Lab 4

In this lab, we describe how a PID controller is tuned. We describe the effects of each individual terms in the PID controller (i.e. Proportional, Integral and Derivative terms). We describe an implementation of a virtual wall as a one sided spring. We also describe effects of changing sampling rates and introducing delays in the control loop.

Proportional Controller

See video here: http://www.youtube.com/watch?v=2-08aaWPc2M&feature=youtu.be

PD Controller

PID Controller

Implementation of Virtual Wall

Other Parameters

In the following images, the two extreme positions of the rotatory shaft are shown. Correspondingly, we can observe the displacement of the linear shaft to be around 10mm.

See Video here: http://www.youtube.com/watch?v=1uL_xB_lVZE&index=5&list=PLFNjF5XN33kHVeIN8pdtEKfSgrSi6UhiO

-- BikramAdhikari - 21 Jan 2014

-- BikramAdhikari - 14 Mar 2014