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Exp 3

The document outlines a laboratory experiment for studying the response characteristics of a second order system involving a motor and load using MATLAB. It includes objectives, definitions, MATLAB code examples for analyzing system responses, and tools required for the experiment. The document also references a textbook for further reading on control systems engineering.

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16 views4 pages

Exp 3

The document outlines a laboratory experiment for studying the response characteristics of a second order system involving a motor and load using MATLAB. It includes objectives, definitions, MATLAB code examples for analyzing system responses, and tools required for the experiment. The document also references a textbook for further reading on control systems engineering.

Uploaded by

abedul.hadi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Department of Electrical and Electronic Engineering

University of Information Technology and Sciences


EEE 406: Control Systems Lab

Experiment Name

To study the response characteristics of the second order system of the motor and load.

Objectives:

In this lab, we can define the response characteristics of the second order system of the motor
& load functions in MATLAB with the example that, are related.

Definition:

Let us consider the second order model of the motor and arm, which neglects the effect of the
coil inductance. We then have close loop system shown in figure then output when 𝐷𝐷(𝑠𝑠) = 0
is,

5𝑘𝑘𝑎𝑎
𝑌𝑌(𝑠𝑠) = 𝑅𝑅(𝑠𝑠)
𝑠𝑠(𝑠𝑠 + 20) + 5𝑘𝑘𝑎𝑎

5𝑘𝑘𝑎𝑎
= 𝑅𝑅(𝑠𝑠)
𝑠𝑠 2 + 20𝑠𝑠 + 5𝑘𝑘𝑎𝑎

𝜔𝜔𝑛𝑛 2
= 𝑅𝑅(𝑠𝑠)
𝑠𝑠 2 + 2𝜁𝜁𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛 2

∴ 𝜔𝜔𝑛𝑛 2 = 5𝑘𝑘𝑎𝑎 , 2𝜁𝜁𝜔𝜔𝑛𝑛 = 20

We then determine the response of the system using MATLAB.

Motor
Amplifier 𝐷𝐷(𝑠𝑠) Load
Constant
1
𝑅𝑅(𝑠𝑠) 𝑘𝑘𝑎𝑎 𝑠𝑠
𝑠𝑠(𝑠𝑠 + 20)

Tools:

MATLAB and the Control System Toolbox

Result & Analysis:


Example 1:
MATLAB Code:

ka=30;

t=[0:0.01:1];

nc=[ka*5];

dc=[1];sysc=tf(nc,dc);

ng=[1];dg=[1 20 0];

sysg=tf(ng,dg);

sys1=series(sysc,sysg);

sys=feedback(sys1,[1]);

y=step(sys,t);

plot(t,y);grid;

Xlabel('Time(sec)');Ylabel('y(t)');

1.4

1.2

0.8
y(t)

0.6

0.4

0.2

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(sec)
Example 2:
MATLAB Code:
numg=[10 20];deng=[1 10 0];
sysg=tf(numg,deng);
sys=feedback(sysg,[1]);
t =[0 : 0.1:6.2]';
v1=[0 : 0.1: 2]';
v2=[0 :-0.1: -2]';
v3=[-2: 0.1: 0]';
u=[v1;v2;v3];
[y,T]=lsim(sys,u,t);
plot(T,y,t,u, '-- ');
xlabel( 'Time(seconds) '),ylabel( '\theta(radian)) ');

1.5

0.5
θ(radian))

-0.5

-1

-1.5

-2
0 1 2 3 4 5 6 7
Time(seconds)
Example 3:
MATLAB Code:

num1=[6]; den1=[1 6 11 6]; sys1=tf(num1,den1);

num2=[1 6]; den2=[1 2.584 1.6]; sys2=tf(num2,den2);

t=[0:0.1:8];

[y1,T1]=step(sys1,t);

[y2,T2]=step(sys2,t);

plot(T1,y1,T2,y2,'--');grid;

Xlabel('Time(sec)');Ylabel('Step Response');

3.5

2.5
Step Response

1.5

0.5

0
0 1 2 3 4 5 6 7 8
Time(sec)

References:

Control Systems Engineering (4th Edition) by Norman S. Nise. John Wiley & Sons, Inc.

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