As discussed, I am assigning you the following task to complete the coursework project. Please follow all instructions carefully and complete every required part in full.
1. Objective
You are required to design and implement a classical control strategy (I-PD/PID) for a DC motor. The goal is to develop, analyze, and verify a control system that meets the specified performance requirements.
2. Tasks to Complete
- A) System Modelling
- B) Closed-Loop System Simplification
- C) Controller Design (I-PD Controller)
- D) PID Tuning Using Ziegler–Nichols
- Derive the transfer function G(s) that relates the motor's angular velocity ω(s) to the input voltage V(s).
- Derive the transfer function that relates the motor's angular position θ(s) to the input voltage V(s).
- Using the provided block diagram, simplify the closed-loop system and present the equivalent form.
- Calculate Kp, Ki, and Kd gains using appropriate methods (standard transfer functions or pole placement).
- Ensure the controller meets the following requirements for a step input:
- Rise Time ≤ 0.15 s
- Overshoot ≤ 5%
- Settling Time (1%) ≤ 0.25 s
- Zero steady-state error
- Implement the system in Simulink to verify the controller’s performance.
- Provide a discussion of trade-offs (e.g., how overshoot changes with gain adjustments).
- Research manual tuning rules such as the Ziegler–Nichols method and provide a brief explanation.
- Convert the controller to a standard PID configuration and apply Ziegler–Nichols tuning.
- Verify results in Simulink and compare performance with the I-PD design.
3. Deliverables
- A complete PDF report (max 10 pages, no appendices).
- MATLAB script (.m file) containing all calculations and controller gains.
- Simulink model (.slx file) of the complete system.
- All files must be compressed into a single .zip folder named: YourName_YourUWEID.zip
4. Report Requirements
- Table of content
- Introduction
- Methodology and calculations
- Results and analysis
- Discussion of findings
- Conclusion
- References
5. Notes
- Follow all submission rules. Missing or plagiarized work will result in a zero grade.
- Ensure all figures, calculations, and Simulink diagrams are clearly presented.
- The work must be entirely your own and properly referenced.