COMSATS-Lancaster Dual Degree

Programme

Names:-Ali Nawaz Ranjha

Registeration # DDP-FA10-BTE-008

Control Systems Lab

Lab Session 5:Q#7 of book

(a)Impulse response:Output of system when input is impulse.
Writing our transfer function

Matlab code:%---------------------------% Question#7 ch#3

%---------------------------K=input('enter value of spring constant:\n');
D=input('enter value of coefficient of viscous friction:\n');
J=input('enter value of moment of inertia:\n');
M1=input('enter value of first mass:\n');
M2=input('enter value of second mass:\n');
%relating displacement to force
num1=[K]
den1=[M2.*M1 D.*M2 (K.*M2+K.*M1) D.*K 0]
sys1=tf(num1,den1)
num2=[M1 D K]
den2=[M2.*M1 D.*M2 (K.*M2+K.*M1) D.*K 0]
sys2=tf(num2,den2)
t=0:0.01:10;
x=heaviside(t);
subplot(2,2,1)
lsim(sys1,x,t)
grid on
subplot(2,2,2)
lsim(sys2,x,t)
grid on
%relating velocity to force
num3=[K]
den3=[M2.*M1 D.*M2 (K.*M2+K.*M1) D.*K]
sys3=tf(num3,den3)
num4=[M1 D K]
den4=[M2.*M1 D.*M2 (K.*M2+K.*M1) D.*K]
sys4=tf(num4,den4)
subplot(2,2,3)
lsim(sys3,x,t)
grid on
subplot(2,2,4)
lsim(sys4,x,t)
grid on

Results:-

>>enter value of spring constant:

2
>>enter value of coefficient of viscous friction:
5
>>enter value of moment of inertia:
6
>>enter value of first mass:
10
>>enter value of second mass:
15
num1 =
2

den1 =
150 75 50 10

Transfer function:
2
-------------------------------150 s^4 + 75 s^3 + 50 s^2 + 10 s

num2 =
10

den2 =
150 75

50 10

Transfer function:
10 s^2 + 5 s + 2
-------------------------------150 s^4 + 75 s^3 + 50 s^2 + 10 s

num3 =
2

den3 =
150 75 50 10

Transfer function:
2
---------------------------150 s^3 + 75 s^2 + 50 s + 10

num4 =

10

den4 =
150 75 50 10

Transfer function:
10 s^2 + 5 s + 2
---------------------------150 s^3 + 75 s^2 + 50 s + 10

Linear Simulation Results

Linear Simulation Results

1.5

Amplitude

Amplitude

1.5
1

0.5

1
0.5

10

Time (seconds)
Linear Simulation Results

Linear Simulation Results

1

Amplitude

Amplitude

10

Time (seconds)

0.5

5
Time (seconds)

Q1(manual):Matlab code:-

10

0.5

5
Time (seconds)

10

%---------------------------% Question#2
%---------------------------J=3.2284E-6;
b=3.5077E-6;
Kt=0.0274;
Kb=0.0274;
R=4;
L=2.75E-6;
num=[Kt];
den=[J.*L (b.*L+J.*R) (b.*R+Kb.*Kt)];
sys=tf(num,den)
t=0:0.001:0.4;
for var=-4:1:4
x=var.*heaviside(t);
lsim(sys,x,t)
hold on
grid on
title('step response of speed control')
x=lsim(sys,x,t);
max_angular_velocity=x(length(x)-1)
end
num1=[Kt./R.*J];
den1=[1 (b.*R+Kb.*Kt)./R.*J 0];
sys1=tf(num1,den1)
figure
for var1=-4:1:4
x1=var1.*heaviside(t);
lsim(sys1,x1,t)
hold on
grid on
title('step response of position control')
x1=lsim(sys1,x,t);
max_angular_position=x1(length(x1)-1)
end

Results:Transfer function:
0.0274
----------------------------------------8.878e-012 s^2 + 1.291e-005 s + 0.0007648

max_angular_velocity =
-143.3072

max_angular_velocity =
-107.4804

max_angular_velocity =
-71.6536

max_angular_velocity =
-35.8268

max_angular_velocity =
0

max_angular_velocity =
35.8268

max_angular_velocity =
71.6536

max_angular_velocity =
107.4804

max_angular_velocity =
143.3072

Transfer function:
2.211e-008
-----------------s^2 + 6.173e-010 s

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

max_angular_position =
2.3121e-007

step response of speed control

150

100

Amplitude

50

-50

-100

-150

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.3

0.35

0.4

Time (seconds)

step response of position control

4
3.5
3

Amplitude

2.5
2
1.5
1
0.5
0
-0.5

0.05

0.1

0.15

0.2
Time (seconds)

0.25

Q3(manual):Matlab code:%---------------------------% Question#3

%---------------------------J=3.2284E-6;
b=3.5077E-6;
Kt=0.0274;
Kb=0.0274;
R=4;
L=2.75E-6;
num=[Kt];
den=[J.*L (b.*L+J.*R) (b.*R+Kb.*Kt)];
sys=tf(num,den)
t=0:0.001:0.4;
x=5.*sin(310.*t);
lsim(sys,x,t)
grid on
title('response of speed control using sinusoidal input')
x=lsim(sys,x,t);
max_angular_velocity=x(length(x)-1)
num1=[Kt./R.*J];
den1=[1 (b.*R+Kb.*Kt)./R.*J 0];
sys1=tf(num1,den1)
figure
x1=5.*sin(310.*t);
lsim(sys1,x1,t)
hold on
grid on
title('response of position control using sinusoidal input')
x1=lsim(sys1,x,t);
max_angular_position=x1(length(x1)-1)

Results:-

response of speed control using sinusoidal input

60
50
40
30

Amplitude

20
10
0
-10
-20
-30
-40

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.35

0.4

Time (seconds)

response of position control using sinusoidal input

5
4
3
2

Amplitude

1
0
-1
-2
-3
-4
-5

0.05

0.1

0.15

0.2
Time (seconds)

0.25

0.3