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SYSTEM THEORY

Submitted by SREERAG.K.S S1 IDC, Mtech RIT

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Problem Position control of a Rotary Arm Drive: Separately Excited DC motor Control Mechanism: Armature Control Assumption: 1) Field Flux is maintained constant.005 3. Armature Resistance. 8.56mH.. Viscous friction Coeff. Motor Torque constant.1Nm/A. Specifications: 1.1V/rad/s. Moment of Inertia of motor. 4. 5. 2) Shaft and arm move in unison without any jerk. 7. B=0.0019kg/m2. 6. km=0. Value Courtesy: Automatic Control Systems by Benjamin C Kuo Plan Elevatiton 2 . Jm=0. ks=1. La= 0.35Ω. kb=0. Ra= 1. Speed constant. Supply voltage. Vs= 1V 2. Gain sensor. Armature Inductance.

Solution: Mathematical model of DC motor (Armature Control) La dI a (t ) + I a (t ) Ra + Eb (t ) = Vs (t ) dt dθ (t ) = ω m (t ) dt d 2θ (t ) B dθ Tm + = J dt J dt 2 Tm = k i I a (t ) Eb =k b ω m (t ) Therefore the transfer function will be: ki θ ( s) = 3 Vs ( s) La J × s + ( Ra J + BLa ) s 2 + ( k b k i + Ra B) s + k i 3 .

km/J. disp('State space representation of the system') sys_cl=ss(Ac. J=0. disp('State Space model of Open loop system in continuous domain') A=[-1*Ra/La.0019.1].-1). Tl=1.Dc) sys_cld=c2d(sys_cl.2.2.d) subplot(4.C.0001.0.1.1) margin(TFo) disp('Transfer function of the system') [num. La=0.1.-1*Bm/J.3) nyquist(TF_cl)%Nyquist plot of the system subplot(4.0.Bc. tm=20*10^-6. Ra=1.B.d]=ss2tf(A. disp('Open loop Transfer Function of the system') TFo=tf(n. B=[1/La.1.Matlab Coding %Modeling of a Rotary arm using separately excited DC motor.D) [n.D).den).2. C=[0.0].Bc.den)%Closed loop transfer function with unity feedback of potentiometric encoder Poles=pole(TF_cl) TF_cld=c2d(TF_cl.56*10^-3.Cc. disp('The rank of controllability matrix') RCo=rank(M)%Rank of Controllability matrix 4 . D=0.C.B.0].2. clear all clc km=0. sys=ss(A.0.d.0.Cc.4) pzmap(TF_cl)%Pole Zero plot of the system subplot(4. Bm=0.5) step(TF_cl) disp('Specifications of the system in continuous domain') specs_cl=stepinfo(TF_cl) disp('Specifications of the system in Discrete domain') specs_cld=stepinfo(TF_cld) M=ctrb(sys).0. %Assuming Field flux to be constant and neglecting armature reaction.1) subplot(4. TF_cl=tf(num.-1*kb/La.den]=cloop(n.35.2.1) [Ac. kb=0.Dc]=tf2ss(num.2) rlocus(TF_cl)%Root locus of the system subplot(4.

05263 0 1 0 0 .if RCo==3 disp('The System is controllable') end Output State Space model of Open loop system in continuous domain sys = a= x1 x1 x2 x3 b= u1 x1 1786 x2 x3 c= x1 x2 x3 y1 0 0 1 5 x2 -178.6 x3 0 0 0 -2411 52.63 -0.

398e04 6 .d= u1 y1 0 Continuous-time state-space model Open loop Transfer Function of the system TFo = 9.398e04 ---------------------------------s^3 + 2411 s^2 + 9525 s + 9.398e04 ----------------------s^3 + 2411 s^2 + 9525 s Continuous-time transfer function Transfer function of the system TF_cl = 9.

Poles= 1.Continuous-time transfer function.01942 z + 3.0.1275 z + 1.2615 z^2 + 0. 7 .533e-21 Sample time: 1 seconds Discrete-time transfer function.0059i TF_cld = 0.8854 z^2 .0020 .0e+03 * -2.0059i -0.0.0.0020 + 0.4068 -0.311e-07 ---------------------------------------z^3 .

State space representation of the system sys_cl = a= x1 x1 x2 x3 -2411 1 0 x2 x3 -9525 -9.398e+04 0 1 0 0 b= u1 x1 1 x2 0 x3 0 c= x1 y1 d= 8 x2 x3 0 0 9.398e+04 .

1146 -0.u1 y1 0 Continuous-time state-space model.0001077 x2 6.00814 b= u1 x1 6.402e-06 x2 x3 -5.2616 0.147 -0.402e-06 x3 9.736 0. sys_cld = a= x1 x1 -0.103e-05 x3 -3.421e-06 c= x1 x2 x3 9 .103e-05 x2 -3.3197 0.

8761 SettlingMax: 1.7903 SettlingMin: 0.1998 Undershoot: 0 10 . Specifications of the system in continuous domain specs_cl = RiseTime: 0.y1 0 0 9.2152 SettlingTime: 1.3520 Overshoot: 35.398e+04 d= u1 y1 0 Sample time: 1 seconds Discrete-time state-space model.

9894 SettlingMax: 1.5324 Specifications of the system in Discrete domain specs_cld = RiseTime: 1 SettlingTime: 2 SettlingMin: 0.3520 PeakTime: 0.0001 Overshoot: 0.0065 Undershoot: 0 Peak: 1.Peak: 1.0001 PeakTime: 4 The rank of controllability matrix RCo = 11 .

3 The System is controllable Simulink Model 12 .

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