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Mini-Project: Team Work

This document outlines a mini-project on analyzing an RLC parallel circuit. It discusses the team members working on the project, the tasks to be completed which include circuit analysis, transfer functions, stability analysis, PID controller design, and MATLAB simulations. It then provides the circuit equations, state space representation, Routh stability analysis, and Ziegler-Nichols PID tuning. Graphs are shown of the system response before and after adding the PID controller. Key results are that the PID controller reduces rise time, peak time, settling time, and maximum overshoot compared to the uncontrolled system.

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Amr Tarek
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50 views10 pages

Mini-Project: Team Work

This document outlines a mini-project on analyzing an RLC parallel circuit. It discusses the team members working on the project, the tasks to be completed which include circuit analysis, transfer functions, stability analysis, PID controller design, and MATLAB simulations. It then provides the circuit equations, state space representation, Routh stability analysis, and Ziegler-Nichols PID tuning. Graphs are shown of the system response before and after adding the PID controller. Key results are that the PID controller reduces rise time, peak time, settling time, and maximum overshoot compared to the uncontrolled system.

Uploaded by

Amr Tarek
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Mini-project

TEAM WORK:
Mohamed Hafez Youssef.

Amr Tarek Abdallah.

Abdullah Abdel Fattah Mahmoud.

Youssef Shaaban Hamed.

Mohamed Ibrahim El-Sayed.

Mohamed Ahmed Refaat.

Mohamed Ahmed Saad.

Dr/ Mohamed Salah

THE CONTENT:
18/12/2021
Due date:

#circuit analysis.
#transfer function for current and state space representation.
#Discuss stability.
#Designing PID controller.
#Figures on MATLAB.
RLC Parallel Circuit

VOLTAGE & CURRENT THROUGH THE COIL L:

𝑑𝑖 1
VL = L𝑑𝑡 then IL = 𝐿 ∫ 𝑉𝑑𝑡
1 𝑑𝑣
VC = 𝐶 ∫ 𝐼𝑑𝑡 then IC = 𝑐 𝑑𝑡
𝑣
VR = IR then 𝐼𝑅 = 𝑅

RLC Circuit

𝒊𝒕𝒐𝒕𝒂𝒍 = 𝒊𝒍 + 𝒊𝒄 + 𝒊𝑹
𝒗 𝟏 ⅆ𝒗𝒄
𝒊𝒕𝒐𝒕𝒂𝒍 = + ∫ 𝝂 ⅆ𝒕 + 𝒄 In S domain
𝑹 𝑳 ⅆ𝒕
𝜈𝑠 𝜈
𝑖𝑡 = + 𝑳𝑠𝑠 + 𝑐𝑠𝜈𝑠
𝑅
1 1
𝑖𝑡 = 𝜈𝑠 (𝑅 + 𝑳𝑠 + 𝑐𝑠)
𝜈𝑠 𝑖0𝑢𝑡 1
𝑖𝑳 = 𝑇⋅𝐹 = = 𝐿
𝑳𝑠 𝑖𝑖𝑛 𝑐𝐿𝑆 2 + 𝑆+1
𝑅

2
RLC Parallel Circuit

STATE SPACE REPRESENTATION:


𝐶(𝑆) 1
= WITH PHASE VARIABLE
𝑅(𝑆) 𝑆 2 +1.6𝑆+2

𝑐 ′′ + 1.6𝑐 ′ + 2𝑐 = 𝑟 ASSUME 𝑥1 = 𝑐 𝑥̇ 1 = 𝑐 ′ = 𝑥2

𝑥2 = 𝑐 ′ 𝑥̇ 2 = 𝑐 ′′ = 𝑟 − 1.6𝑐 ′ − 2𝑐
𝑥̇ 0 1 𝑥 0 𝑥
[ 1] = [ ] [ 1] + [ ] 𝑦 = [ 1 0] [ 1 ]
𝑥̇ 2 −2 −1 ⋅ 6 𝑥2 1 𝑥2

DISCUSSING THE STABILITY USING ROUTH TABLE:

CHARACTERISTICS EQUATION: 𝑆 2 + 1.6𝑆 + 2 = 0

𝑺𝟐 1 2

𝑺𝟏 1.6 0

𝑺𝟎 2 0

All poles and roots have the same sign in LHP


The system is stable.

3
RLC Parallel Circuit

PID CONTROLLER DESIGN:

Before controller we found that (Second order system)


𝐶 (𝑆) 1
= at R = 2 Ω , L = 3.2 H , C = 0.3125 F
𝑅 (𝑆) 𝑆 2 +1.6𝑆+2

𝜔𝑛 = √2 𝑟𝑎𝑑/𝑠 𝑎𝑛𝑑 𝜉 = 0.5656


𝛽 = 𝑐𝑜𝑠 −1 (𝜉 ) = 0.97
𝜋−𝛽
𝑅𝑖𝑠𝑒 𝑇𝑖𝑚𝑒 = = 1.85
𝜔𝑑
𝜋
𝑃𝑒𝑎𝑘 𝑇𝑖𝑚𝑒 = = 2.68
𝜔𝑑
4
𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑇𝑖𝑚𝑒 = =5
𝜉𝜔𝑛
𝜉𝜔𝑛
−( )𝜋
𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 = 𝑒 𝜔𝑑 = 0.11 = 11%
1
𝒌𝑷 = lim 𝐺(𝑠) =
𝑠→0 0+0+1
= 1 (Static position constant)
1
𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟 = 1+𝒌 = 0.5 = 50%
𝑷

The stability:
𝑺𝟐 1 2

𝑺𝟏 1.6 0

𝑺𝟎 2 0

4
RLC Parallel Circuit

AFTER USAGE CONTROLLER:

(THE ZIEGLER-NICHOLS (ZN) SECOND METHOD)

SET 𝑇𝑖 = ∞ 𝑎𝑛𝑑 𝑇𝑑 = 0
𝐶 (𝑆) 𝒌𝑷
= 2
𝑅 (𝑆) 𝑆 + 1.6𝑆 + 1 + 𝒌𝑷
Using Routh table:

𝑺𝟐 1 𝒌𝑷 + 𝟏

𝑺𝟏 1.6 0

𝑺𝟎 𝒌𝑷 + 𝟏 0

𝒌𝑷 + 𝟏 > 𝟎 𝒌𝑷 > −𝟏
Take 𝒌𝒄𝒓 = 𝟒

Then 𝑆 2 + 5 = 0 𝑆 = ±√5 j
Put:

𝑆 = 𝑗 𝜔𝑐𝑟 𝜔𝑐𝑟 = √5
2𝜋
𝒑𝒄𝒓 = 𝜔 = 2.81
𝑐𝑟

5
RLC Parallel Circuit
Then from table:

controller 𝒌𝑷 𝒌𝑷 𝒌ⅆ
𝑻𝒊 = 𝑻ⅆ =
𝒌𝒊 𝒌𝒊

𝑃 0.45𝑘𝑐𝑟 ∞ 0

𝑃𝐼 0.5𝑘𝑐𝑟 𝑃𝑐𝑟 0
1.2

𝑃𝐼𝐷 0.6𝑘𝑐𝑟 𝑃𝑐𝑟 𝑃𝑐𝑟


2 8

𝒌𝑷 = 𝟐. 𝟒 , 𝒌𝒊 = 𝟏. 𝟕 , 𝒌ⅆ = 𝟎. 𝟖𝟒

FROM GRAPH

𝑅𝑖𝑠𝑒 𝑇𝑖𝑚𝑒 = 1.5 𝑠𝑒𝑐


𝑃𝑒𝑎𝑘 𝑇𝑖𝑚𝑒 = 2.3
𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑇𝑖𝑚𝑒 = 4.2
𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 = 7% (Type 1) Step

0.84 𝑆2 + 2.4 𝑆 + 1.7


𝒌𝑷 = lim 𝐺(𝑠) = lim
𝑠→0 𝑠→0 2 1
=∞
𝑠( 𝑆 + 1.6 𝑆 + 1)
1
𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟 = = 0 (error is eliminated)
1+𝒌𝑷

6
RLC Parallel Circuit
𝑘𝑑 𝑆 2 + 𝑘𝑝 𝑆 +𝑘𝑖
PID 𝑆

𝒌𝑷 = 𝟐. 𝟒 , 𝒌𝒊 = 𝟏. 𝟕 , 𝒌ⅆ = 𝟎. 𝟖𝟒

0.84 𝑆 2 + 2.4 𝑆 +1.7 0.84 𝑆 2 + 2.4 𝑆 +1.7


Open loop = PID * 𝐺(𝑠) = =
𝑠( 𝑆 2 +1.6 𝑆 1 +1) 𝑆 3 +1.6 𝑆 2 +𝑆

0.84𝑆 2 + 2.4 𝑆 +1.7


New T.F = 𝑆 3 +2.44 𝑆 2 +3.4𝑆+1.7

Using Routh table:

1 3.4
3
𝑺

𝑺𝟐 2.4 1.7

𝑺𝟏 2.69 0

𝑺𝟎 1.7 0

All poles and roots have the same sign in LHP


The system is stable.

7
RLC Parallel Circuit

MATLAB REPRESENTATION WITHOUT PID


CONTROLLER:

8
RLC Parallel Circuit

9
RLC Parallel Circuit

RESULTS:

compare Before PID After PID


𝑅𝑖𝑠𝑒 𝑇𝑖𝑚𝑒 1.85 1.5
𝑃𝑒𝑎𝑘 𝑇𝑖𝑚𝑒 2.68 2.3
𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑇𝑖𝑚𝑒 5 4.2
𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 11% 7%
𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟 50% 0%

REFERENCE :
1- Lecture notes , Dr : Mohamed Salah Selmy.

2- Lecture notes , Dr : Mohamed Ibrahiem.

3- M. Sami Fadali, Antonio Visioli, “Digital Control Engineering Analysis and Design”.

WITH MY BEST WISHES

TEAMMATES

10

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