Linear Control System Lab: Utilizing Simulink To Implement The Mathematical Model of Translational Mechanical System

Linear Control System Lab Lab 6
Utilizing Simulink to Implement the Mathematical Model of

Translational Mechanical System
Section-I
For the mechanical system shown in figure 6.1.
f(t) k
x(t)
m b
m=5, k=1, b=0.5
Figure 6.1: A mass spring damper system

 Write differential equation of the system.
 Write the transfer function.
G(s) = 1
(5𝑠2+1)
Write MATLAB commands to declare the transfer function of the system. Sketch the step
response.
m = 5 ; k = 1 ; b = 0 ;
num = [1] ;
den = [m b k] ;
sys = tf(num, den) ;
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Answer the following questions.
 What is the settling time of the system?

The settling time is 120s
 What are the roots of the characteristics equation?

1) -0.05 - 0.44𝑖
2) -0.05 + 0.44𝑖
 Show the position of poles in s-plane.
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 What is relationship between the real part of the roots and settling time?
Answer: Real root decreases the the peak time and increasing the settling time
 What is relationship between the imaginary part of the roots and the frequency of oscillations
of the step response?
Answer: The imaginary parts of roots provides the information about damped natural frequency
of
oscillations
Section-II (SIMULINK)
Again, consider the spring-mass-damper system of figure 6.1. The differential equation of the
above model is:
d2 x dx (0)
M 2
+ B + Kx=f (t)
dt dt
dx (2)
2 f ( t )−B −Kx
d x dt
=
dt 2
M
Differential equation for above circuit could be implemented in Simulink as below:
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Figure 6.2: A mass-spring-damper system via Simulink.
Implement above model and select appropriate scale and simulation parameters to get the step
and impulse responses. Sketch them in the space below.
Figure 6.3: Step response of mass-spring-damper system via Simulink.
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Figure 6.4: Impulse response of mass-spring-damper system via Simulink
An easier way to implement step response is to use transfer function blocks.
Figure 6.5: Step response of mass-spring-damper system using transfer function block .
Make sure you enter 0 in Step time of F(s) block. Does the step response match the one given in
figure 6.3? Calculate impulse response from model of figure 6.4. Suppose we need to dispatch
data from Simulink model to MATLAB workspace. ‘To workspace’ block of sink library will
help.
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Figure 6.6: Model to get data in MATLAB Workspace
Change the save format of ‘To Workspace’ block to array format. Run the model and enter
following commands in MATLAB workspace.
>> l = length (S)
>> plot (S)
It will produce the same step response, previously obtained through step command in MATLAB.
Exercise 01
Write differential equation(s) for the following system and find transfer function Y(s)/U(s).
Sketch the step response. (Show all working)
>> K1=5, K2=2, B=1, m1=0.5, m2=0.5
Figure 6.7: Mass Spring Damper System
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Laboratory Rubrics
Sr. Performance Exemplary Satisfactory Developing Unsatisfactory (0 Marks)
# Indicator (5 Marks) (4-3 Marks) (2-1 Marks)
Individual and Respectful to one another Collaborative effort Need training and Unsupportive attitude
teamwork while providing timely of a group with support to work with no interest towards
1 and helpful feedback and delayed feedback to effectively in a team individual or common
(PLO-09, allow healthy conflict. achieve a common and individually. goal.
Affective goal in a less efficient
Domain) way.
Scale
Data Analyse and interprets Analyse and Analyse and Analyse and interprets
exploration and data correctly and interprets data interprets data incorrect data with wrong
2 analysis precisely, draws correct correctly most of the correctly conclusions.
and useful conclusions time with correct and occasionally with
(PLO-04, by keenly observing useful conclusion. some incorrect
Cognitive theoretical and conclusion.
Domain) experimental results.
Scale
Skill to Quite able to conduct the Able to conduct Able to conduct Unable to conduct
perform test entire experiment with experiment with experiment with a experiment on his own
3 experiment negligible help from the some help from the lot of help from the and lab instructor
(PLO-04, lab instructor. lab instructor. lab instructor. provides help in almost
Psychomotor every step of the
Domain) experiment.
Scale
Table 1: Lab Performance
Sr.# Performance Exemplary Satisfactory Developing Unsatisfactory (0 Marks)

Indicator (5 Marks) (4-3 Marks) (2-1 Marks)
1 Depth of Demonstration of full At ease with content Only basic concepts Clearly no knowledge of
relevant knowledge of the and able to elaborate are demonstrated and subject matter, no
Information subject with and explain to some interpreted. questions are answered,
(PLO-04, explanations and degree. and no interpretation
Cognitive elaboration. made.
Domain)
Scale
Table 2: Viva Voce
Instructor Signature: ___________________________
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Linear Control System Lab Lab 6

Utilizing Simulink to Implement the Mathematical Model of

For the mechanical system shown in figure 6.1.

m=5, k=1, b=0.5

Figure 6.1: A mass spring damper system

Answer the following questions.

 What is the settling time of the system?

 What are the roots of the characteristics equation?

Figure 6.2: A mass-spring-damper system via Simulink.

Figure 6.3: Step response of mass-spring-damper system via Simulink.

Figure 6.4: Impulse response of mass-spring-damper system via Simulink

An easier way to implement step response is to use transfer function blocks.

>> l = length (S)

>> plot (S)

>> K1=5, K2=2, B=1, m1=0.5, m2=0.5

Figure 6.7: Mass Spring Damper System

Sr.# Performance Exemplary Satisfactory Developing Unsatisfactory (0 Marks)

Instructor Signature: ___________________________

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