Assignment II of Automatic Control System

Rizka 023117400000
Salsabiella Ramadhanti Abadi 02311740000101

Problem A
1. What is your chosen plant?
We decided to choose “Automatic Spoiler of High-end Super Car”. It is the rear spoiler
(automotive aerodynamic device) of high-speed car, intended design function to ‘spoil’
unfavorable air movement across a body of a vehicle in motion.

2. Why is it required to be controlled?

It maintains the down force or ‘drag’ of the speeding car. On a super car or sports car (for
example Koenigsegg Regera), the rear spoiler is often designed to be automatic so it will adapt when
the car’s speed change drastically, to keep the car stable.

3. Draw the block diagram.

Explain the controller, sensing element, and actuator.

Controller = ECU (Electronic Control Unit)
Sensing element = speedometer
Actuator = DC servo motor

4. What are the manipulated, measured, and controlled variables?

 Manipulated =
Measured = velocity
Controlled = tilt angle of spoiler

Give detail explanation the whole process along with the scheme occurred for each and in
between block.
While the car’s speeding up, the speedometer that contains transmitter gives velocity data to ECU
(Electronic Control Unit). Speedometer acts as the feedback and ECU acts as the controller. The
output from ECU is in mA, then goes through the DC servo motor, and the output from DC servo
motor is torque (in Nm). DC servo motor acts as the actuator. The torque output then goes
through the plant (car’s spoiler) and the output is teta. This will change the tilt angle of spoiler
against its determined axis, which measures the spoiler inclination angle. Input disturbance (di)
will enter DC servo motor.

5. Please elaborate the probabilities of disturbance and noise in your system. Where are they
and how to tackle them?
Disturbance = wind speed
Cars whose are on high speed will face high speed wind too. We can set the setpoint at a slightly
higher or lower value than if we consider there is no disturbance. For example, for no disturbance
we put 120 km/h for the setpoint (the spoiler will start to tilt for a particular degree of teta at this
velocity). For a system with disturbance, we put a value of either 110 km/h or 130 km/h.

Problem B
1. Design the transfer function of your closed-loop system.
TF DC motor:

TF plant (spoiler):

Where:
Va = armature input voltage Ra = armature resistance
Kt = torque constant La = armature inductance
J = inertia of rotor motor Kb = back emf constant
b = friction coefficient

TF system:

Determine the damping ratio.

Plot the damping ratio with 0 ≤ ζ ≤ 1.2 in 0.2 scale.

2. Find the poles, zeros, and give deep analyses. Compare to the stability with Routh’s criteria.

3. Choose any three gain K

Plot them with step input.

Determine the best response.

 For the best gain K, calculate by hand and Matlab: delay time, rise time, peak time,
maximum overshoot, and settling time.

4. With your best gain K out of three, plot the system with impulse input applying 3 different
initial conditions. Analyse.

5. Plot with P, PI, PD, and PID.

Open loop:
Closed loop:

Short explanation about PID?

Problem C
What do you know about root-locus?

Design the root-locus from your system by hand.

Compare the result with Matlab. Analyse.

 Reference

1. Sandeep D. Hanwate and Yogesh V. Hote, Design Of PID Controller For Sun Tracker System
Using QRAWCP Approach, International Journal of Computational Intelligence System, Vol. 11
(2018)