CH E 446 - Process Dynamics and Control Summer 2003 MATLAB/SIMULINK Lab #1 Date due: 6 PM, June 10 Open-loop, Dynamic

c Response of First Order Systems Objectives: 1) To show the open-loop, time-domain step response of first order systems using transfer functions specified by the user. 2) To illustrate the features and use of software developed for computer-aided control system design and analysis - in this case, the MATLAB/SIMULINK software. Lab write-up and hints: For the write-up of this lab, I just require an answer for each question, accompanied by any plots or calculations that you did by hand. I will assign ten percent of the marks for general neatness and organization. I do not mind some handwritten material as long as everything is neat and well-organized. Please number each page of your write-up and staple your report together. A title page with your name, student number, the title of the lab, the course and the date is also required. For the plots, each of you must include your student number as part of the title, e.g. Output response to a step-input (0384xxx). It is expected that each student will complete this lab on her/his own. Giving each other advice and suggestions is fine, but I expect everyone to use their own Simulink worksheet, produce their own plots, etc. Many of the features of Simulink that are required were illustrated last week in the tutorial. If you forgot to bring the tutorial worksheet, it is on the course website. You may wish to save your simulink model file (.mdl), some m-files (.m), figure files (.fig) or a word document for future use. If you forgot a disc, you can always just e-mail yourself with those files as attachments. Background: A "standard" first order system can be defined by: a) an ordinary differential equation: b) a transfer function: y (s ) =

where

y(t) u(t) K K/s+1

= = = = =

K u (s ) s + 1 process output, (dependent variable) process input process time constant process (steady-state) gain process transfer function

dy + y( t ) = Ku ( t ) , or by dt

The dynamic response, y(t) to a user-specified input, u(t), can be found from the inverse laplace transformation (ILT) of y(s). You are required to do the following: i) Derive an analytical solution, via inverse Laplace transform, for the time response of y(t) to a step-input of magnitude, M, into a first-order system with transfer function:

y ( s) =

i.e., derive an expression for y(t)

K u ( s) s + 1

ii) Enter this same transfer-function into MATLAB/SIMULINK and investigate the time-response via the STEP function in MATLAB, or the simulation step in SIMULINK, for the following cases: a) K = 2.5 and = 1, 10 and 50 Superimpose step-responses for all three cases. b) = 10 and K = 1, 2.5 and 6.82 Superimpose step-responses for all three cases.
NOTE: You can copy the figures in your word documents y simply cutting and pasting the figures from the edit commands. Make sure that the figures are well labelled using the 'gtext' (graphical text) or the 'legend' commands in Matlab. Remember to include your student number in the title. In your simulink worksheet rename the transfer function block after yourself, e.g., Mike and include a printout of your worksheet in your report.

iii)

Is the final steady-state value of the step response influenced by K, M, ? Do the final steady-state values agree with the results calculated using the "final value theorem"? How long does it take the step response y(t) to achieve 63.2% of its value (expressed as a multiple of )? Does this time depend on K? M? What fraction or percentage of the final value is reached after t = 2, t = 3 and t = 5 ? Can the step response of all "standard" first order systems be represented by a single plot of y/KM versus t/ ? A well labeled sketch by hand is sufficient, but a Matlab or excel plot is also fine. How is the initial slope of the step response related to K? M? ?

iv)

v)

vi)

vii) Obtain unit step response of a standard first order system: 2.5/(10s+1) with and without a time-delay (select the time delay to be 5). Notice there is a time-delay block available in Simulink. Superimpose the two plots. What is the effect of a time delay?