2 views

Original Title: Modelling, Analyzing and Simulating a Car Suspension

Uploaded by Winda Afrilia Rachmadani

- Ic1352 - Process Control-2 Marks
- Robust Control Toolbox
- Digital Control Tutorial
- Avr
- 3DC0E9C7d01
- Important
- Contol Sytem Design Assignment - Alicja Wasik
- Process Instrumentation Exp#4(1)
- Robust system
- Root Locus
- Control Tutorials for MATLAB and Simulink - Introduction_ Digital Controller Design_1
- How to relay response tune
- m5_lec1
- Back Stepping Method CSTR
- Exp - P4 - First and Second Order Systems
- capitulo 1
- Control System Ad PDF - Google Search
- 005 18-079
- Experimental Verification of a Wireless Sensing and Control System
- Adaptive Control

You are on page 1of 39

Members

Yonas Sage Siti Choirun Nisa Hulfi Mirza G Ferio Putra Suharno 2105100156 2109100014 2109100704 2109100126

Background Modelling Analyzing Simulating

BACKGROUND

MODELLING

Building Design

Batasan Masalah

1. 2. 3. 4. 5. 6. Sistem dianalisa dua dimensi yaitu terhadap sumbu vertikal dan horisontal. Sistem dianggap stabil apabila memenuhi syarat sebagai berikut : Constant of spring Friction damper Gedung 4 lantai Teta 45 derajad

Anti- Earthquake House Suspension System

b2 Suspension Mass

k3

W k2 b1

k1 Ground

Suspension Mass (M1) Building Mass (M2) Spring Constant of Suspension System (k) Friction Damping Constant of Suspension System (b1) Friction Damping Constant (b2) The ground disturbance on axis (W) The ground disturbance on ordinate (U)

= 0.01 ton = 10000 ton = 80000 N/m = 300 Ns/m = 15000 Ns/m

b2 Suspension Mass

k3

k2

b1

k1 Ground

= 0.01 ton = 10000 ton = 80000 N/m = 300 Ns/m = 15000 Ns/m

Suspension Mass (M1) Building Mass (M2) Spring Constant of Suspension System (k) Friction Damping Constant of Suspension System (b1) Friction Damping Constant (b2) The ground disturbance on axis (W) The ground disturbance on ordinate (U)

kX2(s) kX2(s)

M1s2X1(s)

1.(a)

1.(b)

kX1(s) kX1(s)

M2s2X2(s)

Building Mass

kX2(s)

b2sin sX2(s)

b2sin sX1(s)

2.(a)

2.(b)

From Picture 1(a) and 1(b)

1 2 + 1 sin + 2 1 2 sin 2 2 = 1 cos 1 + 2 cos 2 = () From Picture 2(a) and 2(b) 2 2 + 2 sin + 2 2 + 2 sin + 2 1 = 0 - 2 cos 2 2 cos 1 = 0 From Equation (3) and (4) [2 sin + 2]1 () 2 = [2 2 + 2 sin + 2] 2 cos 1 2 = = 1 () [2 cos ] Equation (5),(6),(1)and(2) 1 2 + 1 sin + 2 1 + 2 sin 2 1 cos 2 cos 1 = ()

[1 + 1 ]1 () = 2 2 + 2 sin + 2

(7)

(8)

1 [2 2 + 1 + 2 + 1 + 2 + 1] 1 = = () 1 2 + 1 + 1 [1 2 2 + 21 1 + 1 2 ] 1 () [1 2 3 + 1 2 + 1 2 2 + 1 2 + 2 1 + 1 2 ] 2 = = () 2 2 + 1 + 2 + 1 + 2 [1 2 2 + 21 1 + 1 2 ]

The Resutan Transfer Function 1 ()2 + 1 ()2 0.01 2 + 6.807 + 201 = = 4 3 2 ()2 + ()2 + 680.9 + 201410 + 3918 + 20001

Open-Loop System

Open-Loop System

Open-Loop System can be designed like the picture below :

0.016

System: G Peak amplitude: 0.0178 Overshoot (%): 77.5 At time (sec): 3.14

0.014

0.012

Amplitude

0.01

0.008

0.006

0.004

0.002

10

20

30 Time (sec)

40

50

60

70

Open-Loop Response

From the simulation, open-loop system is stable, but still need much money.

Closed-Loop System

Closed-Loop System

Closed-Loop System can be designed like the picture below :

Step Response

St ep Response 0 .0 1 8 0 .0 1 6 0 .0 1 4 0 .0 1 2 Syst em: G Peak amplit ude: 0 .0 1 7 7 Overshoot (%): 7 7 .6 At t ime (sec): 3 .1 3

Amplitude

0 .0 1 0 .0 0 8 0 .0 0 6 0 .0 0 4 0 .0 0 2 0

10

20

30

40

50

60

70

Time (sec)

Closed-Loop Response

From the simulation using step response, the closed-loop response is stable but need too much time.

ANALYZING

Closed-Loop Response

Closed-Loop response is stable but still need much time, so we must add controler to make the system. System can be determined that it is stable, if the specification system are : 1. Percent overshoot less than 10%. 2. Rising time less than 5 seconds. 3. Settling time system less than 20 seconds.

The closed-loop system can be designed like the picture below :

We add Controller

The control engineers system task is to adjust the three gain factors to arrive at acceptable degree of error reduction. We knows the transfer function is : = + + 2

P-Contoller Design

Root Locus 200 150 System: sys Gain: Inf Pole: -681 Damping: 1 Overshoot (%): 0 Frequency (rad/sec): 681 System: sys Gain: 2.23e+004 Pole: -15.5 - 7.28e-007i Damping: 1 Overshoot (%): 0 Frequency (rad/sec): 15.5

100

Imaginary Axis

50

0 System: sys Gain: 3.85e+004 Pole: -15.5 - 13i Damping: 0.765 Overshoot (%): 2.41 Frequency (rad/sec): 20.2

-50

-100

-150

-200 -700

-600

-500

-400

-300

-200

-100

100

Step Response

Step Response 1.8 1.6 System: T Peak amplitude: 1.79 Overshoot (%): 78.8 At time (sec): 2.98 1.4 1.2 System: T Rise Time (sec): 1.05

Amplitude

0.8

0.6 0.4

0.2

10

20

30 Time (sec)

40

50

60

70

PD Compensator Design

1 0.8 0.6 0.4

Imaginary Axis

x 10

Root Locus

System: Gp Gain: 1.11e+006 Pole: -504 - 110i Damping: 0.977 Overshoot (%): 0.0001 Frequency (rad/sec): 516

-800

-600

-400

200

400

600

800

Step Response

St ep Response 1.8 1.6 Syst em: T Peak amplit ude: 1.79 Overshoot (%): 78.8 At t ime (sec): 2.98

Syst em: T Set t ling Time (sec): 48.3 Syst em: T Final Value: 1

Amplitude

0.8

0.6 0.4

0.2

10

20

30 Time (sec)

40

50

60

70

PI Compensator Design

Root Locus 2000 1500 Syst em: Gi Gain: 4 9 7 Pole: -6 .8 5 e+0 0 3 Damping: 1 Overshoot (%): 0 Frequency (rad/ sec): 6 .8 5 e+0 0 3

1000

Imaginary Axis

500

-5 0 0

-1 0 0 0

-1 5 0 0

-2 0 0 0 -1 4 0 0 0

-1 2 0 0 0

-1 0 0 0 0

-8 0 0 0

-6 0 0 0 Real Axis

-4 0 0 0

-2 0 0 0

2000

Step Response

CONCLUSION

Conclusion

Anti-Earthquake Building Suspension System can be stable although it is given controller system. So we have the specification about the suspension system. The specification are : 1. Percent overshoot 10% 2. Rising time less than 5 s 3. Steady state less than 20 s So, we can get the conclusion that the suspension has been enough stable. We need to make it more perfect.

THANK YOU

Any Questions??

- Ic1352 - Process Control-2 MarksUploaded byKaushal Kishor
- Robust Control ToolboxUploaded byEmre Sarıyıldız
- Digital Control TutorialUploaded byNatalia Bonilla
- AvrUploaded byAri Asriyanto
- 3DC0E9C7d01Uploaded byinfodotz
- ImportantUploaded byLucian Mihai
- Contol Sytem Design Assignment - Alicja WasikUploaded byAla Wasik
- Process Instrumentation Exp#4(1)Uploaded byIbrahim Dewali
- Robust systemUploaded byAhmed Hussain
- Root LocusUploaded byAhmad Moughrabi
- Control Tutorials for MATLAB and Simulink - Introduction_ Digital Controller Design_1Uploaded byDr-Mrinal Kanti Sarkar
- How to relay response tuneUploaded byNick Spencer
- m5_lec1Uploaded byohio
- Back Stepping Method CSTRUploaded byRodrigo Donizete
- Exp - P4 - First and Second Order SystemsUploaded bySayan Biswas
- capitulo 1Uploaded byJosé Miguel Mena Ahumada
- Control System Ad PDF - Google SearchUploaded byRishikeshBagwe
- 005 18-079Uploaded byNguyen Van Quyen
- Experimental Verification of a Wireless Sensing and Control SystemUploaded bysadi1988
- Adaptive ControlUploaded byLinkan Priyadarsini
- FAPUploaded byAmiir Amir
- Syllabus 2007Uploaded byMohamed Ahmed
- Achieving Bounded Matching Delay and Maximized Throughput in Information Dissemination ManagementUploaded byieeexploreprojects
- KbsUploaded byShakir Hussain
- Process dynamicsUploaded byRyan Vasquez
- a832d275-35a9-48fa-8f76-2b854db40d30-150616152115-lva1-app6892Uploaded byVictor Esteban Condor
- Unit2Uploaded bysscr27
- Assignment1 SolutionUploaded byJamie Samuel
- MPC grande porteUploaded byAlejandroHerreraGurideChile
- [2] Adaptive FEM Simulation for Prediction of Variable Blank HolderUploaded byOliver Malpartida Custodio

- hw5Uploaded byNoo Sait
- BACKUPUASPENGPRO.docxUploaded byNadhira Syifa
- PID ScrollbarUploaded byJulieta Maria Rodriguez
- Chapter 10 PID 1Uploaded byHinsermu Alemayehu Garbaba
- 14652_E68033 ECE305Uploaded byRahil Sharma
- ejercicios nyquist 2.pdfUploaded bypepe gomez
- Lecture 20Uploaded byHesam Zmrd
- Metodo de ziegler-nicholsUploaded byjuan daniel camas cruz
- 14289_TPE6802Uploaded byishan56
- EE370 Old Exams2Uploaded byiwuo4797
- Root LocusUploaded byDharneeshkarDandy
- Control SystemsUploaded byRavindra Nath
- 11_20R300_1_PID With Split Range Control ModuleUploaded byavandetq15
- Lag and Lead compensatorsUploaded byHariPriyan
- ejercCopmpensadores-1_88Uploaded byAngel Callejebrio
- PID_Example_DC_Motor_Speed_ControlUploaded bypudintekel
- controls.pdfUploaded byAyad M Al-Awsi
- Phase Lead Compensator DesignUploaded byNuradeen Magaji
- lec23_lcs.pptUploaded byZain Aslam
- Control Systems Engineering_Nagrath I.J. and Gopal M.Uploaded byAmber Agrawal
- Folded-Cascode OP ExerciseUploaded bytel
- FundCtrlSys_Chapter6Uploaded bySelva Raj
- Linear Control System by B. S. MankeUploaded byKrishna92
- 10 20R300 1 PID Control ModuleUploaded byavandetq15
- CS Matlab ExercisesUploaded byNghia Nguyen Trong
- Dycops_PI-Tuning [Compatibility Mode]Uploaded byShams Uzzoha
- PID Quick Start Guide Twidosuite_21Uploaded byFernando Rodrigues
- Assignment 2 ACSUploaded byfaried1234
- PID_chinaUploaded byBassel Almouie
- Control Systems Engineering_I. J. Nagrath And M. Gopal .pdfUploaded byDhruv Upadhaya