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1 PID CONTROLLER DESIGN OF A SERVO SYSTEM USING PLC IMPLEMENTATION FOR CONTROL ENGINEERING EDUCATION NIK NUR SYAZLEN BINTI NIK AZMI UNIVERSITI TEKNOLOGI MALAYSIA 2 UNIVERSITI TEKNOLOGI MALAYSIA PSZ 19:16 (Pind. 30 10 to a microcontroller, they remain the most commonly-used industrial data acquisition and control devices in manufacturing and electromechanical automation [2].

Programmable controllers have been achievement admiration on the factory floor and will probably remain major for some time to come. It offers several benefits over a conventional relay type of control [2]. In addition to cost savings, PLC provides many other advantages including the consistency, more flexibility, faster response time, easier to troubleshoot and capability in communication. Figure 2.2: Basic design of PLC By referring to the programmable logic controller, PLC design as shown in Figure 2.2 above, the function of each components are [2]: 31 11 Components Input Module Output Module Central Control Unit Table 2.2: Components and functions in PLC Function Convert incoming into signal which can be processed by PLC and pass it to central control unit. Perform a reverse task of input module. It converts the PLC signal suitable for the actuators.

Process the signal according to the program stored in memory. It also provides intelligence to command and given the activities of the entire PLC system. PLC Program The desired program of sequence of operation and control which is entered by programmer.

2.4 DC Servo Motor DC motors have been widely used in electromechanical drives and automation processes due to the excellent dynamic performance and a wide range of accurate speed and position control [3]. Many DC motor applications can be found in industries such as rolling mills, electric trains, electric vehicles, electric cranes, passenger lifts, large mine pit head winding gears and robotic manipulators, where a wide range of speed and position control is required.

DC motors are easy to drive, fully controllable and readily available in all sizes and structures. Vasyuta sladkij son vse aljbomi torrent. In manipulators, to follow a predetermined speed or position track under variable load, DC motors are used [3]. In this project, a specific model of the servo system is used which will be applied in educational control engineering.

Thus, CE110 servo trainer will be used as DC servo motor. The CE110 servo trainer is one of a unique range of products designed explicitly. 32 12 for the study and practical enquiry into basic and advanced control engineering principles that includes the study of static and dynamic system using either analogue or digital technique CE110 Servo Motor Trainer The CE110 servo trainer apparatus relates to DC servo speed and position control system using typical industrial technique. It used as a flexible tool for the practical introduction into the design, operation and application of controllers in general. Two additional identical inertia discs which may be added to the flywheel, the CE110 is supplied [3]. Access to the flywheel to achieve the inertia variations is via an interlock hinged cover at the rear of the unit [3].

The servo motor trainer is user safety assured because it authorizes that no power to the motor is reachable should the cover be open. Figure 2.3: CE110 Servo Trainer 33 The Mathematical Modeling of Servo Motor The mathematical modelling for the DC servo motor is required in order to get the transfer function that represents the characteristics of the system.

The transfer function of the DC servo motor should be determined first before designing the controller using the Simulink diagram Servo Control System In control system, we must know in mechanical term how the system behaves without control before we can conduct it. This is called as system modeling and it is an important part of our work in control systems analysis. The simple form of servo system is made of an electric motor with an output shaft that has an inertial load J on it, and friction in the bearings of the motor and load (represented by the constant b).

There will be an electric drive circuit where in input voltage V(t) is transformed by the motor into a torque T(t) in the motor output shaft. A torque balance can be written between the input torque from the motor and the torque required to accelerate the load and overcome friction by using systems modelling ideas for mechanical systems. Initially consider the servo system with the clutch disengaged. In this case configuration the system is a speed control process, which can be represented as shown in Figure 2.4. 34 14 Figure 2.4: The servo control system with clutch disengaged The system model is determined by relating the torque supplied by the motor to that required driving the load generator, the flywheel and fractional losses. 39 19 where, =, is the steady state gain of the transfer function from the input voltage V(s) and sensed shaft speed. The relation between shaft speed sensed and shaft position sensed is: ( ) = ( ) (17) where, = The overall system transfer function is the combination of the system transfer function for angular velocity and angular position as shown in figure below.