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Discussion on result
- On the LABVIEW software, the set point of desire speed is set and controlled by the knob. The range of the speed motor that can be process in this system is in 1200-2400 RPM. Thus, this range of speed is in the operation of 0-100% duty cycle on PWM. The actual measurement speed from the sensor will runs through the set point value but it will take certain time to ensure the system error running in no steady state error.
- The steady state error that controlled and corrected by PID algorithm is based on the operation with significant number of Kp, Ki and Kd. The manual tuning that been made for this project is Kp = 0.6, Ki = 0.05 and Kd = 0.04. This number of gain has been set based on the manual tuning by try and error process and some calculation that have been done when the system is running.
- The results show that the motor can run by controlling the desire speed of the setpoint. The system can running accurately from the set point speed with no steady state error after a certain seconds. By injecting the output process from the PID controller to the PWM by controlling the duty cycle of the PWM, the motor will run with desire speed based on the voltage needed that equivalent to the desire set point speed that has been calculated by PID algorithm based on the current steady state error that occurred to the system.
- However, there been a bit of non proportional measurement of 10% duty cycle with 20% duty cycle. The frequency output for 10% duty cycle is 45.94 Hz while 20% duty cycle produces 200.50 Hz. This attenuation of measurement is caused by the friction that consider as mechanical disturbance and this disturbance will produce error to the readings. It will occur to the system when the motor is running low speed because the force of rotation is low to encounter the friction force. Hence, the system will not produce an accurate output when running at low speed
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