Murat Sedat SEVNDK 1031120003

We will work to reducing the error which in the systems with various control method.Firstly we convert the mathematical model of the physical model.we find transfer function. We find the system transfer function of obtained from the mathematical model. We will get the transition curve of this transfer function. We will work to set P-PI-PD and PID parameters using rhe transition curve.

The systems need control effect how to set control value to intented value or control value provide to variable the depending different value and present control error reducing, if possible to reset.

The type of controllers are defined transfer function H(s) that signalize command effect of systems or implementing control type

Referance input = intented control value Compare Section = This is a comparator .It has compared referance input to error value. Error value = This value is output the error calculate so it is measured error Error = Refeance Input Error Value

Before the solving the system we will assign values to variables for the mathematical model. M = 10 kg C1 = C2 = 100 Ns/m K1 = K2 = 200 N/m L = 10m F = Applied the force of rigid links = Horizontal angle of rigid links

Proportional Controllers K=0.5*Kmax Proportional+Integral Controllers K=0.45*Kmax Ti=Tp/1.2 Proportional+Derivative Controllers K=0.6*Kmax Td=Tp/8 Proportional +Integral+ Derivative Controllers K=0.6*Kmax Ti=Tp/2 Td=Tp/8

We will design the system in MATLAB Simulink. Find Kmax and prove the all of controllers.

We can find Kmax experimantal P parameters define 50000. This time rate first overflow of second overflow is 1/4.We can see in Fig 4.2. Therefore Kmax=50000 and Tp=0.32.

Setting the P control parameters; K=0.5Kmax K=25000 Setting the PI control parameters; K=0.45Kmax K=22500 Ti=Tp/1.2 Ti=0.27 PI Control Parameters P=22500 I=K/T=84375

Setting the PD control parameters; K=0.6Kmax K=30000 Td=Tp/8 Td=0.04 PD Control Parameters P=30000 D=K*Td=1200

Setting the PID control parameters; K=0.6Kmax K=30000 T=Tp/2 T=0.16 Td=Tp/8 Td=0.04 PID Control Parameters P=30000 I=K/T I=187500 D=K*Td D=1200

P control correct the rise time in the systems. After certain limit, increasing Kp will only increase overshoot

I control eliminates the steady state error. So steady state error is zero but it provide the slowly control effect and it reduces rise time.

D control decreases the overflow in the systems.Also D control make fastly correction but steady state error isnt zero. Kd reduces settling time