EXPERIMENT 04 · DC MOTOR

Erase the lasting error

Can the motor reach the target under a constant load with I set to zero?

Try it in the current lab

Pin this P-only run, then raise I gradually.

Watch the I contribution grow in PID terms, then compare final error with the P-only run.

The lab recalculates after a setting changes. Pin a run before changing one variable; the response and control-effort plots share the same replay time. PID experiments also show the P/I/D terms; estimator experiments show measured and estimated states.

What the system is doing

Integral action accumulates the error and supplies extra voltage against a persistent load.

L\dot{i}=V-Ri-K_e\omega,\qquad J\dot{\omega}=K_t i-b\omega-\tau_{load}

Open this experiment →Model and method →

Erase the lasting error

Can the motor reach the target under a constant load with I set to zero?

Try it in the current lab

Pin this P-only run, then raise I gradually.

Watch the I contribution grow in PID terms, then compare final error with the P-only run.

What the system is doing

Integral action accumulates the error and supplies extra voltage against a persistent load.

L\dot{i}=V-Ri-K_e\omega,\qquad J\dot{\omega}=K_t i-b\omega-\tau_{load}