NATIONAL UNIVERSITY OF SCIENCES AND TECHNOLOGY COLLEGE OF EME

Control Systems Lab Experiment #3

System Inter Connections and Response Analysis Submitted By: NS Saad Iftikhar
De 32 EE A Nust 039

Objectives:
Practice on developing different possible system inter connections Developing Transfer functions for MISO Systems Overshoot and Steady State Error Calculations System Reduction to Dominant Poles

Experiment 3

System Interconnections and Response Analysis

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New MATLAB commands to learn in this experiment Command Feedback Series Pzmap Description
feedback(sys, K) implements a feedback path across sys with gain K. Enter help feedback in the Matlab Command Window for a detailed description. Series (sys1, sys2) implements a series connection of sys1 and sys2. Pzmap(sys) gives the sketch of poles and zeros on S-plane

Procedure
Section-1

An open-loop Transfer Function of a separately excited DC motor is shown below,

Td(s) Disturbance Torque Va(s) (Input)

1 Las+Ra

Km Kb

1 Js+B

(s) (Output)

with the system parameters as,

Ra 1 La 0.005 Km 10 J 2 b 0.5 Kb 0.1

For the open-loop speed control system of a dc motor (shown above), what is the following transfer function G(s)Td=0 = (s)/Va(s) = =

roots= -200,-0.74

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Write MATLAB commands to determine the above mentioned transfer function.

Matlab Code:
km=10; Ra=1; La=0.005; J=2; b=0.5; Kb=0.1; H1=tf([1],[ La Ra]); H2=Kb; H3=tf([1],[ J b]); H_1=series(H1,H2); H=series(H_1,H3); sys=feedback(H,Kb); pzmap(sys) subplot(3,1,1),impulse(sys) subplot(3,1,2),step(sys) subplot(3,1,3),pzmap(sys)

Attach the open-loop step Response. Label the speed and time axes properly.
Open-loop Step Response

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System Interconnections and Response Analysis

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Determine the transfer T(s)Va=0 = (s)/Td(s) manually.

T(s)Va=0 = (s)/Td(s) =
Zeroes= -200

roots= -200, 0.749

Write MATLAB commands to determine the above mentioned transfer function.

MATLAB CODE:
km=10; Ra=1; La=0.005; J=2; b=0.5; Kb=0.1; H1=tf([1],[ La Ra]); H2=Kb; H3=tf([1],[ J b]); sys1=series(H1,H2); sys2=series(-Kb,sys1); feed=feedback(H3,sys2); feed1=feed*-1; pzmap(feed1) step(feed1) subplot(3,1,1),impulse(feed1) subplot(3,1,2),step(feed1) subplot(3,1,3),pzmap(feed1)

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Attach the open-loop step Response. Label the speed and time axes properly.

Write your comments on the step response due to Va (Td=0) and due to Td (Va=0).
In the first case when the disturbance torque td=0 there is no zero in the response and first pole is at -200 which makes jw axis present in ROC so the response of the system is stable. In second case when there is Va=0, In this case a zero is present at -200 which cancels the pole at -200, so Only one pole is present at 0 which is at the jw axis so this makes the response unstable , as pole is at the origin so this response is of an integrator circuit.
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Experiment 3

For a unity-feedback control system shown in Fig. below, the error function is determined by the equation and can directly be found from MATLAB.

To be able to determine the error function in MATLAB, we need first

to determine the vector containing the input signal r(t), and the vector containing the actual output signal y(t). The next step is subtract y(t) from r(t) to obtain the error function. MATLAB code below is an example that determines and plots the error of the system as a function of time, from an input unit-step function. The system is defined by the following model

>> % Generate unity-feedback system >> % Determine output and time vectors >> % Determine error function

Matlab code:
g=tf([ 2 3],[1 3 6]) Ys=feedback(g,1) [y t]=step(Ys); error=1-y; plot(error) subplot(3,1,1), pzmap(Ys); subplot(3,1,2) ,step(Ys); subplot(3,1,3), plot(t,error);

ERROR PLOT:

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System Interconnections and Response Analysis

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Section-2: Dominant Poles and Second Order Approximation: Both Zeros and Poles may affect the system response, but the dominant poles are the one who have significant amount of impact on system response.
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For the following transfer function

Write MATLAB commands to find poles and zeros.

G=62.5*tf([1 2.5], [1 12.25 62.5 156.25] ) p=[1 12.25 62.5 156.35] poles=roots(p) p1=[1 2.5] zeros=roots(p1)

Plot poles and zeros in s-plane. What is the command that will be used?

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System Interconnections and Response Analysis

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Now find and sketch the step response.

What is %Overshoot and Settling Time from the response?

% overshoot38%
Settling time 1.04 sec

As an approximation, we neglect the 3rd(real) pole, and again find the response of the system.

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System Interconnections and Response Analysis

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Again find step response and values of %Overshoot and Settling Time for the approximated system. (You can use step(sys1, sys2) for comparison of responses)

MATLAB COMMANDS:
G=62.5*tf([1 2.5], [1 12.25 62.5 156.25] ); p=[1 12.25 62.5 156.35]; poles=roots(p); p1=[1 2.5]; zeros=roots(p1); %subplot(4,1,1) ,pzmap(G) %subplot(4,1,2), step(G) G1=10*tf([1 2.5], [1 6 25] ); %subplot(4,1,3), step(G1) %subplot(4,1,4), step(G,G1)

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 What is the change in performance parameters (settling time, damping, %overshoot) that has been observed after ignoring the 3 rd (real) pole of the system?

The settling time has increased to 1.05 sec The overshoot percentage has increased to 54%. And damping effect has increased . so as we have removed the real pole now we only have a zero and a complex pole so this complex pole effects the system more and as a result of this complex pole our response is more under damped as compared to the previous case.

Similarly for the following system, using second order approximation, compare the performance parameters (%O.S, settling time, damping) of the actual and approximated system. (You can use step(sys1, sys2) for comparison of responses)

Approximated system is (ignoring pole at 50)

MATLAB CODE:
G=62.5*tf([1 2.5], [1 12.25 62.5 156.25] ); p=[1 12.25 62.5 156.35]; poles=roots(p); p1=[1 2.5]; zeros=roots(p1); %subplot(4,1,1) ,pzmap(G) %subplot(4,1,2), step(G) G1=10*tf([1 2.5], [1 6 25] ); %subplot(4,1,3), step(G1) %subplot(4,1,4), step(G,G1)

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System Interconnections and Response Analysis

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What is the change in performance parameters (settling time, damping, %overshoot) that has been observed after ignoring the 3rd (real) pole of the system? Can this pole be ignored? What criteria do you observe for the valid approximation?

There is no change in the performance of both response as the response is critically damped response so there is no percentage overshoot in both cases similary no settling time and damping in the response. As no complex poles or zeroes are present in the response only real poles are present hence as a result the response is c critically damped and similar in both the cases. Yes the pole can be ignored. The reason is above mentioned this pole is furthest away from the jw axis so the other pole acts as dominant pole compared to this pole so this pole can be easily ignored without any significant change in the response and damping of the circuit

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System Interconnections and Response Analysis

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