Lab 4

SWINBURNE UNIVERSITY TECHNOLOGY
RME30002 AUTOMATION AND CONTROL
EXPERIMENT 4
NONLINEAR SYSTEM ANALYSIS
OBJECTIVE
 To be familiar with the system analysis using Matlab.

 To study the root locus techniques.
 To understand effects of the controllers (proportional, integral, and
derivative) on the system performance.
 To linearize a nonlinear system
PRELIMINARY
The experimental rig of the Magnetic Levitation (Maglev) system shown in Figure 1a
is used to levitate a magnet in air by an electromagnetic force generated by an
electromagnet. The position of the magnet is measured by a sensor on the maglev rig
and available for feedback. The simplified attractive Maglev system is shown in Figure
1b, where 𝑥 is the distance of the magnet from the base (mm), 𝑖 is the coil current
(Ampere), 𝑔 is the gravitational constant 9810 ( , 𝐹 is an electromagnetic force
(mN), 𝐾 is the electromagnetic force coefficient , m is the mass of the
magnet 0.0282 (Kg) and the distance from the base to the surface of the electromagnet
is 10.2 (mm).
(a) (b)
Figure 1. Magnetic levitation system
1
The dynamic equation of the above system is as follows:
𝑚 𝐾 𝑚𝑔 (1)
.
Now perform the following tasks:
1. Eq. (1) can be used to computer 𝐾 at the equilibrium point when 0

as follows:
.
𝐾 (2)
where the electromagnet coil current is 𝑖 and the magnet position is 𝑥 . At

the equilibrium point 𝑥 6.94𝑚𝑚, 𝑖 0.3𝐴, calculate 𝐾 .
2. The presence of the term 𝐾 makes Eq. (1) nonlinear. Since we

.
want to linearize the equation about the equilibrium point 𝑥 𝑎𝑛𝑑 𝑖 , we let
𝑥 𝑥 𝑥, 𝑖 𝑖 𝚤̂, where 𝑥 𝑎𝑛𝑑 𝚤̂ are small excursions from 𝑥 𝑎𝑛𝑑 𝑖
respectively. Substituting 𝑥 𝑎𝑛𝑑 𝑖 into Eq. (1) and dividing m on both sides
yields:
̂
𝐾 𝑔 (3)
.
But
(4)
̂
Let 𝑓 𝑥, 𝑖 𝐾 𝑔 𝐾 𝑔 which can be
. .
linearized with the truncated Taylor series as follows:
𝑓 𝑥, 𝑖 𝑓 𝑥 ,𝑖 𝑥 𝚤̂ (5)
, ,
Note that 𝑓 𝑥 ,𝑖 0 at the equilibrium point due to a zero acceleration.

Substituing Eq. (4) and Eq. (5) into Eq.(3) yields:
𝑥 𝚤̂ (6)
, ,
Let 𝑎 𝑎𝑛𝑑 𝑏 , calculate a and b at the

, ,
equilibrium point 𝑥 6.94𝑚𝑚, 𝑖 0.3𝐴.
2
3. 𝐷erive the transfer function of the linearized system Eq. (6) at the
equilibrium point: 𝑃 𝑠 .
PROCEDURE
Simulation analysis of the Maglev system performance using Matlab
Consider the feedback control system in Figure 2:
X(s)
𝐶 𝑠𝑠
𝐾𝐶
Figure 2. Control diagram of a Maglev system
where
𝐶 𝑠 𝐾 𝐾 𝑠 (7)
and 𝑃 𝑠 is the maglev plant transfer function.
1. Analyse the system performance with a P (proportional) controller where

𝐾 1, 𝐾 0 𝑎𝑛𝑑 𝐾 0 in Eq. (7).
a) Plot the system root locus with the proportional controller above and
𝐾 ∈ 0, ∞ . Analyse the system stability. (Hints: you may use
‘rlocus’ command to plot the root locus in Matlab.)
b) Plot the system step response with the proportional controller above
and K=1. Analyse the results.
2. Analyse the system performance with a PD controller where 𝐾 1, 𝐾

0 𝑎𝑛𝑑 𝐾 0.01 in Eq. (7).
a) Plot the system root locus with the PD controller above and 𝐾 ∈
0, ∞ . Analyse the system stability and the accuracy of a unit step
input. Comment on the effects of the PD controller.
b) Plot the system step response with the PD controller above and K=1.
Comment on the system performance.
3
3. Analyse the system performance with a PID controller where 𝐾 1, 𝐾
1 𝑎𝑛𝑑 𝐾 0.01 in Eq. (7).
a) Plot the system root locus with the PID controller above and 𝐾 ∈
0, ∞ . Analyse the system stability and the accuracy to a unit step
input. Comment on the effects of the PID controller.
b) Plot the system step response with the PID controller above and
K=1. Comment on the system performance.
Experimental analysis of the Maglev system performance
Set up the experimental system and conduct the following steps. The detailed
instructions are available in the lab.
1. Record the closed loop step response with the PD controller (𝐾

1, 𝐾 0 𝑎𝑛𝑑 𝐾 0.01, 𝑎𝑛𝑑 𝐾 1).
2. Record the closed loop step response with the PID controller (𝐾
1, 𝐾 1 𝑎𝑛𝑑 𝐾 0.01, 𝑎𝑛𝑑 𝐾 1).
3. Analyse the above results and comment on the system performances.
REPORT
Please refer to the guideline for laboratory works in the Canvas regarding how
to write your report.

Lab 4

Uploaded by

Copyright:

Available Formats

Lab 4

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lab 4

Uploaded by

Copyright:

Available Formats

SWINBURNE UNIVERSITY TECHNOLOGY

RME30002 AUTOMATION AND CONTROL

NONLINEAR SYSTEM ANALYSIS

 To be familiar with the system analysis using Matlab.

Now perform the following tasks:

1. Eq. (1) can be used to computer 𝐾 at the equilibrium point when 0

where the electromagnet coil current is 𝑖 and the magnet position is 𝑥 . At

2. The presence of the term 𝐾 makes Eq. (1) nonlinear. Since we

Note that 𝑓 𝑥 ,𝑖 0 at the equilibrium point due to a zero acceleration.

Let 𝑎 𝑎𝑛𝑑 𝑏 , calculate a and b at the

Simulation analysis of the Maglev system performance using Matlab

Consider the feedback control system in Figure 2:

Figure 2. Control diagram of a Maglev system

and 𝑃 𝑠 is the maglev plant transfer function.

1. Analyse the system performance with a P (proportional) controller where

2. Analyse the system performance with a PD controller where 𝐾 1, 𝐾

Experimental analysis of the Maglev system performance

1. Record the closed loop step response with the PD controller (𝐾

3. Analyse the above results and comment on the system performances.

You might also like