CONTROL LABORATORY Friday, 03, 27, 2019

Introduction to Simulink
(Implementing PD controller)
Report
ME Department

1. Ahmad Saleh (0160328)

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 CONTROL LABORATORY Friday, 03, 27, 2019

Abstract

Controlling mechanical mass-spring-damper system with step force input and displacement
output using PD controller. The system is represented by two masses vertically connected
with two dampers, and one spring connected vertically to the first block. the open loop system
is represented by the blocks connected with dampers only and no springs. the spring provide
the feedback in the model.

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CONTROL LABORATORY Friday, 03, 27, 2019

Results
• By hand

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 CONTROL LABORATORY Friday, 03, 27, 2019

• Using Matlab
for m=1 , b=0.1 , k=0.5 , step size of 0.1 , step input=1

The system equations for the open loop are :

1. my” = - b*(y’- x’) + u

2. mx” = - b*x’ + b*(y’- x’)

we simplify the equations to draw the block diagram to:

1. y” = - (b/m)*y’ + (b/m)*x’ + (1/m)*u

2. x” = - (b/m)*x’ + (b/m)*y’- (b/m)* x’

The block diagram of the two equations is shown in Figure 1

Figure 1

The response of this open loop system (as we can see in Figure 1) is unstable

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 CONTROL LABORATORY Friday, 03, 27, 2019

The system equation for the closed loop is :

• my” = - b*(y’- x’) + u – k*y

we simplify the equation to draw the block diagram to:

• y” = - (b/m)*y’+ (b/m)* x’ + (1/m)* u – (k/m)*y

The block diagram of the equation is shown in Figure 2

Figure 2

The response of this closed loop system (as we can see in Figure 2) is stable, but as we can see
that the overshoot percentage and the steady state error are very high.
The steady state of the system is 2. The steady state error approximately is 100% and the
overshoot percentage approximately is 80% with approximately
ess=((2-1)/1)*100=100
peak overshoot value of 3.6
PO=((3.6-2)/2)*100=80

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 CONTROL LABORATORY Friday, 03, 27, 2019

Using PD controller we can reduce the overshoot percentage and the steady state error, we
connected the PD controller In the block diagram as shown in Figure 3

Figure 3

I adjust the controller gains such that there is a negligible overshoot and settling time of about 10
seconds using manual tuning for the controller and I ended up with kD=30 and kP=10.

By using the PD controller we reduced the over shoot percentage

ess=((0.953-1)/1)*100=-4.7
from 80% to 5.56%, And the steady state error from 100% to
PO=((1.006-0.953)/ 0.953)*100=5.56
4.7%, but we couldn't eliminate the steady state error completely
because the PD controller can adjust only the over shoot
percentage.

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