EC16 · Sem 6 · Control systems

PID control of a DC motor position

Aim: Tune a PID controller for a DC motor position loop.

🧪 Live simulation🧊 Real-time 3D bench⚠ Simulated values, not physical measurements

🔬 Virtual lab

Starting the lab…

📘 Theory

The motor and load act like a second-order plant. P speeds up the response, I removes steady-state error and D adds damping. Ziegler–Nichols gives a starting tune from the ultimate gain and period.

u = Kp·e + Ki·∫e dt + Kd·de/dt

🧰 Apparatus (virtual)

DC motor with encoder
PID controller
step input

📝 Procedure

Run with the default gains and read rise time and overshoot
Raise Kp and see overshoot grow
Add Kd to calm it
Press Ziegler–Nichols and compare

Observations and result (kept on this device)

🎤 Viva questions

What does the integral term fix

Steady-state error.

What is the risk of too much Kd

Amplified noise and a jittery actuator.

🛡️ Safety

Virtual lab. With real RF equipment, respect exposure limits, never transmit without a licence, and keep antennas away from people.