Servo system plays an important role in the electromechanical system. Accompanying the progress of technology and industry, servo driving technology can be completely implemented in digital form, which gives much more convenience. Motion Studio is an intelligent servo controller development environment with high performance window visual software, which can be used to control servo systems containing Technosoft intelligent servo drive. Motion system (includes motion system element definition and controller parameter measurement) can be configured, and superior integrated tools can be used to design motion program, which gives TML codes automatically. Open code development tools allow further edit, direct compile, link, generate execute codes and send them to IPM driver. Finally, advanced graphic view tools such as data record, control button and TML variables observer can be used for analyzing the motion of system. Its interface is shown as follows:

1. Department of Avionics Engineering
AE-3452
Modern Control Systems
Experiment No. 08
Demonstrate the implementation of PID controller for position
control of DC Servo Motor
Prepared for
By:
Name:
ID:
Section:
Semester:
Total Marks: ________________
Obtained Marks: _____________
Signature: __________________
Date: _____________________

2. Demonstrate the implementation of PID controller for position control of DC
Servo Motor
Objective:
To control the position of a servo motor on the trainer by using PID controller
Theory:
Servo system plays an important role in the electromechanical system. Accompanying the
progress of technology and industry, servo driving technology can be completely implemented
in digital form, which gives much more convenience.
Motion Studio is an intelligent servo controller development environment with high
performance window visual software, which can be used to control servo systems containing
Technosoft intelligent servo drive. Motion system (includes motion system element definition
and controller parameter measurement) can be configured, and superior integrated tools can be
used to design motion program, which gives TML codes automatically. Open code development
tools allow further edit, direct compile, link, generate execute codes and send them to IPM
driver. Finally, advanced graphic view tools such as data record, control button and TML
variables observer can be used for analyzing the motion of system. Its interface is shown as
follows:

3. According to the motor parameters measured in the experiment, set parameters in the following
interface:
Click ‘Test Connections’ to test that the encoder of the motor is connect right or not. ‘T54’ is the
motor type.
Then set current loop, velocity loop and position loop control parameters:

4. After setting current velocity and position loop parameters, does the “Tune & Test” experiment,
change parameters until obtain satisfied control result.
First, Click ‘Identify’ to measure the total inertia, then tune the parameter of the passband, Servo
system passband is the most important performance of the indicators, characterization of the system
response speed. Motor as a power output device, which directly determine the drive capacity of the
system bandwidth.
According to the motor model acquired from the experiment, simulate the controller in
MATLAB, observe and analyze the differences between simulation results and actual results.

5. Procedure
1. Familiar with the structure and principles of the intelligent servo controller by going through its
manual.
2. Master the communication principle and methods between the intelligent servo controller and
computer.
3. Familiar with programming with Motion Studio.
4. Simulate the motor model and control parameter in MATLAB and record the experiment results.
5. Change the motor load, modify control parameters, observe and record experiment results.
6. Download the program in ISM4803 then run the program, it will generate a “motion.out” file in
the folder “Program Files Technosoft ESM Projects DC Servo-ESM DC Servo”. Copy it for
the next experiments.
7. Complete experiment report.
Q1: Explain the working principle of PID controller?
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Q2: What did you learn from the experiment?
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