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10 views11 pages

Auto Lab4

Uploaded by

cherietishak2003
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Lab 04: closed –loop performances

PID controller
Date:12/12/2024
Speciality : automatic
Name : Debieche Lina
Group :02
Part A(steady state error):
1.
Code:
Method1 :we give values to k until we error=10%
t=0:0.01:8;
K=672
num=[K 5*K];
den=[1 21 146 336 0];
G=tf(num,den)
r=t;
T=feedback(G,1)
f=lsim(T,r,t)
figure(1)
plot(t,f,t,r)
err=abs(r(end)-f(end))
results:
8

0
0 1 2 3 4 5 6 7 8

err= 0.1000
method2:
numerator = [1 5];
denominator = conv([1 6], conv([1 7], [1 8]));
Kv_desired = 1 / 0.1;
K = Kv_desired * denominator(4) / numerator(2);
disp('Part A:');
fprintf('The value of K for 10%% steady-state error is:
%.2f\n', K);

results:
Part A:
The value of K for 10% steady-state error is: 672.00
Part B(stability and transient response performances):
Code:
shoot=0.05;
ts=4;
ep=sqrt((log(0.05))^2/(pi^2+(log(0.05))^2))
wn=3/ts*ep
p=2*ep*wn
k=wn^2
num=[k];
den=[1 p 0];
G1=tf(num,den)
T1=feedback(G1,1)
stepinfo(T1)
step(T1)
results:
ep =

0.6901

wn =

0.5176

p=

0.7144

k=

0.2679

G1 =
0.2679

--------------

s^2 + 0.7144 s

Continuous-time transfer function.

T1 =

0.2679

-----------------------

s^2 + 0.7144 s + 0.2679

Continuous-time transfer function.

ans =

RiseTime: 4.0518

SettlingTime: 11.5835

SettlingMin: 0.9005

SettlingMax: 1.0500

Overshoot: 5.0000

Undershoot: 0

Peak: 1.0500

PeakTime: 8.3804
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18
Time (seconds)

Part C:(PID controller on a DC motor):


Proportional controller only P:(d=0)
Code:
J=3.2284e-6;
b=3.5077e-6;
K=0.0274;
R=4;
L=2.75e-6;
Kp=[1 11 21];
den=[J*L J*R+L*b b*R+K^2 0];
P=tf(K,den);
for i=1:length(Kp)
C=Kp(i);
T=C*P;
G=feedback(T,1);
step(G)
hold on
stepinfo(G)
end
results:
ans =
RiseTime: 0.0055

SettlingTime: 0.1241

SettlingMin: 0.5901

SettlingMax: 1.6406

Overshoot: 64.0578

Undershoot: 0

Peak: 1.6406

PeakTime: 0.0149

Step Response
1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (seconds)

Propotional and integral controller PI (d=0):


Code:
J=3.2284e-6;
b=3.5077e-6;
K=0.0274;
R=4;
L=2.75e-6;
Kp=21;
Ki=[100 300 500];
den=[J*L J*R+L*b b*R+K^2 0];
P=tf(K,den);
for i=1:length(Ki)
C=tf([Kp Ki(i)],[1 0]);
T=C*P;
G=feedback(T,1);
step(G)
hold on
end
stepinfo(G)
results:
ans =

RiseTime: 0.0053

SettlingTime: 0.2143

SettlingMin: 0.4074

SettlingMax: 1.7970

Overshoot: 79.7038

Undershoot: 0

Peak: 1.7970

PeakTime: 0.0150
Step Response
1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time (seconds)

Proportionel integral and derivative controller


PID(d=0):
Code:
J=3.2284e-6;
b=3.5077e-6;
K=0.0274;
R=4;
L=2.75e-6;
Kp=21;
Ki=500;
Kd=0.05:0.1:0.25;
den=[J*L J*R+L*b b*R+K^2 0];
P=tf(K,den);
for i=1:length(Kd)
C=tf([Kd(i) Kp Ki],[1 0]);
T=C*P;
G=feedback(T,1);
step(G)
hold on
end
stepinfo(G)
results:
ans =

RiseTime: 0.0037

SettlingTime: 0.0435

SettlingMin: 0.9103

SettlingMax: 1.0431

Overshoot: 4.3065

Undershoot: 0

Peak: 1.0431

PeakTime: 0.0131

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (seconds)

Case of d=1:

Code:

J=3.2284e-6;
b=3.5077e-6;
K=0.0274;
R=4;
L=2.75e-6;
Kp=21;
Ki=500;
Kd=0.05:0.1:0.25;
den=[J*L J*R+L*b b*R+K^2 0];
P=tf(K,den);
for i=1:length(Kd)
C=tf([Kd(i) Kp Ki],[1 0]);
T=(C+1)*P;
G=feedback(T,1);
step(G)
hold on
end
stepinfo(G)

results:

ans =

RiseTime: 0.0036

SettlingTime: 0.0409

SettlingMin: 0.9039

SettlingMax: 1.0454

Overshoot: 4.5385

Undershoot: 0

Peak: 1.0454

PeakTime: 0.0121
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
Time (seconds)

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