SISTEMA DE CONTROL ELECTROMECÁNICO

Juan Camilo Calderón, Maria del mar Peña, Raúl Rangel

Universidad Autónoma de
Occidente, Facultad de
ingeniería,
Cali, Colombia
juan_cam.calderon@uao.edu.co
maria_del.pena@uao.edu.co
raul.rangel@uao.edu.co

Abstract- This document is the analysis of an to the inputs of an amplifier making a subtraction of these two
electromechanical system, with the objective of voltages and applying a gain Ka to
knowing the analysis in frequency, the behavior
through time, the stability of the system and to
culminate the course with everything seen in the
simulation software MatLab.
I. INTRODUCTION
This document will be the means in which the
analysis, methodology and conclusions of an
electromechanical system will be found, carrying
out the detailed study of the parameters previously
mentioned, having this clear it should be entered in
context, the electromechanical systems are those
hybrid systems of mechanical and electrical
variables.

In the following image you can see the system that

was analyzed and then make an explanation of the
operation of the system with its respective
description

Figure 1 (Electromechanical system)

Input r(t) is the input or reference position, for this

position has an electrical component is associated
with a linear potentiometer with a Ks, also the
position x(t) is associated with a linear potentiometer
with the same constant Ks and so census the position,
this voltage generated by the two potentiometers go
 generate an output voltage (𝑒𝑜) which
influences the electromagnet mesh (where
the resistance Ra and the coil La are located)
which couples to a mass that interacts with
the magnetic field of the winding that
surrounds it generating a
movement according to the field lines of
the solenoid. This joins the electrical system
with the mechanical system by means of the
Faray-Lenz law giving us a magnetic
constant (Ki) and an electromotive constant
(Kb); the movement of the mass is affected
by the spring (K) and shock absorber (B)
where this movement makes a feedback to
the system.
This electromechanical system can be used
in the construction of electromagnetic
levitation train, where the train is driven by
the field lines which only works in an initial
X and Xf distance (which would be its
destination) which is also recorded by a
mechanical part of control.
An electromechanical system, which
performs a displacement of a mass through
interaction with the magnetic field generated by an
electromagnet, in turn this mass is conditioned to a
spring and a shock absorber. The input of the system
is r(t) and the output x(t) which are recorded by linear
potentiometers controlling the system to work only in
an exact position. One use of this system can be the
mechanism of an electromagnetic levitating train,
where the train is driven by the field lines which is
driven by the field lines.
II. METHODOLOGY
For the analysis of this system, we began by identifying
the parameters and units that each of them had in the
following way:
• M , mass of the valve. [g]
• k, spring elastomer constant. [N/m]
• B, viscous coefficient of the shock absorber. µ] = [Pa-s]
= [kg-m-1-s-1]
• Ki , constant of magnetic force [].
• Kb,electromotive force constant [Volts/Unit of load]

• Ks, error detector gain. [ Ω/m] behavior of a system, in this case they were applied to
determine the transfer function of the electromechanical
• Ka, amplifier gain. system.
• Ra, electrical resistance of the electromagnet. [Ω]
Status Variables
• The, electrical inductance of the electromagnet. X1 x
[H]
Having this clear, we started with the mathematical
[ ][]
X2
X3
=

u=r (t)
ẋ
is

analysis of the system, starting with the differential y=x ( t )=X 1

equations that described it.
State variables matrix
For the mechanical part, two equations were developed
M ẍ =F (t )−B ẋ−kx
F (t)=K i i s ( t ) 0 1 0
0

[ ]( )[ ] (
Ẋ 1 Ki X 1

)
−k −B
0
For the electrical part Ẋ 2 = M M M X 2 + K K [u]
a s
d i s ( t) Ẋ 3 −K a K s −K b −Ra X 3
e o=R a i s ( t )+ L a + K b ẋ La
dt La La La
X1
Where
e o=K a [Vr s ( t )−Vx s (t)]

Vr s ( t )=K s r ( t ) ; 0 ≤Vr s ( t ) ≤V s
y= (1 0 0 ) X 2
X3 []
Transfer function
V x s ( t )=K s x ( t ) ; 0 ≤Vx s ( t ) ≤ V s
M ẍ =K i i s ( t )−B ẋ−kx (1)
Taking into account that state variables are the
smallest set of variables that determine the dynamic
 d is ( t )
K a [ K s r ( t ) −K s x ( t ) ]=Ra i s ( t ) + La + K b ẋ (2)
dt

Ks Ki K a
¿¿

When the mathematical analysis with the transfer

function was completed, it was decided to perform the
system analysis as the bode diagram, pole and zero Figure 3 (Entered parameters)
diagram and other theoretical analysis in the Matlab
software, therefore, an analysis with each of the inputs
and with values already determined in the parameters
will be observed in the images attached below

To clarify in the software the following interface was Figure 4 (Step input entered)
made

Figure 5 (Temporary step input response)

insdifn
Figure 2 (Software interface)
Figure 6 (Step Input Bode Diagram)

Where as you can see, at the top is the system

and a small description of it, at the bottom left
are the parameters, inputs and mathematical
analysis of the system, it is necessary to clarify
that, in this space, the user must interact with the
program to generate the values of the input and
parameters. Finally, on the right side is the space
for the graphs that would be the theoretical Figure 7 (Map of poles and zeros step entrance)
analysis that would be exemplified and explained
in the results.

III.RESULTS

Next, you will see an example of the parameters and

inputs with the values already assigned and later,
images of the resulting graphs will be attached. Figure 8 (Sine input entered)

Figure 9 (Temporary sine input response)
Figure 10 (Sine input Bode diagram)
Figure 11 (Map of poles and zeros of the sine input)
Figure 12 (Pulse input entered)
Image 13 (Temporary pulse input response)
Figure 14 (Sine input Bode diagram)
Figure 15 (Map of poles and zeros of the sine input)
IV.ANALYSIS, DISCUSSION
AND CONCLUSIONS
As you can see in image 9 the graph presents an unstable
system because the command we use [newfts =
filter(num,den,Senos)] uses a transfer function with Z
transform and we implemented it wrongly with the Laplace
transform resulting in an unstable system, this command
was used to put as input the sine function, because this
function works as a filter, this command was inserted the
numerator and transfer function and the vector of the sine
function with the parameters entered by the user
As it could be observed with all the inputs, the structure of
the transfer function is generated in the same way, since it
is independent of the input and what defines it are the
parameters and their components that determine it.
- As it is a sub-damped order 3 system, it attenuates 60
dB/dec.
In the part of the gain, it was observed that, although the
input was one, the signal was attenuated, this because in the
graph, the output of the same was less than one however
this is due to many parameters that define such behavior, it
can be concluded that the amplification is not the only
parameter in a system that influences the expansion or
attenuation of that signal, parameters such as Ki which is
the magnetic force constant, also influences the
amplification of the system, it was observed that by
increasing this parameter, the signal increased and came
closer to what should be its output ie 1.
Regardless of the transient in this process, the stabilization
time remains the same since the poles in the real part that is
associated with the stabilization time does not change,
taking into account that this time is 4 times τ.
Unfortunately, the next day of finishing the code and
observing that everything was complete, the interface
suffered a mishap for no apparent reason, so the code was
redeveloped, from this we can conclude that despite having
everything in order the software can fail and make the
code lose the correct operation.
The complex zeros conjugated make that an oscillation is
present in the system and this is due to the work of the
spring in this case.
To calculate the gain of the system, it is necessary to
observe the output with the graph that gives us the system
and perform the equation output / input, which allows us
to observe as the signal is being amplified, this is when to
check, you can enter the system some input that is finally
multiplied by the gain already calculated.