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Section: G (H)
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KHURUM HASHMIL2F08BSEE0660 NAJAM UD DIN.L2F08BSEE0688
Where N is the Gear Train Ratio Substituting typical numerical values in above equation yields result
Putting N=1; we have Gdt(s)= 1.023*1016 *s -----------------------------------------------------------------------------------------------1.864*1011 *s5 + 9.32*1012 *s4 + 1.611*1016 *s3 + 7.211*1017 *s2 + 2.609*1015 *s Simplifying Gdt(s)= 10228490495999998*s -------------------------------------------------------------------------------------------------------------------7840*s*(23776543*s4+1188827150*s3+2054688049000*s2+1972388250000*s+332820000000)
STATE SPACE
A=
B=
C=
D= [0]
Time Response
Rise Time Settling time %age Overshoot Peak time Peak mag (closed loop) Steady State error Stability
The system attains its peak value in a very large time Span. Even though system is stable Peak amplitude appears only at the termination of the response time So Rise time, Peak time, Settling time all parameters are crowded at the end of the response
ROOT LOCUS
System Has two poles on real axis and two on the imaginary axis One zero at origin Intuitively from the position of the poles the system appears to be marginally stable
Figure shows Step response for Transfer functions with Values of N from1 to 10 The greater the value of N. Closer the response to Ideal and System Attains stability much Quicker
1.023*1018 *s ----------------------------------------------------------------------------------------------6.17*1011 *s5 + 3.085*1013 *s4 + 2.004*1016 *s3 + 7.225*1017* s2 + 2.609*1017* s Simplified Gdt(s)= 10228490495999998*N2*s -------------------------------------------------------------------------------------------------------------------2395512000000*s2*(688*s+( *( )+301000*N2*(190120*s2+12600000)*(688*s+(1 9*s2*( ))
STATE SPACE
A=
B=
C=
D= [0]
TIME RESPONSE
System response has modified to be nearer to the ideal. Still, Peak amplitude occurs at the very End and so with the rest of the parameters Rise Time Settling time %age Overshoot Peak time Peak mag (closed loop) Steady State error Stability 1.17 seconds 2.12 seconds 0 >14 seconds 0.796 21 % Stable
ROOT LOCUS
As in case of N=1 System Has two poles on real axis and two on the imaginary axis One zero at origin Intuitively from the position of the poles the system appears to be marginally stable
Frequency Response
For N=1 Showing Frequency Response and Phase angle
For varying values of N from 1 to 10 With increase in N Corner frequency occurs further on at greater frequencies
SIMULINK
Gear Ratio N=1 Original system
CONTROLLING OUTPUT
We have worked with the system with Gearing Ratio (N) =10 so less tuning has to be effected to bring the system nearer to the ideal response Original transfer function with N=10 Gdt(s)= 1.023*1018*s ----------------------------------------------------------------------------------------------6.171*1011 s5 + 3.085*1013 s4 + 2.004*1016*s3 + 7.225*1017*s2 + 2.609*1017*s
The Proportional Integral Derivative (P I D) method is used Controller(s) = 1 Kp + Ki * --- + Kd *s s Auto tuning followed by limited trial and error leads to the following Kp = 3.39008930751897 Ki = 1.4346893216856 Kd = -0.47 Multiplying this with the given transfer function yields
Solving in Feedback
B=
C=
D= [0]
TIME RESPONSE
Seen in LTI view. Peak response occurs at17.7 seconds. Steady state error is zero the overshoot is so ignorable that does not appear here and system is very close to ideal Rise Time Settling time %age Overshoot Peak time 0.379 seconds 0.649 seconds 0.757 1.34 seconds
1.01 1% Stable
ROOT LOCUS
Zoomed in
BODE PLOT
COMPARING PARAMETERS:
N=1 123 seconds 220 seconds 0 > 1*10^3 seconds Peak mag (closed 0.796 loop) Steady State 21 % error Stability Stable Rise Time Settling time %age Overshoot Peak time N=10 1.17 seconds 2.12 seconds 0 >14 seconds 0.796 21 % Stable Tuned Output 0.379 seconds 0.649 seconds 0.757 1.34 seconds 1.01 1% Stable
Increasing the gear ratio Response nears ideal. In addition Propotional Derivative Integrator Controller is used to control peak time and bring it nearer to the beginning of the response
References:
Control Systems Engineering by Norman.S.Nise 6th edition www. Mathworks.com