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The structure of the control system is shown in the schematic picture below. It consists of an input signal, a sensor, a feedback loop, and a regulator. The physical system consists of the gear and axis system described in DC Motor and Weak Axis. Since the physical system has negative static gain the PI gain also has to be negative.

By varying the controller gain k we can study how the system response is affected. In this case we vary the gain from 1 (StiffServoMechanism 1) to 2 (StiffServoMechanism 5) in steps of 0.25. The plot below shows the result:

For a step by step tutorial see Multidomain—A Servo Mechanism.

Components (12)

	idealGear1	Type: IdealGear Description: Ideal gear without inertia
	inertia1	Type: Inertia Description: 1D-rotational component with inertia
	inductor1	Type: Inductor Description: Ideal linear electrical inductor
	ground1	Type: Ground Description: Ground node
	inertia2	Type: Inertia Description: 1D-rotational component with inertia
	feedback1	Type: Feedback Description: Output difference between commanded and feedback input
	speedSensor1	Type: SpeedSensor Description: Ideal sensor to measure the absolute flange angular velocity
	signalVoltage1	Type: SignalVoltage Description: Generic voltage source using the input signal as source voltage
	PI1	Type: PI Description: Proportional-Integral controller
	resistor1	Type: Resistor Description: Ideal linear electrical resistor
	EMF1	Type: RotationalEMF Description: Electromotoric force (electric/mechanic transformer)
	step1	Type: Step Description: Generate step signal of type Real

StiffServoMechanism

Diagram

Wolfram Language

Information

Components (12)