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First of All, Tune The Desired C Value So That The

The document discusses the design of controllers for a tape drive system. It begins by specifying design requirements for the uncompensated system, including a 75% overshoot and improving the first peak time by a factor of 2. It then shows MATLAB code for modeling the uncompensated system and systems with PD and PID controllers. Tables of results are referenced but not shown. The PD controller is designed using root locus analysis to choose a gain K of 19.9. This improves the rise time and settling time over the uncompensated system. Similarly, the PID controller is designed with a gain K of 30.9, which provides even faster response than the PD controller.

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Kar Yeong Lo
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30 views6 pages

First of All, Tune The Desired C Value So That The

The document discusses the design of controllers for a tape drive system. It begins by specifying design requirements for the uncompensated system, including a 75% overshoot and improving the first peak time by a factor of 2. It then shows MATLAB code for modeling the uncompensated system and systems with PD and PID controllers. Tables of results are referenced but not shown. The PD controller is designed using root locus analysis to choose a gain K of 19.9. This improves the rise time and settling time over the uncompensated system. Similarly, the PID controller is designed with a gain K of 30.9, which provides even faster response than the PD controller.

Uploaded by

Kar Yeong Lo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 6

The open loop transfer function of the system is as shown below.

1. Choosing the specification for the tape drive design


The general block diagram for the MATLABs sisotool

First of all, tune the desired C value so that the 3
rd
higher pole is approximate 5 times more than
the dominant pole. This is to ensure the 2
nd
order approximation is always valid so that the second
order analysis can be used.


From the root locus, we found that only when = 0.0912 or 75% overshoot and above, the 3
rd

order pole will more than 5 times further than the close loop dominant pole. Based on our
decision, 75% OS is used for the design specification.
Step response for the uncompensated system. From the transient response to get the Tp
and Ts under 75%OS.

Here, another additional specification is to improve the T
p(o)
time by

times the original 1


st

peak time.

Finally, the necessary specifications are shown as follow:
i. 75% overshoot
ii. T
p(n)
=

T
p(o)


*All the results actually are tabulated in table 1.0.

2. The MATLAB code to design the overall system

>> num=[400 120000];
>> den=[0.3 77.44 18178.24 8472];
>> g=tf(num, den);
>> sisotool(g)
>>
>> num2=poly([-3016.02 -300]);
>> den2=[0.3 77.44 18178.24 8472];
>> g2=tf(num2, den2);
>> sisotool(g2)
>>
>> num3=poly([-3016.02 -300 -0.5]);
>> den3=[0.3 77.44 18178.24 8472 0];
>> g3=tf(num3, den3);
>> sisotool(g3)





3. Design of the PD controller
The calculation is shown in another paper.
Table 1.0 shows all the necessary result for the PD controller design.
The transfer function of the system with PD controller is as shown below.




The gain, K is get using the root locus analysis by plotting the root locus of the above transfer
function.
The root locus is as shown below.

From the root locus above, the K value is 19.9. The detailed result is shown in table 1.0.



The transient response of the system after implemented the PD controller.


From the table and this transient response, it showed that the Ts and Tp becomes smaller
which means faster than the uncompensated system.














4. Design of the PID controller
The calculation is shown in another paple.
Table 1.0 shows all the necessary result for the PD controller design.
The transfer function of the system with PID controller is as shown below.




The gain,K is get using the root locus analysis by plotting the root locus of the above transfer
function.
The root locus is as shown below.



From the root locus above, the K value is 30.9. The detailed result is shown in table 1.0.




The transient response of the system after implemented the PID controller.


From the table 1.0 and this transient response, it showed that the system with PID controller
where the Ts and Tp becomes even smaller which means faster than the compensated system
with PD controller.

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