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Quanser Servo PID
Quanser Servo PID
A PID closed-loop control system implemented on a Quanser Servo motor using MATLAB and Simulink.
High-level System Diagram
What?
What?
The Quanser Servo PID was a multi-stage lab final for a Control Systems course. The objective of this project was to operate a Quanser Servo Motor point-to-point using a closed-loop control system with a PID controller to meet objectives related to settle time, steady state error, and overshoot (essentially, how quickly and accurately can we operate the motor?). Here are the objectives from this project:
Meet a certain "score" related to settle time, steady state error, and overshoot
Calculate the transfer function for the servo motor in MATLAB referencing the motor's data sheet
Use Simulink and the control systems toolbox to create a Hardware-in-the-loop simulation
Implement the control system on the motor, and verify that it operates as expected
Tune the proportional, integral, and differential gains to meet the design objectives
An Electromechanical diagram of the Quanser Servo
The PID controller built in Simulink
How?
How?
There were 3 parts to this project: calculations, simulation, and testing. Here are some of the tasks from the project:
Use MATLAB to calculate the formulas for the transfer function, as well as graphs that show the electromechanical characteristics of the servo motor
Build the PID closed-loop control system using the calculations
Test out different control systems such as open loop, P, PI and PD control systems
Repeat the process of modifying the proportional, integral, and differential gains until the design objectives are met
Datasheet for the Quanser Servo Motor
Result
Result
The design objectives were met after tuning the PID controller and trying different methodologies for the system's response. It is important to know how your system will respond with changes in each type of gain. Undertuning or overtuning any of the gains can result in the motor moving unexpectedly or not reaching a steady state. It is also important to understand that your real-world plant will almost never operate like your simulations, and it is important to compensate for any of these differences in your calculations or model.
Overall, this has been a great project to get a first look at the world of control systems - where there are a lot of moving parts! I'm excited to take the lessons that I've learned from this project and begin applying them in some personal projects and in industry.
Graph of the motor's angular position (top) and the motor's voltage (bottom)
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