3.2.
Cruise Control: System Analysis
3.2.1. System model and parameters
The transfer function model for the cruise control problem:
V (s) 1
P(s)= U ( s) = ms+ b
3.2.3. Open-loop step response
The open-loop response of the system, without any feedback control, to a step
input force of 500 Newtons is simulated in MATLAB as follows:
m = 1000;
b = 50;
u = 500;
s = tf('s');
P = 1/(m*s+b);
step(u*P)
stepinfo(u*P)
ans =
RiseTime: 43.9401
SettlingTime: 78.2415
SettlingMin: 9.0450
SettlingMax: 9.9997
Overshoot: 0
Undershoot: 0
Peak: 9.9997
PeakTime: 210.9168
3.2.4. Open-loop poles/zeros
The cruise control system has a single pole at s = -b/m which we can see plotted on
the s-plane using the following MATLAB commands:
pzmap(P)
axis([-1 1 -1 1])
3.2.5. Open-loop Bode plot
We are also interested in the open-loop frequency response of the system which we
find using the following MATLAB command:
bode(P)
>> isstable(P)
ans =
1
System is stable
3.3.DC Motor Speed: System Analysis
From the main problem, the dynamic equations in the Laplace domain and the
open-loop transfer function of the DC Motor are the following.
s ( Js +b ) θ ( s ) =KI ( s )
( Ls+ R ) I ( s )=V ( s )−Ksθ ( s )
θ(s) K
P ( s )= =
V (s) ( Js+ b ) ( Ls+ R ) + K 2
3.3.1. Open-loop response
First create a new m-file and type in the following commands (refer to the main
problem for the details of getting these commands).
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.5;
s = tf('s');
P = K/((J*s+b)*(L*s+R)+K^2);
The resulting plot is shown in the figure below, where you can view some of the
system's characteristics by right clicking on the figure and choosing from the
Characteristics menu such performance aspects as Settling Time and Steady State.
linearSystemAnalyzer('step', P, 0:0.1:5);
From the plot we see that when 1 Volt is applied to the system the motor can only
achieve a maximum speed of 0.1 rad/sec, ten times smaller than our desired speed.
Also, it takes the motor 2.07 seconds to reach its steady-state speed; this does not
satisfy our 2 second settling time criterion.
stepinfo(P)
RiseTime: 1.1351
SettlingTime: 2.0652
SettlingMin: 0.0899
SettlingMax: 0.0998
Overshoot: 0
Undershoot: 0
Peak: 0.0998
PeakTime: 3.6758
bode(P)
>> isstable(P)
ans =
1
System is stable
3.3.2. LTI model characteristics
Let's see just how closely a first-order model approximates our original motor
model. Enter the following command at the MATLAB command line to build a
first-order transfer function with pole at s = -2 and steady-state value matching the
original transfer function
rP_motor = 0.1/(0.5*s+1)
With a first-order system, the settling time is equal to
T s=4 τ
3.3.3. Response to other types of inputs
3.4.DC Motor Position: System Analysis
s ( Js +b ) θ ( s ) =KI ( s )
( Ls+ R ) I ( s )=V ( s )−Ksθ ( s )
θ(s) K
P ( s )= =
V (s) s ( ( Js +b )( Ls+ R )+ K 2)
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.5;
s = tf('s');
P = K/(s(*(J*s+b)*(L*s+R)+K^2));
step(P)
Bode(P)
>> isstable(P)
ans =
0
System is not stable
3.4.2. Closed-loop response
sys=feedback(P,1)
sys =
0.01
--------------------------------------
0.005 s^3 + 0.06 s^2 + 0.1001 s + 0.01
step(sys)
pzmap(sys)
bode(sys)
>> isstable(sys)
ans =
1
System is stable
