Automatic Control - LAB exercise 1

Problem 1

Consider the electro-mechanical system represented in the above figure. Suppose that the force F(t) depends on the
current i(t) according to the following relation: F(t)=Kmi(t)+Kqi(t)2, where Km=15, Kq=0.5. Choose the output y(t)=p(t).
1) Write the system differential equations.
2) Assuming the values R=3, L=1.2, M=2.5, β=3, k=8, implement the system on Simulink using block diagrams.
3) For each of the following cases:
a) u(t)=ε(t) (step), initial conditions p(0) = 0, p! (0) = 0, i(0) = 0 ,
b) u(t)=δ(t) (impulse), initial conditions p(0) = 0, p! (0) = 0, i(0) = 0 ,
c) u(t)=8e-3tcos(t)+2sin(3t), initial conditions p(0) = 1.5, p! (0) = -2.5, i (0) = 0 ,
generate a plot representing the output time evolution.
Suggestions:
- Step 2: The block “math function” in the Simulink directory “math operations” can be used to implement the
square (select “square” by double-clicking this block).
- Step 3, point a: Use the “step” block.
- Step 3, point b: The impulse signal can be generated inserting a derivative block after the “step” block.
- Step 3, point c: The signal u(t) can be generated by means of the Matlab commands
t=linspace(0,50,6000)’; % do not forget the transpose
u=8*exp(-3*t).*cos(t)+2*sin(3*t);
and then implemented in Simulink by means of the block “from workspace”. In this block the following matrix
has to be inserted: [t u] where t is the time vector and u is the input signal. These two vectors must be
defined as column vectors. The operation .* is the element by element multiplication.
- The initial conditions can be inserted in the integrator blocks.
4) Write the system state equations.
5) Write the state equations of the linearized system around the equilibrium point (0,0,0,0) (to make this
linearization, just eliminate the square term).
6) Assuming the parameter values of Point 2, using the “ss” command and the “LTI system” block, implement the
linearized system on Simulink.
7) Repeat Point 3 for the linearized system. The initial conditions can be inserted in the “LTI system” block.
8) Repeat Point 3 for the linearized system using the commands “impulse”, “step” and “lsim”. Compare the
obtained plots with those generated at Points 3 e 7.