Physics 37100 Advanced Physics Laboratory I

Lab #5

(PART II:  PID---The Controller)

1)          Make a sketch using getPhoto() to control the LED using proportional control.  Here is an outline:

a.      Set out=0;

b.      Loop for k=1 to 100

c.      Set analogWrite() to out

d.      Wait 100ms.

e.      Measure V using getPhoto

f.        Serial.println V

g.      Define err ie e=Vset-V;

h.     Define out=P*e;

i.        Make sure out is between [0 255].

j.         Serial.println e and out

k.      End loop

2)          Find the largest value of P=Pmax that does not causes the V to oscillate.  How does it compare to your estimate from part I?

3)          What is the value of the error for the largest P that will not oscillate?

4)          Plot V and out verses step k from above for Pmax, Pmax/2, and Pmax/10.

5)          Add Integral control.  Initialize es to 0 before the loop and after line g above add es=es+e; Then change line h to out=P*e+I*es.

6)          Find values of P=P0 and I=I0 that give good control.

7)          Plot V and out verses step k for (P0,I0), (P0,I0/10), (P0/10,I0), and (P0/10,I0/10).  You may have to lengthen the k loop to see the full effects.  Give a brief explanation of the plots.