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Lab 1 Report V1
Lab 1 Report V1
SEMESTER 2 2016/2017
by
2 RESULT ................................................................................................................ 2
2.1 DERIVATION OF OPEN-LOOP TRANSFER FUNCTION ................................................................. 2
2.1.1 Step 1: Series ........................................................................................................................................................ 2
2.1.2 Step 2: Feedback .................................................................................................................................................. 2
2.1.3 Step 3: Series ........................................................................................................................................................ 2
2.2 DERIVATION OF CLOSED-LOOP TRANSFER FUNCTION WITH UNITY FEEDBACK ....................... 3
2.2.1 Step 1: Unity Feedback......................................................................................................................................... 3
2.3 GRAPHS ................................................................................................................................... 4
2.3.1 Graph of Open-loop Step Response ...................................................................................................................... 4
2.3.2 Graph of Closed-loop Step Response with Unity Feedback .................................................................................. 4
2.4 CALCULATION FROM FORMULA ............................................................................................... 5
2.4.1 Open-loop Step Response ..................................................................................................................................... 5
2.4.2 Closed-loop Step Response with Unity Feedback ................................................................................................. 6
2.5 CALCULATION FROM GRAPH ................................................................................................... 8
2.5.1 Open-loop Step Response ..................................................................................................................................... 8
2.5.2 Closed-loop Step Response with Unity Feedback ................................................................................................. 9
3 DISCUSSION ...................................................................................................... 11
3.1 COMPARISON BETWEEN CALCULATION FROM FORMULA AND CALCULATION FROM GRAPH ... 11
3.2 COMPARISON BETWEEN OPEN-LOOP STEP RESPONSE AND CLOSED-LOOP STEP RESPONSE ... 11
3.2.1 Order of Response .............................................................................................................................................. 11
3.2.2 Nature of Response and Damping Ratio, ......................................................................................................... 11
3.2.3 Speed of Response & Time Constant, ............................................................................................................... 11
3.2.4 Steady State / Final Value & DC Gain, K ........................................................................................................... 12
3.2.5 Percent Overshoot, %OS .................................................................................................................................... 12
3.2.6 Settling Time, Ts.................................................................................................................................................. 12
3.2.7 Peak Time, Tp ..................................................................................................................................................... 12
3.2.8 Rise Time, Tr ....................................................................................................................................................... 12
3.2.9 How to direct determine whether Open-loop Step Response or Closed-loop Step Response from graph. .......... 12
4 CONCLUSION ................................................................................................... 13
5 REFERENCES ................................................................................................... 13
i
1 Scilab Codings
s=%s;
num=[2];
den=[s^2+2*s+2];
Gs_OL=syslin('c',num,den);
t=0:0.01:20;
y=csim('step',t,Gs_OL);
s=%s;
num=[2];
den=[s^2+2*s+2];
Gs_OL=syslin('c',num,den);
Hs=1;
Gs_CL=syslin('c',Gs_OL/.Hs);
t=0:0.01:20;
y=csim('step',t,Gs_CL);
1
2 Result
GA G3
R(s) 1 C(s)
2
( + 2)
H1
2
GB G3
R(s) 1 C(s)
2
2
+ 2 + 2
GOL
R(s) 2 C(s)
2
+ 2 + 2
GA = G1 G2 GOL = GB G3
GB = 1+
1 1 1 1
GA = ( ) (+2) (
1
)
GOL = (2 +2+2) (2)
(+2)
1
GA = (+2) GB = 1
2
GOL = 2 +2+2
1+( ) (2)
(+2)
1
GB =
(+2)+2
1
GB = 2 +2+2
2
2.2 Derivation of Closed-loop Transfer Function with Unity Feedback
GOL
R(s) 2 C(s)
2
+ 2 + 2
H2 = 1
GCL
R(s) 2 C(s)
2
+ 2 + 4
Step 1: Feedback
GCL =
1+ 2
2
( 2 )
+2+2
GCL = 2
1+( 2 ) (1)
+2+2
2
GCL = 2 +2+2+2
2
GCL = 2 +2+4
3
2.3 Graphs
4
2.4 Calculation from Formula
= 2 . 1
= 1.414 . 1
b) Damping Ratio,
2 = 2
2(1.414) = 2
= 0.7072
c) DC Gain, K
2 = 2
(2) = 2
=1
5
e) Percent Overshoot, %OS
% = 1 2 100
0.7072
= 1(0.7072)2 100
= 4.318 %
f) Settling Time, Ts
4
Ts =
4
= (0.707)
2
=4
g) Peak Time, Tp
Tp =
1
=
(2)(10.7072 )
= 3.142
= 4 . 1
= 2 . 1
6
b) Damping Ratio,
2 = 2
2(2) = 2
= 0.5
c) DC Gain, K
2 = 2
(4) = 2
= 0.5
0.5
= 1(0.5)2 100
= 16.30 %
f) Settling Time, Ts
4
Ts =
4
= (0.5)(2)
= 4
g) Peak Time, Tp
Tp =
1
= (2)(
10.5)
= 1.814
7
2.5 Calculation from Graph
cmax
1.02cfinal
cfinal
0.98cfinal
0.90cfinal
0.10cfinal
Tr Ts1 Tp Ts2
Figure 2.3 Graph of Open-loop Step Response
b) Settling Time, Ts
Ts1 = T(1.02cfinal) Ts2 = T(1.02cfinal)
= 4.21376 s OR = 4.21376 s
= 4.214 s = 4.214 s
Since 1.02cfinal is more nearer to steady state,
Ts = Ts2
= 4.214 s
8
c) Peak Time, Tp
Tp = T(cmax)
= 3.14513 s
= 3.145 s
d) Rise Time, Tr
Tr = T(0.90cfinal) - T(0.10cfinal)
= 1.87641 0.357390
= 1.51902 s
= 1.519 s
cmax
cfinal
0.98cfinal
0.90cfinal
0.10cfinal
Tr Tp Ts
= 16.30 %
9
f) Settling Time, Ts
Ts = T(0.98cfinal)
= 4.04012 s
= 4.040 s
g) Peak Time, Tp
Tp = T(cmax)
= 1.81191 s
= 1.812 s
h) Rise Time, Tr
Tr = T(0.90cfinal) - T(0.10cfinal)
= 1.06315 0.244293
= 0.818857 s
= 0.8189 s
10
3 Discussion
11
3.2.4 Steady State / Final Value & DC Gain, K
Steady state or final value can be determined through DC gain, K.
DC gain, K of Open-loop Step Response is 1.
DC gain, K of Closed-loop Step Response is 0.5.
Therefore, the waveform of Open-loop Step Response will be higher than waveform of
Closed-loop Step Response.
3.2.5 Percent Overshoot, %OS
The amount that the waveform overshoots the steady state, or final value.
Percent overshoot, %OS of Open-loop Step Response is 4.318 %.
Percent overshoot, %OS of Closed-loop Step Response is 16.30 %.
Therefore, Closed-loop Step Response overshoot the steady state or final value more
than Open-loop Step Response.
3.2.6 Settling Time, Ts
The time required for the transients damped oscillations to reach and stay within 2%
of the steady state value.
Both Open-loop Step Response and Closed-loop Step Response have same settling
time, Ts at 4 s.
3.2.7 Peak Time, Tp
The time required to reach the first, or maximum peak.
Peak time, Tp of Open-loop Step Response is 3.142 s.
Peak time, Tp of Closed-loop Step Response is 1.814 s.
Peak time, Tp of Open-loop Step Response is higher than peak time, Tp of Closed-loop
Step Response, because speed of Open-loop Step Response is slower than speed of
Closed-loop Step Response.
3.2.8 Rise Time, Tr
The time required for the waveform to go from 0.1 of the final value to 0.9 of the final
value.
Rise time, Tr of Open-loop Step Response is 1.519 s.
Rise time, Tr of Closed-loop Step Response is 0.8189 s.
Rise time, Tr of Open-loop Step Response is higher than peak time, Tr of Closed-loop
Step Response, because speed of Open-loop Step Response is slower than speed of
Closed-loop Step Response.
3.2.9 How to direct determine whether Open-loop Step Response or Closed-loop
Step Response from graph.
The waveform of Open-loop Step Response is higher than waveform of Closed-loop
Step Response
12
4 Conclusion
5 References
[1] Experiment1_Time Domain Response v1. pp. 18, 2017.
[2] Lecture 5 - Transient Response. p. 47, 2017.
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