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Lab 2

This document discusses the influence of gain on the transient response of a position servo system. It provides the block diagram and equations for the closed loop transfer function. It describes how to experimentally determine the critical gain where the system is critically damped by adjusting the gain and observing the response. It also involves using Simulink to simulate the output waveforms at different gains and using MATLAB to plot the root locus and identify the critical gain.

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hosaam123
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25 views4 pages

Lab 2

This document discusses the influence of gain on the transient response of a position servo system. It provides the block diagram and equations for the closed loop transfer function. It describes how to experimentally determine the critical gain where the system is critically damped by adjusting the gain and observing the response. It also involves using Simulink to simulate the output waveforms at different gains and using MATLAB to plot the root locus and identify the critical gain.

Uploaded by

hosaam123
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 PDF, TXT or read online on Scribd
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Introduction:

 Block Diagram of closed loop system:

 Summing Amplifier:

 The second order system:

 The roots of the characteristic equation depends on the value of ξ ( damping ratio ).

 Overdamped Response:
For ξ >1, the roots s1and s2 are real and different and the step response will be

c(t) = A est1 + 𝐵𝑒 𝑠𝑡2 + 𝐶

 Critically damped Response:


For ξ=1, the two roots are equal and the step response will be

c(t) = A est + 𝐵𝑡𝑒 𝑠𝑡 + 𝐶

 Underdamped Response:
For ξ<1, the roots are complex conjugates: s1,s2 = −ξῳn ± ῳn√1 − ξ
Experiment # 2

Position Control and the influence of gain on the response

The aim of this experiment is to study the influence of the gain on the transient response a
position servo.

For the shown block diagram:

 ϑi: voltage signal from the input shaft potentiometer [ ϑi socket on Analogue unit ].
 ϑo: voltage signal from the output shaft potentiometer [ ϑo socket on Analogue unit ].
 G: system gain ; changing it will affect on the position response [ use potentiometer P1].

Equations:

The overall Transfer Function:

𝜗𝑜 𝐺(𝑠)
=
𝜗𝑖 1 + 𝐺 (𝑠)𝐻(𝑠)

𝐺∗𝐾
𝐺 (𝑠) = ; 𝐻(𝑠) = 1
𝑠(1 + 𝜁𝑠)

𝐺∗𝐾
𝜗𝑜 𝜁 ῳ𝑛2
= 1 =
𝐺 ∗ 𝐾 𝑠 + 2ξῳ𝑛 𝑠 + ῳ𝑛2
2
𝜗𝑖 𝑠2 + 𝑠 +
𝜁 𝜁

𝑆𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑒 𝑖𝑛 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑏𝑦 ∶

K = …………………… ζ = …………………..

Steps:

1) From the closed loop characteristic equation; find Gcritical theoretically such that
system is critically damped by the two coming methods.

 Solving the C.E.:


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2) corresponding to the position control of the motor and allow the output ϑo to be
displayed on Oscilloscope.

Illustrate your connection on analogue unit:

3) Adjust ϑi at 90o as G at 0.2. Check the response: Is it overdamped, critically damped


or underdamped system?

4) Repeat the previous step at G = 0.3 , 0.4 , 0.5 , 0.6 , 0.7 , 0.8 , 1
Gcritical theoretical

Gcritical experimental

5) Using SIMULINK; illustrate output waveform ( ϑo ) 3-times at G = 0.2 , Gcritical , 0.8.


Note: Use step i/p [ 5 V ] to express reference input ϑi on your SIMULINK.

6) Use MATLAB to plot the root locus; illustrate Gcritical on the plot.

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