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Control Assingment

1) The document defines constants and transfer functions for a system with three plant gains (K): 7.248, 14.5, and 181.17. 2) For each K value, the closed-loop transfer function is derived and expressed as a partial fraction expansion. 3) Unit step responses are obtained for each K value and plotted. The response for K=14.5 has the best performance with a rise time between the other two and minimal steady state error and overshoot. 4) For K=14.5, the rise time, maximum overshoot, and settling time are calculated from the step response plot.

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Nipuna Thushara Wijesekara
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37 views14 pages

Control Assingment

1) The document defines constants and transfer functions for a system with three plant gains (K): 7.248, 14.5, and 181.17. 2) For each K value, the closed-loop transfer function is derived and expressed as a partial fraction expansion. 3) Unit step responses are obtained for each K value and plotted. The response for K=14.5 has the best performance with a rise time between the other two and minimal steady state error and overshoot. 4) For K=14.5, the rise time, maximum overshoot, and settling time are calculated from the step response plot.

Uploaded by

Nipuna Thushara Wijesekara
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/ 14

PART-1

First declare the data in the command box as follows.


K = sym('K');
S = sym('S');
Ks = 1;
K1 = 10;
K2 = 0.5;
Kt = 0;
Ra = 5;
Ki = 9;
Kb = 0.0636;
Jm = 0.0001;
Jl = 0.01;
Bm = 0.005;
Bl = 1.0;
N = 0.1;
Jt = Jm + (N^2)*Jl;
Bt = Bm + (N^2)*Bl;

We know that
G(S) =
KsK 1KiKN
S( ( RaJt+ K 1K 2Jt )S + K 1K 2Bt + RaBt + KiKb+ KK 1KiKt )

a) .Using MATLAB we get


>> G(S) =(Ks*K1*Ki*K*N)/
(S*((Ra*Jt+K1*K2*Jt)*S+K1*K2*Bt+Ra*Bt+Ki*Kb+K*K1*Ki*Kt) )
G(S) = (9*K)/(S*(S/500 + 903/1250))
If we express G(S) as
aK
S( S+b )

G(S) =
We get
a = 4500

b = 361.2
b) This part is done using MATLAB
Let the Closed Loop Transfer Function = H(s) =

If

r ( S ) =

1
S

S
( 2+361.2 S+ 4500 K )
4500K

1
y ( S )=
S
Unit step response (Obtained Manually)
1. K = 7.248
y ( S )=

4500 K
S(S +361.2 S +4500 K )
2

y ( S)
r (S)

G( S)
1+G(S)

y ( S )=

45007.248
S(S +361.2 S +45007.248)

y ( S )=

32616
S(S +361.2 S +32616)

2
Now consider (S +361.2 S+32616)=0

By solving this equation, we get


S=180S=181.2

y ( S )=

32616
S ( S +180 ) ( S+ 181.2 )

y ( S )=

A
B
C
+
+
S S+ 180 S +181.2

S+181.2
S +181.2 )+ B S ()+C S ( S +180 )
32616= A ( S +180 )
Finding the A, B, C coefficients,
Take S = 0
Then,

A=

32616
A=1
180 181.2

Let S = -180
B=

32616
B=151
(180)1.2

Let S = -181.2
C=

Therefore,

32616
C=150
(181.2 ) (1.2)

1 151
150
y ( S )= +
+
S S+180 S +181. 2

2. When K=14.5

y ( S )=

4500 14.5
S(S +361.2 S +4500 14.5)

y ( S )=

65250
S(S +361.2 S +65250)

2
Now considering S +361.2 S+65250=0

S=180.6 180.6478 i
Therefore,
y ( S )=

65250
S ( S +180.6+180.6478 i )( S+180.6180.6478i )

y ( S )=

A
B+Ci
D+ Ei
+
+
S ( S+ 180.6+180.6478i ) ( S+180.6180.6478 i )

65250= A ( S +180.6+180.6478 i ) ( S +180.6180.6478i ) + ( B +Ci ) S ( S+180.6180.6478 i )+ ( D+ Ei ) S ( S+180.6


Let S = 0,
A=

65250
180.6 +180.64782
2

A=1
Let S=180.6180.6478i
B+ Ci=

65250
(180.6180.6478 i ) (2180.6478 i)

B+ Ci=0.50.4999 i

Let

S=180.6+180.6478 i

D+ Ei=

65250
(180.6+180.6478 i ) (2 180.6478i)

D+ Ei=0.5+ 0.4999 i

There for now,


1
0 .50 . 4999 i
0 . 5+0 . 4999 i
y ( S )= +
+
S S+180 . 6+180 . 6478 i S+ 180. 6180 .6478 i

3. When K=181.17
4500 181.17
y ( S )=
2
S(S +361.2 S +4500 181.17)

y ( S )=

815265
S(S +361.2 S +815265)
2

2
Consider S +361.2 S+ 815265=0

S=180.6 884.6743i
Therefore,
y ( S )=

815265
S ( S +180.6884.6743i ) ( S +180.6+884.6743 i )

y ( S )=

A
B+Ci
D+ Ei
+
+
S S+ 180.6884.6743 i S+180.6+884.6743 i

815265= A ( s +180.6884.6743i ) ( s+ 180.6+884.6743 i ) + ( B+Ci ) s ( s +180.6180.6743 i )+ ( D+ Ei ) s ( s+180.6

Let S = 0,

A=

815265
= A=1
2
2
180.6 +884. 6743

Let S180.6180.6478 i
B+ Ci=

815265
(180.6180. 6743 i ) (2180. 6743 i)

B+ Ci=0.50000.1021i

Let S = 180.6+ 180.6478i


D+ Ei=

815265
(180.6+180. 6743i ) (2 180. 6743 i)

D+ Ei=0.5000+ 0.1021i

There for now,


1 0 .50000 .1021 i
0 .5000+ 0 .1021 i
y ( S )= +
+
S S+180 . 6884 . 6743 i S+ 180. 6+ 884 .6743 i

c) Obtaining partial fractions using MATLAB


When K = 7.248

y ( S)

S
S( 2+361.2 S+ 32616)
=
32616

>> num = [ 32616 ];


>> den = [1 361.2 32616 0];
>> [r, p , k] = residue(num, den)

r=

150.0000
-151.0000
1.0000
p=
-181.2000
-180.0000
0
k=
[]
Therefore
150
S+181.2

y ( S) =

151
S+180

1
S

When K = 14.5

y ( S)

S
S( 2+361.2 s+ 65250)
65250

>> num = [ 65250 ];


>> den = [1

361.2

65250

>> [r, p , k] = residue(num, den)

0];

r=
-0.5000 + 0.4999i
-0.5000 - 0.4999i
1.0000
p=
1.0e+02 *
-1.8060 + 1.8065i
-1.8060 - 1.8065i
0
k=
[]
Therefore
y ( S) =

0.5+ 0.4999i
S+180.60180.65 i

0.50.4999i
S+180.60+ 180.65i

When K = 181.17
S
S(
2+361.2
s+ 817650)
y ( S) =
817650

>> num = [817650];


>> den = [1 361.2 817650 0];
>> [r, p , k] = residue(num, den)

r=
-0.5000 + 0.1019i

1
S

-0.5000 - 0.1019i
1.0000
p=
1.0e+02 *
-1.8060 + 8.8602i
-1.8060 - 8.8602i
0
k=
[]
Therefore
y ( S) =

0.5+ 0.1019i
S+180.60886.02 i

0.50.1019 i
S+ 80.60886.02 i

1
S

d) When K = 7.248
y (t )
= 1 - 151 * exp(-180 * t) + 150 * exp(-180.2 * t)
When K = 14.5
y (t )
= 1 - exp(-180.6 * t) * cos(180.6 * t) 0.9997 * exp(-180.6 * t) * sin(180.6 * t)
When K = 181.17
y (t )
= 1 - exp(-180.6 * t) * cos(884.7 * t) 0.2041 * exp(-180.6 * t) * sin(884.7 * t)
Using MATLAB we can plot above 3 output responses. The codes are given below.
>> t = 0:0.000001:0.05;
>> G1 = 1 - 151*exp(-180*t) + 150*exp(-180.2*t);
>> G2 = 1 - exp(-180.6*t).*cos(180.6*t) - 0.9997*exp(-180.6*t).*sin(180.6*t);
>> G3 = 1 - exp(-180.6*t).*cos(884.7*t) - 0.2041*exp(-180.6*t).*sin(884.7*t);
>> plot (t,G1,t,G2,t,G3),grid on;

According to the plot K=14.5 gives a better response. Its rise time is between the rise time of
other 2 responses and after about 0.04s it stabilizes at unity without any steady state errors. Also
it has a very low overshoot compared to the plot obtained when K= 181.7. Also when we think
about the response time of a human it is about 0.215 s the time taken for the plotted response is
negligible.
K=181.7 has a very high overshoot. Also the response oscillates very badly.
K= 7.248 has no overshoot. It has the largest rise time, which is not a desirable property.
PART-2

y (t )
= 1 - exp (-180.6 * t) * cos(180.6 * t) - 0.9997 * exp(-180.6 * t) *
sin(180.6 * t)
MATLAB CODE
>> t = 0:0.000001:0.05;
>> G2 = 1 - exp(-180.6*t).*cos(180.6*t) - 0.9997.*exp(180.6*t).*sin(180.6*t);

>> plot (t,G2),grid on;


Using the data cursor Rise time= 0.01305 s
Now let
us

y (t )
differentiate
Then we get

&y (t )
= 180.6 * (exp(-180.6 * t) * cos(180.6 * t) + exp(-180.6 * t) * sin(180.6 * t)) -0.9997 *
180.6 * (-exp(-180.6 * t) * sin(180.6 * t) + exp(-180.6 * t) * cos(180.6 * t))

&y (t )
= 180.6 * (0 .0003 * exp(-180.6 * t) * cos(180.6 * t) + 1.9997 * exp(-180.6 * t) *
sin(180.6 * t))

&y (t )
= 0.05418* exp(-180.6 * t) .* cos(180.6 * t) +361.1458 * exp(-180.6 * t) .* sin(180.6 * t)
Using MATLAB
>> t = 0:0.000001:0.05;
>> G2 = 0.05418* exp(-180.6 * t) .* cos(180.6 * t) +361.1458 * exp(-180.6 * t) .* sin(180.6 * t)
>> plot (t,G2),grid on;

&y (t )
When

y (t )
=0 we get a maximum point for

According to this graph the maximum peak value occurs at t= 0.01739 s.

y max
Percentage overshoot maximum= 100(

-1)%

y max
According to the above given graph

PART-3
S
S( 2+361.2S+ 4500K)
Y(s) =
4500K

When K = 14,
S
S( 2+361.2S+ 63000)
Y(s) =
63000

>> t = 0:0.0000001:0.05;
>> NUM = [63000];
>> DEN = [1 361.2 63000];
>> step (NUM,DEN,t),grid on;
According to the graph,

=(1.043-1) x 100% = 4.3%

Rise time= 0.136 s

Maximum overshoot = 4%

Settling time= 0.0321 s

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