Ti= = = 4.968 Ki=1.3
𝐾𝑖 𝐾𝑖

Kp=6.3 Ki=1.3

Comment: There is overshoot although we made calculation to be with

no overshoot according to CHR’s method
 𝐾∗𝐿 0.5∗0.46 1
d) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PID

 Overshoot: 0%
0.6 𝐾𝑝 10.8
Kp= = 10.8 Ti=T=4.14= = Ki=2.6
0.0556 𝐾𝑖 𝐾𝑖
𝐾𝑑 𝐾𝑑
Td=0.5L=0.5*0.46=0.23 Td= = Kd=2.484
𝐾𝑝 10.8

Kp=10.8 Ki=2.3 Kd=2.484

Comment: There is overshoot although we made calculation to be with

no overshoot according to CHR’s method
 𝐾∗𝐿 0.5∗0.46 1
e) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: P
 Overshoot: 20%

0.7 0.7
Kp= = = 12.6
𝑎 0.0556

Kp=12.6

Comment: The overshoot here is acceptable is less than 20% so it will

perfect for system that accept 20% overshoot
 𝐾∗𝐿 0.5∗0.46 1
f) 𝑎 = = = = 0.0556
𝑇 4.14 18

Controller type: PI
Overshoot: 20%

0.6
Kp= = 10.8
0.0556
𝐾𝑝 10.8
T=4.14 T= = 𝐾𝑖 = 2.6
𝐾𝑖 𝑘𝑖

Kp=10.8 Ki=2.6

Comment: There is overshoot which is higher than 20% although we

made calculation to be with 20% overshoot according to CHR’s method
 𝐾∗𝐿 0.5∗0.46 1
g) 𝑎 = = = = 0.0556
𝑇 4.14 18

 Controller type: PID

 Overshoot: 20%

0.95 𝐾𝑝 17.1
Kp= = 17.1 Ti=1.4T=1.4*4.14= = Ki=2.95
0.0556 𝐾𝑖 𝐾𝑖
𝐾𝑑 𝐾𝑑
Td=0.47L=0.47*0.46=0.2162 Td= = Kd=3.69702
𝐾𝑝 17.1

Kp=17.1 Ki=2.95 Kp=3.69702

Comment: The overshoot here is acceptable is less than 20% so it will

perfect for system that accept 20% overshoot
The limitation of CHR’s method for tuning PID according to last example:

 We can’t make zero overshoot by using this method

 Maybe the settling time is high

We can make system response better by using Matlab tuning by taking the
parameter that we calculate from CHR’s method
Zero overshoot

20% overshoot