Benha University Faculty of Engineering Shoubra Mechanical Design & Production Department

Advanced Control
Modeling Problem by Using MATLAB

Solved By Abdulrahman Yossri Mahmoud Presented To Ass. Prof. Dr. Saber M Abdrabbo

Assignment #1
Modeling Problem by Using Laplace Transforms Plotting Graph bet. Displacement & Time

Case1:
Due to F.B.D = + + = ( )=[ =[ + C=2

By using Laplace transform + ] ( ) K=1 F=1 1 ( + 1)

Assume that; M=1

By using partial fraction ( )= +

+ 2 + 1] ( ) 1 ( )= = [ + 2 + 1] +1 + ( + 1)

By using Inverse Laplace ( )=1

Sub S = 0 Sub S = -1 Sub S = 1 1 ( )=

1 = ( + 1)

( + 1) + ( + 1) + ( + 1) A=1 C = -1 B = -1

1 1 + 1 ( + 1)

Solving Using MATLAB

>> syms x s >> x = 1/(s*((s^2)+ (2*s)+1)); >> ilaplace (x) ans = 1+(-1-t)*exp(-t)

Then plot a graph between X and t Using MATLAB

Case2:
Due to F.B.D = + + = ( )=[ + C=7

By using Laplace transform + ] ( ) K = 12 F=1

Assume that; M=1

By using partial fraction A B C X(s) = + + S ( S + 3) ( S + 4) 1 S( S + 3)( S + 4) A( S + 3)( S + 4) + BS( S + 4) + CS( S + 3) = S( S + 3)( S + 4) Sub S = 0 Sub S = -3 A= B= Sub S = -4 C= 1 1 1 1 1 1 X(s) = + 12 S 3 S + 3 4 S + 4

= [S + 7S + 12] X(s) 1 X(s) = S [S + 7S + 12] 1 = S( S + 3)( S + 4)

By using Inverse Laplace 1 1 1 X(t) = e + e 12 3 4

Solving Using MATLAB

Then plot a graph between X and t Using MATLAB

Case3:
Due to F.B.D + = ( )=[ +

By using Laplace transform + C=1 + ] ( ) K=2 F=1 X(s) =

Assume that; M=1

Solving Using MATLAB

= [S + S + 2] X(s)

>> syms x s >> x = 1/(s*((s^2)+ (s)+2)); >> ilaplace (x) ans = -1/2*exp(-1/2*t)*cos(1/2*7^(1/2)*t)1/14*7^(1/2)*exp(-1/2*t)*sin(1/2*7^(1/2)*t)+1/2

Then plot a graph between X and t Using MATLAB

Assignment #2
Modeling Problem by Using SIMULINK Plotting Graph bet. Displacement & Time

Case1:
Assuming: R=1 L=1 J=2 C=7 Km=1.5 Ka=1.5

The block diagram given by:

The simulation will be:

Case2 (using T.F):

The block diagram given by:

The simulation will be:

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Case3:
Assuming: R=2 L=1 J=2 C=5 Km=0.5 Ka=3

The block diagram given by:

The simulation will be:

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Assignment #3
Modeling Problem of a Pneumatic System Getting Response by Using SIMULINK

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Pneumatic Modeling Problem

System Analysis System Equations = + Laplace Transform ( )= ( )= + ( )

( )=

= = )

=(

( )=( ( ) ( )=

( )=(

( )=(

( )=

( )

( )

+ 1) ( ) ( ))

( )

( )

+ 1) ( ) ( )

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The Block Diagram Given By

Assuming That a=2 b=5 k =3 A=6 C=4 R1=R2=9

By Using SIMULINLK, The Block Diagram Given By

The Time response of The System

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Assignment #4
Derivative of LOGARITHMIC DECREMENT

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From the general equaon o f 2 nd order system ( ) = ( ) +2 ( )= So, ( )= ( )= + + 1 + 2 ( ) +

Assume Impulse Input

( )=1 +2

+ + 1

By using partial fraction ( ) =

Inverse Laplace ( )= But,

= =

+ 1

= =

( )=

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From trigonometric sin ( )= = 1 = 2 sin( )

So,

Where

To get the LOGARITHMIC DECREMENT()

Let the response equation be =

Since the sin may be equal for tiny increase (d) so, sin( ( + )) sin(
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sin( ) ) sin( ( +

sin(

) ))

= ln ln = ln = ln

( (

) )

But, from the graph of response = ln = ln 2

ln

= ln = = =

= 2

1 1 2

The relation between the logarithmic decrement and damping factor is given by: = 4 +

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Assignment #5
Solving a STEADY STATE ERROR problem

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Problem

For the shown system and corresponding response graph find: M, C and K Given Mp = 0.095 Solution From the given data, the maximum peak = 0.095 = 0.095 = Tp = 5 sec F = 2N

= ln 0.095 1

ln 0.095 =

= 1.33

1 = 2.78
20

= 1.33

So, the damping factor is = 0.599 = 1

By substituting at the peak time =5= 5=

So, the natural frequency is = 0.784

51 0.599

1 0.599

= 0.784

From the mechanical motion of the system Due to F.B.D = + + = By using Laplace transform ( )=[ But + + + ] ( ) + ]

( ) = ( ) [

So, the transfer function given by ( )= [

( )=

( )=2

2 +
21

+ ]

From the final value theorem () = lim

So,

lim ( ) = lim

( ) = 2

But

( )=

2 +

+ ]

0.1 =

() = 0.1 2 = 20

From The general Formula of 2nd order response equation +2 = +

2 So, = =2

And

20 = 32.5 0.784

= 2 32.5 0.599 0.784 = 30.56

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Assignment #6
Solving a NYQUIST PLOTTING problem

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Problem: = ( + )( + )

Draw the Nyquist diagram, then: 1) Find value of K for stability. 2) For K = 4 the phase margin and gain margin. 3) Find K at phase margin = 30. 4) Find K at gain margin =10 dB. Solution: Assume K = 1, So 1 ( + 1)( + 2) Along C1, convert from S-domain to frequency domain substitute with S j 1 ( ) ( )= ( + 1)( + 2) ( ) ( )= The amplitude M is given by: 1 = ( + 1)( The angle is given by: + 4) 1 tan 2

For any assumed get and M 0 0.1 0.25 0.5 1 2 5 10

= 0 90 tan M 4.966 1.924 0.867 0.316 0.079 0.007 0.001 0

-90 -98.57 -111.1 -130.6 -161.5 -198.4 -236.8 -252.9 -270

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Along C2 is the mirror of C1 around X-axis Along C3 tends to be zero = lim

Along C4 is given by:

=0

So, = 2 lim

= lim

But

lim

So, it is an arc of radius and ploe d from 9 0 -90. Then draw a polar plot of Nyquist criterion.

+1 = =

lim

1 2 lim

1 lim 2

+1

1 lim 2

+1 =1

+1

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The problem may plotted by using MATLAB as following

1) To get the value of K for stability, find the intersection at = -180 = 0 90 tan 1 tan 2 = 180

By using trail and error method, we get = 1.415 The stability occurred at M = 1. So, = (

= 1 1.415 (1.415 + 1)(1.415 + 4) =6

+ 1)(

+ 1)(

+ 4)

+ 4)

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2) The gain margin at K = 4, subst ut e in the e quaon of p h as e an gl e at condition of = -180 = 0 90 tan 1 tan 2 = 180

So, as result before using trail and error method = 1.415

Subst ut e a t K = 4 to g et the a m p l itude o f the g ai n m a r gi n 4 = = 0.67 1.415 (1.415 + 1)(1.415 + 4) The gain margin is given by 1 = 3.48 0.67 The phase margin at K = 4, subst ut e in the e quaon of am pl i tu de at condition of M = 1 4 = =1 ( + 1)( + 4) . = 20 log So, ( ( + 1)( + 1)( + 4) = 16 + 4) = 4 . = 20 log 1

Using trail and error method

Subst ut e a t K = 4 to g et the a ngl e o f the p hase m a r gi n 1.145 1.145 = 0 90 tan tan = 168.65 1 2 The phase margin is given by
.

= 1.145

= 168.65 180 = 348.65

180

= 11.35

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3) To get K at phase margin = 30= -330 180 . = 330 = = 150

180

The corresponding frequency is given by

Using trail and error method

= 150 = 0 90 tan = 0.79

tan

Substitute in the equation of amplitude at condition of M = 1 = ( + 1)( + 4) =1

= 1 0.79 (. 079 + 1)(0.79 + 4) 4) To get K at gain margin = 10 dB . = 2.16 1

10 1 = log 20 1 = 3.18

= 20 log

So,

The corresponding frequency is given by

0.314 1 tan 2

Using trail and error method

= 180 = 0 90 tan = 1.415

Substitute in the equation of amplitude at condition of = -180 = 0.314 = ( + 1)( + 4)

So,

= 0.314 1.415 (1.415 + 1)(1.415 + 4) = 1.88

1.415 (1.415 + 1)(1.415 + 4)

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