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The report comprises either the results from the rectilinear system control experiment (ECP_210) or from the torsional system control experiment (ECP_205). This part is giving you maximum 90 marks.

Additionally if you solve correctly the challenge formulated at the end of the document you
can earn extra 10 marks on top of the standard marking (100=90 +10 marks).

ECP-210: PID CONTROL FOR 1-DOF MASS-SPRING-DAMPER

Provide brief introduction of the system and explain the aims of the experiment no more than

1 page.
(5 marks)

Identify parameters of the 1DoF systems using approach described in Section 3 of the lab

instruction.
(15 marks)

Plot transient responses for different values of the proportional gain Kp (in one coordinate

system) using the Matlab ‘plot’ command for the proportional controller
investigated in Sections 2.2
(10 marks)

Evaluate the parameters of the transient responses (OS%, peak t , r t , s t , ss e ) and

describe how they are affected by the gain Kp.
(10 marks)

Plot transient responses in one co-ordinate system for changing Ki values and another

co-ordinate system for changing Kd values using the Matlab ‘plot’ command for the
PID controller investigated in Section 2.3.
(10 marks)

Evaluate the parameters of the transient response (OS%, peak t , r t , s t , ss e ) and

describe how they are affected by gains Ki and Kd.
(20 marks)

For each controller configuration in Sections 2.2 and 2.3, derive the closed-loop system

transfer function and investigate how the location of poles changes with the changes of
gains Kp, Ki, and Kd using Matlab.
(20 marks)

ECP-205: POSITION AND SPEED CONTROL OF A 1-DOF TORSIONAL
MECHANICAL SYSTEM

Provide brief introduction of the system and explain the aims of the experiment.

(5 marks)

Identify the parameters of the 1DoF systems using the approach described in Section 3.

(15 marks)

Plot transient responses for different values of the proportional gain Kp (in one coordinate

system) using the Matlab ‘plot’ command for the proportional controller
investigated in Sections 2.2.1
(10 marks)

Evaluate the parameters of the transient responses (OS%, peak t , r t , s t , ss e ) and

describe how they are affected by gain Kp.
(10 marks)

Plot transient responses (in one co-ordinate system) for changing Kd values using the

Matlab ‘plot’ command for the PD controller investigated in Section 2.2.2.
(10 marks)

Evaluate the parameters of the transient response (OS%, peak t , r t , s t , ss e ) and

describe how they are affected by gain Kd for the PD controller investigated in
Section 2.2.2.
(10 marks)

For speed control in Section 2.3 plot transient responses in one co-ordinate system for

changing Kp values using the Matlab ‘plot’ command.
(10 marks)

Determine how the increase of proportional gain Kp in servo-system for speed control

affects the response of the closed-loop system.
(5 marks)

For the controller configuration in Sections 2.2.2 derive the closed-loop system

transfer function and investigate how the location of poles changes with the changes
of gains Kp and Kd using Matlab.
(15 marks)

When identifying parameters of the rectilinear or the torsional system you can attempt to identify the dry and viscous friction models simultaneously and estimate parameters: assuming that the real friction torque includes both the viscous and dry friction components (10 marks).

Appendix A: How to use ECP raw data stored in a textual file to plot the required graphs.

You are free to create your own method of reading the text files with the raw data to Matlab and producing graphs using the ‘plot’ command or you can follow the method describe below.

Change the file extension of the ECP data file from: “.txt” to “.m”.

Other three corrections should be made inside the raw data file. They are marked in “yellow” in the below excerpt from the file:

% Sample Time Commanded Pos Encoder 1 Pos Encoder 2 Pos Encoder 3
Pos
D=[ 0 0.000 0.000 0.000 0.000 0.000;
1 0.009 26.313 0.000 0.000 0.000;
2 0.018 61.750 17.500 9.813 5.375;
3 0.027 97.156 52.406 46.219 40.750;
4 0.035 132.563 91.219 85.563 79.906;
5 0.044 168.000 128.219 121.313 115.188;
……………………………………………………………………….
1692 14.981 0.000 162.000 160.969 164.500;
1693 14.990 0.000 162.000 160.969 164.500; 1694 14.999 0.000 162.000 160.969 164.500];

The m-file ECP_torsional_rectilinear_data_processing.m (available on BB) gives examples how to read data from “filename”.m and plot them as a Matlab figure. You should save these figures as Matlab file “PlotName.fig” and also in a graphical format for instance “PlotName.tif”, the later should be included in your lab report. The simplest finite-difference algorithm is used to evaluate the linear (ECP-210) and angular (ECP-205) velocities.

Examples of the plots obtained from applying the above procedure are displayed below :

Figure 1. Rectilinear system ECP-201 open-loop system response.
Figure 2. Rectilinear system ECP-210 close-loop system response.
Figure 3. Torsional system ECP-205 open-loop system response.
Figure 4. Torsional system ECP-205 closed-loop system response (position control).
Figure 5. Torsional system ECP-205 closed-loop system response (speed control).

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