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Lecture 07+08 - 1st & 2nd Order Control Systems

This document summarizes a control engineering lab on modeling and analyzing a speed tachometer control system. It provides the requirements to analyze the system under an external disturbance with and without closed-loop feedback. It includes the MATLAB code to model the open-loop system without tachometer feedback, which produces a step response graph with a steady-state value of -0.66 rad/s at t=7 seconds, indicating closed-loop feedback is better for disturbance rejection.

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Faheem Abbas
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31 views

Lecture 07+08 - 1st & 2nd Order Control Systems

This document summarizes a control engineering lab on modeling and analyzing a speed tachometer control system. It provides the requirements to analyze the system under an external disturbance with and without closed-loop feedback. It includes the MATLAB code to model the open-loop system without tachometer feedback, which produces a step response graph with a steady-state value of -0.66 rad/s at t=7 seconds, indicating closed-loop feedback is better for disturbance rejection.

Uploaded by

Faheem Abbas
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Control Engineering Lab

Engr. Adnan Rasheed


A first-order system without zeros

The Step Response of the above system will be,


2nd Order Control Systems
Damping Cases (2nd Order) w.r.t Step
Responses
MATLAB Control Functions
step (num,den) : To plot the step response of the system
impulse(num,den) : To plot the impulse response of the system.
[y,x,t]=step(num,den): To store the values of the step response function
in an array.
ym=max(y): To get the maximum amplitude of a response value.
ys = dcgain(num,den) : To get the d.c. gain of the system (steady state
value)
yovrsht = (ym-yt)/ys * 100; To calculate the % over shoot.
Example 5.2.
5.2 Closed-loop speed tachometer control system

5.2.1 Requirement:
R(S) is the input voltage
w(S) is the output angular movement of motor
Td(S) is the external disturbance signal Analyze under external Disturbance Closed loop with
feedback is better:
5.2.1 MATLAB Code for the Open-loop without tachometer feedback
of the above example (Case-I)
• % ---------------------------------------------------------------------------MEEN-4263 Control Engineering Lab
-------------------------------------------------------------
• % Author : Engr. Adnan Rasheed
• % Date : xxxxxxxx
• % Lab No. :5
• % Class : BEMTS VI (A & B)
• % File name : opentach.m
• % Description : The function implements the speed tachometer example.
• %------------------------------------------------------------------------------------- % Define Tachometer control system parameters
• Ra = 1; Km = 10; J= 2; b = 0.5; Kb = 0.1; Ka = 54; Kt = 1;
• num1 = [1]; den1 = [J b]; % Define G(s)= 1 / Js+b
• num2 = [Km*Kb/Ra]; den2 = [1]; % Define H(s) = Km*Kb/Ra
• [num,den] = feedback(num1,den1,num2,den2); % Find the T(S)= w(s) / Td(s)
• num = -num % Change the sign of T(s) since Td(s) is negative
• printsys(num,den); % print the final T(S)
• [step_resp,x,t] = step(num,den); % Compute response to step disturbance
• figure plot(t,step_resp); % plot step response
• title('Open-loop Disturbance Step Response');
• xlabel('time[sec]'); ylabel('speed'); grid;
• Final_val = step_resp(length(t)) % Find steady-state error, last value of output
• %-------------------------------------------------------------------------------------
•% End Function
• %-------------------------------------------------------------------------------------
5.2.3 MATLAB Code for the Open-loop without tachometer feedback
of the above example (Case-I)
The resulting system reduced to the following taking step Td(s):

The approximate steady state


value is:
w(7) = -0.66 rad/s
at t = 7 sec

Figure 5.3: Open-Loop system Disturbance Step Response

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