SIMULATION EXPERIMENT No: 4 CONTROL SYSTEM TUNING 1.0 OBJECTIVES » To simulate dynamic systems directly from block diagrams. » To gain experience with control systems. >» To become familiar with the concept of dynamic stability. » To learn how to tune controllers using Zeigler-Nichols rules. 2.0 BLOCK DIAGRAM SIMULATION Most of the time, a dynamic system will be represented by a block diagram with transfer functions. A transfer function, G(s), is the ratio of the Laplace transform of the output variable and the input variable. Therefore, a transfer function is an algebraic relationship between the input and the output. A block diagram is composed of several transfer function in series and/or parallel forms. A typical block diagram is shown belot 20 Fe Meu) 29, Ils) Gyo < tw In order to simulate a block diagram, the best approach is first to assign a variable to each input and output node as shown above. The next step is to obtain the differential equation for each block. This way, a set of equations relating every input/output can be developed for the entire block diagram. Given the system input, the dynamics of the system can be simulated as usual. Consider, for example, block number 3 with the following transfer function X(s) . 1 Us) s?+38+5 To obtain the 0.D,£ for this particular block, first cross multiply to get; X(s) [ s* +38 +5] = U(s) [1] Then, take the inverse Laplace Transform to find the differential equation as #4 3x + 5x = u(t) 3.0 PROBLEMIn general, a dynamic system is said to be stable if, under a small disturbance or perturbation, it returns to its original equilibrium state. A simple pendulum is a good example of a stable system. Some systems including airplanes are inherently unstable. Without on board automatic controllers ( e.g rudder, ailerons, elevators ) an aircraft can not maintain its course as commanded by the pilot. In order to control the orientation ( or the attitute ) of an aircraft, rotational motion about the roll, pitch, and yaw axes must be stabilized. Consider a high speed aircraft (STEALTH type and code named ME376) with roll stabilization. The aircraft roll dynamics is modelled as a one mass torsional system. A gyro is installed to measure the roll angle . A torque can be applied about the longitudinal (roll) axis of the aircraft by tilting two ailerons (moveable aerodynamic surfaces at the trailing edge of each wing) in opposite direction. This torque can be jenerated by using a hydraulic actuator and therefore it is under our contro: The problem is to stabilize the roll dynamics of the aircraft. 4.0 PROCEDURE OPEN LOOP RESPONSE: In order to simulate the aircraft response with no feedback, consider the, open loop model with J = 3.04105 Nm sec* , B= 2.5*#10° Nm sec , A = 2.0*10° N m/degree Ts + cowuano [a x) 1 | e(0) Input 9) aa fA, eB exe) ACTUATOR AIRCRAFT DywaMics, ROLL DYNAMICS JPEN1- Set the disturbance torque input, Ty = 0. Use a step command input of magnitude 1.0 degree. Record and discuss the aircraft ‘response. 2= During a low level flight test, a daring eagle took on ME376 and hit the right wing of the aircraft creating a disturbance torque. To simulate this unfortunate event and what happened afterwards, set 0, = 0 and use a pulse disturbance input torque of small duration as shown below. Record and discuss the response of ME376. Tine (see. CLOSED-LOOP RESPONSE: Now consider an advanced version of our aircraft code named ME376A with a feedback controller on board. The controller acts on the difference or error between the commanded roll angle and the actual roll angle. Because the control-action is directly proportional to the magnitude of the error signal, it is called Proportional (P) Type controller. Before we test the controller in the field, let’s tune it first by using the Zeigler-Nichols rules. CONTROLLER ) Ts aes + ‘COMMAND R(s) | PPE AN we) [a] mee) 2s) 1 [9(0) a. f= z Wits 3 Xe +8) a ke LJ* actuator ‘AIRCRAFT Ue) DYwaucs ROU DYNAMICS wee ‘SENSOR 1 FEEDBACK CLOSED SYSTEM1- Set Ky= 0 and 6, = 1°. Starting at a low initial value, gradually increase the controller gain K, until a marginally stable response is obtained. Call this value K" .‘Record the response and note the frequency and period of the oscillation. Denote the period as T” . 2- Tune the controller by setting % = 0.5 K". Simulate the response to a step command input of 5 degrees. Note the steady state error and calculate the percent overshoot, settling and peak times. 3- Now, we will add another control action which will consider the rate of change of the error signal. This is called the Derivative action. The controller is now called Proportional plus Derivative ( PD ) type. Tune the new controller according to the following rule K, p= 0.45 K and Ky = 0.125 KT" Record the response to a step input of 5 degrees. Note the steady state error and calculate the percent overshoot, settling and peak times. 4- With a tuned PD controller on board, ME376A has been put through a series of test flights. During ohese flights, a hawk spotted ME376A and challenged it by hitting hard ( in fact, twice as hard as the eagle did ). Set @, = 0 . Record and compare the response of ME376A with the earlier version. ROLL ANGLE GYRO CONTROLLER BOX HYDRAULIC ACTUATOR