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This document presents the results of implementing a PD controller on a mass-spring-damper system to control displacement output in response to a step force input. It first describes the open-loop system model and shows it is unstable. A closed-loop model with just proportional control is shown to have high overshoot and steady state error. Finally, the addition of a PD controller is modeled, with manual tuning achieving negligible overshoot and settling within 10 seconds by using gains of kD=30 and kP=10, significantly reducing but not eliminating steady state error.

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55 views6 pages

Lab PDF

This document presents the results of implementing a PD controller on a mass-spring-damper system to control displacement output in response to a step force input. It first describes the open-loop system model and shows it is unstable. A closed-loop model with just proportional control is shown to have high overshoot and steady state error. Finally, the addition of a PD controller is modeled, with manual tuning achieving negligible overshoot and settling within 10 seconds by using gains of kD=30 and kP=10, significantly reducing but not eliminating steady state error.

Uploaded by

v ahmad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CONTROL LABORATORY Friday, 03, 27, 2019

Introduction to Simulink
(Implementing PD controller)
Report
ME Department

1. Ahmad Saleh (0160328)

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CONTROL LABORATORY Friday, 03, 27, 2019

Abstract

Controlling mechanical mass-spring-damper system with step force input and displacement
output using PD controller. The system is represented by two masses vertically connected
with two dampers, and one spring connected vertically to the first block. the open loop system
is represented by the blocks connected with dampers only and no springs. the spring provide
the feedback in the model.

2|Page
CONTROL LABORATORY Friday, 03, 27, 2019

Results
• By hand

3|Page
CONTROL LABORATORY Friday, 03, 27, 2019

• Using Matlab
for m=1 , b=0.1 , k=0.5 , step size of 0.1 , step input=1

The system equations for the open loop are :

1. my” = - b*(y’- x’) + u


2. mx” = - b*x’ + b*(y’- x’)

we simplify the equations to draw the block diagram to:

1. y” = - (b/m)*y’ + (b/m)*x’ + (1/m)*u


2. x” = - (b/m)*x’ + (b/m)*y’- (b/m)* x’

The block diagram of the two equations is shown in Figure 1

Figure 1

The response of this open loop system (as we can see in Figure 1) is unstable

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CONTROL LABORATORY Friday, 03, 27, 2019

The system equation for the closed loop is :

• my” = - b*(y’- x’) + u – k*y

we simplify the equation to draw the block diagram to:

• y” = - (b/m)*y’+ (b/m)* x’ + (1/m)* u – (k/m)*y

The block diagram of the equation is shown in Figure 2

Figure 2

The response of this closed loop system (as we can see in Figure 2) is stable, but as we can see
that the overshoot percentage and the steady state error are very high.
The steady state of the system is 2. The steady state error approximately is 100% and the
overshoot percentage approximately is 80% with approximately
ess=((2-1)/1)*100=100
peak overshoot value of 3.6
PO=((3.6-2)/2)*100=80

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CONTROL LABORATORY Friday, 03, 27, 2019

Using PD controller we can reduce the overshoot percentage and the steady state error, we
connected the PD controller In the block diagram as shown in Figure 3

Figure 3

I adjust the controller gains such that there is a negligible overshoot and settling time of about 10
seconds using manual tuning for the controller and I ended up with kD=30 and kP=10.

By using the PD controller we reduced the over shoot percentage


ess=((0.953-1)/1)*100=-4.7
from 80% to 5.56%, And the steady state error from 100% to
PO=((1.006-0.953)/ 0.953)*100=5.56
4.7%, but we couldn't eliminate the steady state error completely
because the PD controller can adjust only the over shoot
percentage.

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