Вы находитесь на странице: 1из 11

MM403 CONTROL SYSTEMS

TERM PROJECT
Prepared by Nurdan Bilgin

FORMAT, RULES AND GRADING:
Format:
1. Projects should be written using a computer, and it must be written in English
2. Extra cover page is necessary, Your group number and Instructors name will be written in the
top of the page. All group members's name, surname and student ID,will be written order of
student ID.
3. All experiment studies, and all questions start with a new page.
4. Please use narrow margin
5. Projects should be submitted in stapled form.
Rules:
1. Team work is a good thing. But the copy is not good. Team work, should not exceed beyond
to discuss the solutions. We do not expect it would be something like this. but, if it does. This
type of project, will be excluded from evaluation.
2. Your project will be submitted to on the final exam date.
3. All sources, except your lecture notes, should be properly referenced.
4. When using MATLAB or SIMULINK, you must supply all the input/output evidences in
printed form.
5. You should indicate all necessary explanations and details clearly in your solutions.
6. Working teams should consist of a 5 to 8 student.
7. Compose of your teams, Submit this form to Nurdan Bilgin at Automatic Control Lab. By
07.12.2012 Friday till 17:00.
8. She will anounce laboratory sessions schedule by 08.12.2012. Some parameter for experiment
1 and *.mat file for using experiment 2 are given you on the web side.
9. You can downloaded experiment sheet from below link directly. Originally, This sheet is
available in the Metu, Mech. Eng department, MM304 lecture web side.
Lab Sheet of Experiment 1
Lab Sheet of Experiment 2
Grading:
2 experiment and 6 questions all the equal weights. But experimental studies are compulsory. If your
total experimental grade less than 50% you will get no credit from your term project.
Student ID Name Surname Signature
1
2
3
4
5
6
7
8


QUESTIONS:
Ouestion 1
(Adapted from Ogata,Modern Control Engineering 4th. Edition B-3-4). Consider
industrial automatic controllers whose control actions are proportional,Proportinal+Integral,
Proportinal+Derivative, Proportinal+Integral+Derivative. The transfer functions of these
controllers can be given, respectively, by

)

Where U(s) is the laplace transform of u(t), the controller output, and E(s) the Laplace
transform of e(t), the actuating error signal. Sketch u(t) versus t curves for each of the four
types of controllers when the actuating error signal is
a.) e(t)= unit step function
b.) e(t)=unit ramp function
c.) e(t)=unit acceleration function.
i.) Use Matlab to sketch u(t) versus t curves for each of the four types of controllers in time
domain for a given data sets in Table 1.
ii.) Use SIMULINK blocks and obtain u(t) for each of the four types of controllers for a given
data sets in Table 1.

Table 1. Data Sets
1. Set 2. Set 3. Set 4. Set
K
p
(Proportional Gain) 4 20 4 4
T
i
(Integral Time) 2 2 5 2
T
d
(Derivative Time) 0.8 0.8 0.8 2
























Question 2.
The following block diagram is commonly referred to as the canonical representation of a
typical feedback control system.

Figure 1.
Where,

:combined dynamics of controller and actuator.

:Dynamics of plant
:Dynamics of measuring device

a. Define the relation between inputs and output.
b. If the H(s) is a typical first order sensor , D(s) is equal to zero and plant transfer function is
given as



Design a controller

,
The controller must be satisfy the steady state error is zero for below inputs.
i. Step Input
ii. Ramp Input
iii. Acceleration input
c. Find the transfer function



i. Plot the response of the system for a given input as


ii. Discuss whether the system is stable or not. Verify your opinion.

d. Ogata 4th. Ed. Page 293, Given a summary table as

Step Input
r(t)=1
Ramp Input
r(t)=t
Acceleration Input


Type 0 system



Type 1 system
0


Type 2 system
0 0



Explain this table clearly.



Question 3

a. Explain the following concepts briefly but clearly. Redraw the figure 1 according to this
concepts.

- Servo Characteristic of a control system
- Regulator Characteristic of a control system

b. Explain the Sensitivity term briefly but clearly. Drive the sensitivity equation. Discuss the
sensitivity equation for large loop gain.
c. Consider the speed control of a disk by using a DC electric motor. The mass moment of inertia
of the disk is J, the voltaje applied to the motor [manipulated input] is u(t), and torque output
of the motor is given by



Where is the rotational speed of the motor shaft. Assume that the voltage applied to the
motor is changed suc that
[

]

Where

represents the desired disk speed [Note that (2) implies P-control]. Here,


and should be thought of the voltages due to a potentiometer and tachometer with unity
gains.
Determine the range of K such that, at steady state, uncertainity in does not exceed
due to uncertainity in

and uncertainity in

for

(where h(t)
is unit step input.)
























Question 4
a. Explain the terms Stability or Asyptotic Stability, Marginal Stability and Instability
b. Fill the given table, and explain briefly why. (donot solve the characteristic equation)
Transfer Function G(s)
In Time domain
g(t)
The system is
unstable/marginally
stable/asimptotically stable
Explanation and
Poles and zeros locations.
E
x
a
m
p
l
e
s
:



Unit step
marginally stable
Single, unrepeated pole on
imaginary axis.



Unit step
unstable
Two repeated poles on
imaginary axis. Or Acc. to
Hurwitz criterion there is
missing term s

unstable Positive real pole.


Asimptotically stable negative real pole.




c. Use Routh criterion and specify the system asimptotically stable, marginally stable or
unstable. If the system is unstable, how many root is positive. (donot solve the characteristic
equation)

Transfer Function G(s)
The system is
unstable/marginally
stable/asimptotically
stable
Explanation and
Poles and zeros locations.



d. For the given PI control system (Figure 2), determine the allowable region in the K, T
i

parameter plane such that the system is stable. Plot the allowable region using MATLAB

Figure 2
e. Consider again figure 2. Determine the allowable region in the K, Ti parameter plane such that
stability margin
s
1. Plot the allowable region using MATLAB
f. compare the areas came from d and e. Which area is larger. How do you prove your
results are consistent.










































Question 5


Figure 3
a. Figure 3 is obtained from the matlab code as

% Transient Response Specification%
% Natural Frequency is 2 and Damping Ratio is 0.5 %%
sys=tf([4],[1,2,4]);
step(sys)

Redraw this graph and show on the graph, Delay time (t
d
), Rise time (t
r
), Peak time (t
p
), Settling
time (t
s
), Maximum overshot (as a fraction
p
).

b. Above 5 parameters constitude measures for basically two aspects of the system: Speed of the
response and Relative stability.
i.) Which one/ones represents the speed of the response
ii.) Which one/ones represents relative stability
iii.) Which one/ones represents both speed and relative stability










0 1 2 3 4 5 6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
c. Plot the step response graph of the given transfer function. Interpret the graphs with the
mentioned parameters above.
1



d. For given transfer function:




Plot the step response graph. Does it look like one of the above? Explain this situation.
e. For the same system (mass positioning servo system) , two block diagram are given

Figure 4a

Figure 4b

i. According to Figure 4a, Find K
0
and T
r
for a given design condition M
p
=10% and t
p
=1 sec.
ii. According to Figure 4b, Find K
0
and T
d
for a given design condition M
p
=10% and t
p
=1 sec.
iii. Compare and interpret your results.









Question 6.

a. Consider a Linear time invariant , stable system as

If Input is


where , h(t) unit step function, A
x
: Amplitude, : frequency, and is phase angle.
Determine the solution form of the steady state part of the output.

b. What is the meaning of the Phase lead, Phase lag, Magnification factor terms. Determine
M() and () for a given transfer function as

.
c. For a given transfer function




Find M() and () .
d. Plot the Bode graph of the below basic factors with using Matlab command Bodeplot.
Compare your result and lecture notes. Are there any differences? If you say yes, what is the
differences. Additionally, compare the(7), (8) and (9). They are different from eachother and
the others. What is the differences.
1
2
3


4
5



6
7





















e. Plot the bode graph of given the transfer functions as,




but follow the procedure given in example.
Example:
( )
( )( ) 36 6 1
6 . 0 12
) (
2
+ + +
+
=
s s s s
s
s G
( )
( ) ( ) ( )
( ) 36 1
6 6
1
6 . 0 1
6 . 0
12
36 6 1
6 . 0 12
) (
2
2
|
|
.
|

\
|
+ + |
.
|

\
|
+
|
.
|

\
|
+
=
+ + +
+
=
e e
e e
e
e e e e
e
e
j j
j j
j
j j j j
j
j G
( )
|
|
.
|

\
|
|
.
|

\
|
+ + +
|
.
|

\
|
+
=
2
6 6
1 1
6 . 0
1 2 . 0
) (
e e
e e
e
e
j j
j j
j
j G
( )
Factor] [Quadratic 6 Frequency Corner
j j
5.)
Factor] Constant [Time 1 Frequency Break j 4.)
origin the at pole j 3.)
Factor] Constant [Time 0.6 Frequency Break
j
2.)
K 1.)
: Factors Basic
|
|
.
|

\
|
|
.
|

\
|
+ +
+
+
=
2
6 6
1
1
6 . 0
1
2 . 0
e e
e
e
e

2
2
2
2
2
2
6 6
1 log 20 1 log 20 log 20
6 . 0
1 log 20 14
6 6
1 log 20 1 log 20 log 20
6 . 0
1 log 20 2 . 0 log 20 ) ( log 20
|
.
|

\
|
+
(
(

|
.
|

\
|
+ + |
.
|

\
|
+ + =
|
.
|

\
|
+ + + + + =
e e
e e
e
e e
e e
e
e
j

j j
j j
j
j G

2
2
6
1
6
90
6 . 0
6 6
1 1
6 . 0
1 2 . 0 ) (
|
.
|

\
|

=
|
.
|

\
|
+ + Z + Z Z + Z + Z = Z
e
e
e
e
e e
e e
e
e
-1 -1 -1
tan tan tan
j j
j j
j
j G
Shift Phase




f. Using first order factors, determine the transfer function G(s) corresponding to the following
magnitude diagram.

g. Check your results are found in f with

Transfer function:



10
-2
10
-1
10
0
10
1
10
2
-270
-180
-90
0
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-80
-60
-40
-20
0
20
40
50
M
a
g
n
i
t
u
d
e

(
d
B
)
20log|1+jw/0.6|
20log|1/jw|
20log|0.2|
20log|QF|
20log|1+jw|

Вам также может понравиться