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Lab 3

The document discusses a lab experiment on closed-loop control system performance. It covers steady state error analysis for different system inputs, stability analysis of different transfer functions, tuning a PID controller to meet performance specifications on a DC motor model, and analyzing the effect of PID parameters on steady state error and transient response.

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bassmalabaraa
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20 views

Lab 3

The document discusses a lab experiment on closed-loop control system performance. It covers steady state error analysis for different system inputs, stability analysis of different transfer functions, tuning a PID controller to meet performance specifications on a DC motor model, and analyzing the effect of PID parameters on steady state error and transient response.

Uploaded by

bassmalabaraa
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Continuous control System 3 rd year Electrotechnics EEA Department

Lab 03 (Closed-loop performances)


Starting ideas:

I
n this Lab, we will try to cover the principal aspects on closed-loop performances, as we have

seen in the course, the performances of a close-loop system are divided into transient and

steady-state stage. In the first one, we are interesting to satisfy some specifications in time

domain like Rise time, Settling time, Peak time, Response time and percentage of overshoot. In the

other side, the steady-state specification is covering by the error between the desired input and the

system’s response, in unit step case, the error is called position (labeled by 𝐾𝑝 ) and when the input

is a ramp signal, the error is called velocity (labeled by 𝐾𝑣 ), and in case of a parabolic input, the

error is called acceleration (labeled by 𝐾𝑎 ).

Three parts will be addressed in this Lab:

• Position, velocity and acceleration error.

• Stability and Transient response performances.

• PID tuning

Materials: Computer included a MATLAB software with Word editor to prepare the final report.

Time-duration : 1H30min

Documents allowed: Course (chapter-3)

DR. Abdelhamid Bounemeur


Continuous control System 3 rd year Electrotechnics EEA Department

Part A: (steady-state study):

MATLAB commands needed: (see the code below)


clear all
clc
gf=tf([4],[1 2,10]); % the open-loop transfer function (feedforward)
gc=feedback(gf,1);% the closed-loop transfer function for a unity feedback
t=0:0.01:20; % simulation time

%%%%%% If the input is a unit step you can use step(gc) or you can use the
following commands)
u=ones(size(t));% the input is a unit step
lsim(gc,u,t);% plot the unit step response of the closed-loop system

%%%% If the input is ramp%%%%%%


u=t;
lsim(gc,u,t);

%%%% If the input is a parabolic%%%%


u=t.^2;
lsim(gc,u,t);

1. Determine graphically the steady-state error for a unit step input, unit ramp input and unit

parabolic input for the control system described by the following transfer function :

2. For the following control system determine graphically the steady-state error for the inputs: 5𝑢(𝑡),

5𝑡𝑢(𝑡), and 5𝑡2 𝑢(𝑡)

DR. Abdelhamid Bounemeur


Continuous control System 3 rd year Electrotechnics EEA Department

3. For the control system described by the following feed forward transfer function determine the

steady-state error for the input 15𝑡2 𝑢(𝑡)

4. Design the following control system by selecting a value of 𝐾 graphically such that there is a

10% steady state error for a unit ramp input. Use the Routh-Hurwitz criterion to confirm that the

system is stable at the value of 𝐾 selected.

Part B: (Stability and Transient response performances):

1. Find the values of 𝐾 that make the system instable based on a simple MATLAB code of the

following system (this first simulation is just for smart students).

Hint: you must construct a vector that contains many values (for example K=[1:1500]) and replace

it in the characteristic equation and check the stability. You can use Routh array to find the stability

range.

2. Consider the closed-loop system defined by

DR. Abdelhamid Bounemeur


Continuous control System 3 rd year Electrotechnics EEA Department

Using a “for loop,” write a MATLAB program to obtain unit-step response of this system for

the following four cases:

First case: 𝜔𝑛 = 1; 𝜁 = 0.3

Second case: 𝜔𝑛 = 2; 𝜁 = 0.5

Third case: 𝜔𝑛 = 4; 𝜁 = 0.7

Fourth case: 𝜔𝑛 = 6; 𝜁 = 0.8

3. For the following block diagram:

• Find the closed-loop transfer function.

• Tune the pole P and the gain k to meet the following specifications (use stepinfo(g) to

confirm your choice):

-Percentage overshoot ≤ 5%

-settling time 𝑇𝑠 ≤ 4𝑠

Part C: (PID controller applied on a DC Motor): The open-loop transfer function of the DC Motor
is given as follows (see the chapter-1 in case of torque constant is equal to the back EMF constant).

The structure of the control system has the form shown in the figure below.

DR. Abdelhamid Bounemeur


Continuous control System 3 rd year Electrotechnics EEA Department

For a 1-radian step reference r(t), the design criteria are the following.

▪ Settling time less than 0.040 seconds

▪ Overshoot less than 16%

▪ No steady-state error

The motor parameters are listed below:

J = 3.2284E-6;

b = 3.5077E-6;

K = 0.0274;

R = 4;

L = 2.75E-6;

Recall that the transfer function for a PID controller has the following form.

Proportional controller only P: (𝒅 = 𝟎)

DR. Abdelhamid Bounemeur


Continuous control System 3 rd year Electrotechnics EEA Department

• In the first tuning, use only the proportional controller and sketch the step response for

different values of 𝐾𝑝 = 1, 11, 21.write the transient response performances for the

considered three case (use the command stepinfo(closed-loop).

• Give your remarks on how the 𝐾𝑝 value can affect the steady-state error and the transient

response

Proportional and integral controller PI: (𝒅 = 𝟎)

• Try to set the value of 𝐾𝑝 = 21 and 𝐾𝑖 = 100, 300, 500.

• Plot the step response with PI controller for the three given values of 𝐾𝑖.

• Give your remarks on how the value of 𝐾𝑖 can affect the steady-state error and the transient

response

• Put the Disturbance 𝑑 = 1 and plot the step response in this case.

Proportional, integral, and derivative controller PID: (𝒅 = 𝟎)

• Adding a derivative term to the controller means that we now have all three terms of the PID

controller. We will investigate derivative gains 𝐾𝑑 ranging from 0.05 to 0.25 along with the

same gains as in PI controller (𝐾𝑝 = 21 and 𝐾𝑖 = 500).

• Plot the step response with PID controller.

• Give your remarks on how the value of 𝐾𝑑 can affect the steady-state error and the transient

response

• Put the Disturbance 𝑑 = 1 and plot the step response in this case.

DR. Abdelhamid Bounemeur

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