Assignment 4

Department of Mechanical & Aerospace Engineering
System Dynamics Lab–MECH 450

Fall 2023
Experiment 1: Mechanical System

(DC Motor)
Lab Assignment # 4:
Controlling DC Motor
Speed
Section:
Students’ Names IDs Grade
Submitted to:
Eng. Rihab K. Hamza
Date of Submission:
MECH 450 Laboratory Assignment 4 2/4
In the previous lab module, the open loop transfer function that relates the input voltage
to DC motor to the output motor speed, measured by the tachometer, is identified as a
first order transfer function
In this lab, proportional P controller will be designed, simulated by Simulink, and

implemented in LabVIEW to control the speed of the DC motor system.
1) Define PID controller? Give some examples where its used. [5%]
PID controller is a type of controller that uses proportional, integral, and derivative controllers, in
addition to the feedback that comes from a sensor, to calculate the control signal and adjust the system
accordingly. Some examples of PID controller usage is temperature control, robotics, industrial
automation, aircraft stabilization, and automotive industry.
2) Defining and stating the four control system requirements that correctly
represent the system in reality. [5%]
Overshoot, steady state error, settling time, and rise time.
3) Complete the Block Diagram below representing the DC motor speed

control.[10%]
Angular velocity
Degree/second
Angular velocity
Degree/second
DC Speed
motor change
Power Tachom
Watt eter
Operational DAQ +
amplifier LabView
Measured velocity
Volt
Control signal
Volt Required velocity
Degree/second
Prepared by Eng. Rihab Hamza Fall 2023

4) Find the feedback close-loop system transfer function T(s) stating the input and
the output. Include the closed loop block diagram. [10%]
5) Design P-controller gain Kp to control the DC motor speed that will result in a
steady state error of 2% for a unit step. (show all steps) [10%]
6) Simulate the system using the controller gain found above and verify the response,
why the gain is lowered or increased. Plot the result on clear figure and show your
work on it. (Explain the blocks used). [10%]
7) Gives full details of how the controller is implemented in LabVIEW. [10%]
The PID controller block is put added to the blocks window, then the gains block and the output range block are
added to it. Two similar tabs will appear in the user interface window. The high and low range are set to the value that the
DAQ can handle which is 10 and -10 volts respectively. The gain of the PID is only Kp for our case because we are adding a
proportional controller only. The value which is 2.5 is set in the Kc. The gain K0 (33.75) is then multiplied by the DAQ input
signal block. Now, a branch from the PID controller block is put to excel sheet writer block to collect the data. This is how
we connect and design the PID controller.
8) Does the motor move, when implement the gain found in the simulation, on the
experimental system? Explain the effect of dry friction in this case. (show and discuss
the first response) [10%]
The motor moves when we implement the gain that we got in the simulation. There is
no friction in our experiment.
9) Test your controlled system by performing step response from min. to max and from
max. to min. For each test result find the system performance parameters (i.e. rise
time, settling time, percentage overshoot, and steady state error) Show your
calculations at the graphs. Discuss your results by comparing the parameters with the
stated design requirements. [20%]
10) Now, Does your system satisfy the desired specifications? Is the Kp is a good
controller for your system? Discuss. [10%]
The system satisfies the steady state error, however for the other parameters, the controller
could not satisfy the requirement of the settling and rise time. Even if we increased the Kp,
the improvement in the settling and rise time is not noticeable. The reason behind this is that
the proportional controller targets the steady state error and decreases it, while it has less
effect on the rise time and settling time. Increasing Kp value further might destroy the steady
state error or increase the overshot of the system, which is not desirable.
Assignment Requirements:
 Each group must submit a typed assignment. (Handwriting not accepted).

 All equations must be typed using the MS equation editor and must be
numbered.
 All symbols have to be defined or included in the nomenclature.
 Drawings must be generated using appropriate computer software.
 Plots must be done using Matlab or Excel with axis-labels and units
 Drawing and plots must have figure numbers and captions.

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Department of Mechanical & Aerospace Engineering

System Dynamics Lab–MECH 450

Experiment 1: Mechanical System

Students’ Names IDs Grade

In this lab, proportional P controller will be designed, simulated by Simulink, and

Overshoot, steady state error, settling time, and rise time.

3) Complete the Block Diagram below representing the DC motor speed

Prepared by Eng. Rihab Hamza Fall 2023

7) Gives full details of how the controller is implemented in LabVIEW. [10%]

 Each group must submit a typed assignment. (Handwriting not accepted).

Prepared by Eng. Rihab Hamza Fall 2023

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