PRACTICAL FILE CONTROL SYSTEM 2 LAB INSTRUCTOR Prof. Preeti PREPARED AND SUBMITTED BY 1. Mrinalika Singh UE204051 2. Narayan Patel UE204053 3. Piyush Jaiswal UE204056 4. Piyush Keshri UE204057 B.E. Electrical and Electronics Engineering 3rd year ( V - Semester) UNIVERSITY INSTITUTE OF ENGINEERING AND TECHNOLOGY PANJAB UNIVERSITY, CHANDIGARHDECLARATION Our group members, Mrinalika Singh, Narayan Patel, Piyush Jaiswal, and Piyush Keshri, hereby declare that the experiments under the course “Control System 2” has been performed by us in fulfillment of the Sth-semester Control System 2 lab. All the data, scripts, and experimental results presented in this file are correct to our knowledge. This work has not been submitted for any other degree/exam/course elsewhere. Date: “Mrinalika Singh (UE204051) Narayan Patel (UE204053) Piyush Jaiswal (UE204056) Piyush Keshri (UE204057)ACKNOWLEDGEMENT I would like to thank my institute, the University Institute Of Engineering And Technology, P.U, for providing us with the equipment and software to perform the experiments in order to deepen our understanding regarding the subject Control System 2. I express my gratitude to Prof. Preeti, our professor, and lab instructor, for providing us with the required resources and guidance for the execution and completion of the experiments. Last but not the least, We would like to thank our group members who helped each other directly or indirectly with the completion of these experiments. MRINALIKA SINGH. NARAYAN PATEL, PIYUSH JAISWAL. PIYUSH KESHRITABLE OF CONTENTS S.NO. PARTICULARS Page No. 1. To study the basics of MATLAB (Scripting and Simulink). 2. To study Derivative controllers for different parameters/constants 3. To study integral controllers for different parameters/constants 4. 5. 6. 7. 8. 9.Experiment - 1 Aim: To study the basics of MATLAB (Scripting and Simulink). Tools used: Script and Simulink (MATLAB R2017a) Theory: MATLAB is a high-level technical computing environment that is suitable for solving scientific and engineering problems. It has a family of programs that includes a base(main) program along with a variety of toolboxes. The various toolboxes are Power System Toolbox Signal Processing Toolbox Control System Toolbox Artificial Intelligence(Fuzzy Toolbox) Neural Network Toolbox, etc. we Specifically, Control System Toolbox has functions to solve control engineering problems. GUI is also present in higher versions of MATLAB Problem: 1a, For the given transfer function (s+1)(s-3) s(s+2) T(s) Find pole and zero, And show the pole-zero plot. 1b. The block diagram of a control system is shown below where K = 10, Determine the overall Jc. Find the root locus of the given transfer function (s+1)(s-3) s(s+2) T(s)1d. Find the damping ratio, damped frequency of oscillating roots, and % overshoot for a unity step response (s+1)(s-3) s(s+2) Ts) Solutions: Ja. Use command pole(transfer function) and zero(transfer function) to find poles and zeroes of the given transfer function eae oe. aoe| BS A on| PS NT Beets «BEB |e. tone <= SSD) [a> wrusone > = e Ea Puvishadny ate) 2 BettaoPole-Zero Map(Roll No: 81,59,96.57 Imaginary Axis (seconds) Real Axis (seconds) Ib, Use command feedback(Cloopt, Cloop2) and pzplot(transfer function) to find poles of the transfer function of given block diagram. Baa | sete Busco ~ FB [O i wsoe > a € oe = a a Sepa ap =| 1 eetem i Seopceninetebn = SSbanen: Finltege 2 faetbeck(eoosy 65 #035 Wenge]08 06 Imaginary Axis (seconds © Coren Foe Ta Punishes ste) © eqtam Pole-Zero Map (Rall No: 61, 63,65,57) of, 08 OG g ream rae] jase eB, at fades CR gd pe O78 oo ga eat ‘OB. 08*~-o9s, ode 1 08 % re Real Axis (seconds) a & BIBI pumas » a ss) = 2 | Seas anc zen 4 | legend Hoot Locus Ss < | erates > | Sins1d. Root Locus(Rolll No: 61,53,56,57) os 02 B01 2 2 = 2-01 ‘ EB ose. obaae AE ee aot ombdsts og ‘2 4 0 4 2 3 4 Real Axis (seconds) Declare the transfer function and store itin a variable. (en) u u Use command stepplot{transfer function) to get step response and damp(transfer function) {0 got specifications of given transfer function. u a erence Pep eam, sSae 2 Som bs 1B [a> wnissone > aren Fee 212):Dooping Frequency Tine Constant (radyseconds) (seconds) 0.00e+00 -2.9ne109 8.00480 Inf Step Response 0 50] -300 950 400 ° 30 100, 150 7200 250 Time (seconds) Result: Pole-Zero Map of the given transfer function and block diagram has been plotted using MATLAB. The root locus of the given transfer funetion is plotted and time specifications are also calculated.Experiment - 2 Aim: To study Derivative controllers for different parameters/constants ‘Tools used: Script and Simulink (MATLAB R2017a). Theory: With derivative control the change in controller output from the set point value is proportional to the rate of change with time of the error signal, i.e. controller output <0 rate of change of error. Thus we can write: D controller output = Ky * rate of change of error It is usual to express these controller outputs as a percentage of the full range of output and the error as a percentage of full range. Ko is the constant of proportionality and is commonly referred wwe control. to as the derivative time since it has units of time, the type of response that occurs when there is a steadily increasing error signal, Because the rate of change of the error with time is constant, the derivative controller gives a constant controller output signal to the correction element. With derivative control, as soon as the error signal begins to change there can be quite a large controller output since it is proportional to the rate of change of the error signal and not its value, Thus with this form of control there can be rapid corrective responses to error signals that occur. 10Lee = F ° Time Problem: (2) A unity feedback control system is shown in the fig. By derivative control the damping ratio is made to be 0.8. determine the values of rise time, peak time and maximum overshoot for the system? SOLUTION 2: u With the given transfer function through its CE find ‘out damping ratio and through given damping ratio through a controller apply the formula find Té u Use command sys = (numerator, denominator) ‘and sys = feedback(G,C,-1) To find transfer function without controler. u "Use command syst=tf(num,den) ‘and sys3= feedback(sys*sys1,1,-1) to find transfer function with controller u With the obtained transfer function use command ‘stopplot() to map out all the parameters asked and also use gridon and holdoff for clarity in graph [A cAUvsersyasus\ Document MATLAB piyuss7 prnceS1_1Ssepm - ao x (216), 11 1.6 01); sedback(3,1,~1) = 3- dame); 44> stepplot (eb: 5-0 grid onz 6 hold ons 7 dete(10.3 UE: Hy 8 cloop2=feednack(S*4,1,-1); a 97 stepplet (cloop2): po- grid a sa hold off 3 usages of °F ound in) cot 12‘Hriouer - Ff Fle Edt View nee Tools Desktop Window Help Oé6as h|Ssodec/a 08/90 ‘Step Response Time (seconds) RESULT: ‘Through the plotted graph we can find out the different parameters of transfer function with derivative control. DAMPING RATIO 0.8 RISE TIME0.41sec PEAK TIME-»0.68sec % MAXIMUM OVERSHOOT- 8.12% 13Experiment - 3 Aim: To study integral controller characteristics for different parameters/constants. Tools used: Script and Simulink (MATLAB R2017a) Theory: Integral contro! any deviations that may exist, Thus, the system returns to both steady state and its original setting. A negative error will cause the signal to the system to decrease, while a positive error will cause the signal to increase. However, -only controllers are much slower in their response a second form of feedback control. It is often used because it is able to remove time than P-only controllers because they are dependent on more parameters. If it is essential to have no offset in the system, then an I-only controller should be used, but it will require a slower response time. L-only controls are often used when measured variables need to remain within a very narrow range and require fine-tuning control. I controls affect the system by responding to accumulated past error. The philosophy behind the integral control is that deviations will be affected in proportion to the cumulative sum of their magnitude. The key advantage of adding a I-control to your controller is that it will eliminate the offset. The disadvantages are that it can destabilize the controller, and there is an integrator windup, which increases the time it takes for the controller to make changes. 1 Ais) sas FB) os) Feedback control system with integral control The output:- cla) ae R(s) As*+Bs?+s+K, Error sagen) EO = Gara TE RO Problem: 1419 G(s) THD . If we prov (3) Consider an Unit step Open loop system ha lean integral controller in forward path, determine the values of rise time, peak time and maximum overshoot for the system? | Solution 3: Start Declare the transfer function and store it in a variable. With the given transfer function through its CE find ‘out damping ratio and through given damping ratio through a controller apply the formula find Ta u Use command sys = tf(numerator, denominator) and sys = feedback(G,¢,-1) To find transfer function without controler. u Use command syst=tf(num,den) and sys3= feedback(sys*sys1,1,-1) to find transfer function with controller i v With the obtained transfer function use command stepploi() to map out all the parameters asked and also use gridon and holdoft for clarity in graph u td 15J Exp3_roll_51_53.56_57.m | s =tf(1, [12 0] ¢ =feedback(s,1,-1); damp(c); stepplot(c); grid on; hold on; i =tf(3.1, [1 @]); cloop2 =feedback(s*i,1,-1); stepplot (cloop2) ; grid on hold on BSca wv a4HEeuNnH BR Command Window >> Exp3_roll_51_53_56_57 Pole Damping Frequency Time Constant (rad/seconds) (seconds) -1.00e+00 1. 00e+00 1.00e+00 -1.00e+00 1. 00e+00 1.00e+00 ‘ap herpomea 1598687) |! ti ai ‘ m 7a son ten 7 0 167