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Lab 02

The document outlines a computer lab exercise focused on a DC servo motor system using Simulink and MATLAB. It includes preliminary video clips and reading materials, followed by tasks involving block diagram construction, simulation, and tuning of proportional controllers. The lab aims to achieve specific transient response parameters and analyze the effects of control gains on system performance.

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12 views2 pages

Lab 02

The document outlines a computer lab exercise focused on a DC servo motor system using Simulink and MATLAB. It includes preliminary video clips and reading materials, followed by tasks involving block diagram construction, simulation, and tuning of proportional controllers. The lab aims to achieve specific transient response parameters and analyze the effects of control gains on system performance.

Uploaded by

mouhidi216
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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TRC3600 Computer Lab 02

Preliminaries
Vidoe clips:
• Getting started with Simulink
• How to use transfer functions in Simulink
• Getting Started with the Control System Designer
Reading materials:
• Simulink basics (at least the first three sections, Simulink Block Diagrams, Create a Simple
Model, Navigate Model):
• Simulations in Simulink (at least the first four sections, Prepare Model Inputs and Outputs, Con-
figure Simulation Conditions, Run Simulations, View and Analyze Simulation Results)
• LTI system block
• Getting Started with the Control System Designer
Note:
• This computer lab can be done without using the Control System Designer. However, it is an
important tool and will be used in Computer Lab 03, so please try it whenever possible. For
example, you can use it for answering Question 3.

Computer Lab
Consider a DC servo motor system. The ODE from the electric circuit dynamics is
d
v(t) = Ri(t) + L i(t) + eb (t), eb (t) = kω(t),
dt
where v(t) is the amarture voltage, i(t) is the amarture current, and eb (t) is the back EMF. R is the
amarture resistance, L is the inductance, and the ω(t) is the angular speed of the motor, respectively.
The ODE from the mechanical-side rigid body dynamics is
d
J ω(t) = τ (t), τ (t) = ki(t), J = Jm + Jh + Jd
dt

Figure 1: Block diagram representation of the closed-loop system with a proportional control
Monash University 2

R Terminal resistance 6.3 Ω


k Torque constant = back-emf constant 0.036 N-m/A (V/rad/s)
Jm Rotor inertia 4.0e−6 kg-m2
L Rotor inductance 0.85 mH
mh Load hub mass 0.0087 kg
rh Load hub radius 0.0111 m
md Disk load mass 0.054 kg
rd Disk radius 0.0248 m

Table 1: Servo system parameters

Note that
1 1
Jh = mh rh2 , Jd = md rd2 ,
2 2
where Jh is the moment of inertia of the hub and Jd is that of the load disk. Jm denotes the moment
of inertia of the motor’s rotor. All parameter values are summarised in Table 1. Answer the following
questions. Use Matlab and Simulink whenever possible.
1. The block diagram in Figure 1 represents the servo system with a proportional controller
v(t) = Ka {r(t) − θ(t)},
where r(t) is the reference angle, θ(t) is the angular position of the motor, Ka is the control gain
for the angle error, and θ(t) is the angle of the motor. Complete the diagram by filling out empty
blocks and construct a Simulink model of the block diagram.
2. Set the position proportional gain Ka = 1 and run a simulation with respect to a unit step (r(t) =
S(t)). Attach the plot and calculate/find transient response parameters, maximum overshoot,
settling time, and rise time, from the obtained step response.
3. By adjusting Ka , reduce the maximum overshoot, rise time and the settling time if possible.
Explain the situation using a root locus plot.
4. Introduce two more proportional controllers to the system:
u1 (t) = Ka {r(t) − θ(t)}, u2 (t) = Kr {u1 (t) − ω(t)}, v(t) = KI {u2 (t) − i(t)}
Adjust three gains Ka , Kr , and KI to achieve
• Maximum overshoot less than 5%
• 2% settling time smaller than 0.1 second
You may use design tools such as Matlab Control System Designer. Manual adjustment by trial-
and-error is also just fine. Hint: it is almost always easier to tune the innermost loop first and then
tune the outer loops one by one.
5. Compute the closed-loop transfer function from R(s) to Θ(s) and discuss the roles of three gains
in the transient response. How about the steady-state error? Does any gain affect the steady-state
error with respect to a step input and a ramp input?
6. Using a saturation block, limit the maximum allowable current to ±0.2A. Discuss the transient
performance you achieved with current saturation.

TRC3600 S2 2021

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