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Automatic Control Term Project

01208371 Automatic Control

210500358 sec 1
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01208371 Automatic Control Term Project

Nattawat Manbunsom 6210500358 Sec 1
2nd semester 2021
Step1: Modify the model with my Student ID 6210500358

Type of last digit #4 #3 #2 #1

O E Z O E Z O E Z O E Z
1. Cruise control ref. speed damping mass
15 10 5 1.2 0.9 0.8 0.8 1.3 1.1

2. Motor speed L Ke b J
0.8 1 1.2 0.8 1 1.1 1.2 1 0.9 1.2 0.9 1.3

3. Motor position L Kb b J
1.2 0.8 1.0 0.8 1 1.1 0.8 1.1 1 0.9 1.2 1
4. Aircraft pitch C B A
1.2 1 0.8 0.8 1.0 1.2 1.0 0.8 1.1
5. Inverted M m l
pendulum
1.2 1.1 0.9 1.2 1.1 0.9 1.1 1 0.9
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Cruise Control: System Modeling

Use The Physical parameters for my system :
(m) vehicle mass kg

(b) damping coefficient N.s/m

(u) nominal control force N

(r) reference speed 1 m/s

Open-loop

U(s) V(s)

-----------

1300 s + 60
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Matlab code for open-loop system

m=1300;
b=60;
u=100;
r=15;
system1=tf(1,[m,b]);
%open loop
step(u*system1)

Graph for open-loop in cruise control

Close-loop with unity feedback

U(s) V(s)
+

-
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100
------------
1300 s + 160

Matlab code for close-loop with unity feedback system

m=1300;
b=60;
u=100;
r=15;
system1=tf(1,[m,b]);
%closed loop with unity feedback
system2=feedback(u*system1,1);

Graph for close-loop with unity feedback in cruise control

Close-loop with unity feedback and proportional control

y ++ e r

-
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3000

-------------

1300 s + 3060

Matlab code for Close-loop with unity feedback and proportional control system
m=1300;
b=60;
u=100;
r=15;
system1=tf(1,[m,b]);
%closed loop with unity feedback and proportional controller
kp=3000;
c=pid(kp);
system3=feedback(c*system1,1);
step(r*system3)
stepinfo(system3)

Graph for Close-loop with unity feedback and proportional control in cruise control system
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SettlingTime: 1.6620
Amplitude: 14.7

Graph compare with 3 system in cruise control

As we can see The close-loop with unity feedback and proportional control respond has less
settling time and steady state error than the other which mean this system has more stability
and performance than the other.
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Motor speed system

Use The physical parameters for my system :
(J) moment of inertia of the rotor 9*10^-3 kg.m^2

(b) motor viscous friction constant 0.12 N.m.s

(Ke) electromotive force constant 0.008 V/rad/sec

(Kt) motor torque constant 0.008 N.m/Amp

(R) electric resistance 1 Ohm

(L) electric inductance 0.6 H

Assume Ke=Kb

Open-loop

V(s) (s)
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0.008

-----------------------------

0.0054 s^2 + 0.081 s + 0.1201

Matlab code for open-loop system

J=9*10^-3;
b=0.12;
Ke=8*10^-3;
Kt=0.008;
R=1;
L=0.6;
%open loop
s = tf('s');
sysm_speed1=Ke/((J*s+b)*(L*s+R)+Ke^2);
step(sysm_speed1)

Graph for open-loop in motor speed system

Close-loop with unity feedback

V(s) + (s)
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0.008

-----------------------------

0.0054 s^2 + 0.081 s + 0.1281

Matlab code for close-loop with unity feedback system

J=9*10^-3;
b=0.12;
Ke=8*10^-3;
Kt=0.008;
R=1;
L=0.6;
s = tf('s');
sysm_speed1=Ke/((J*s+b)*(L*s+R)+Ke^2);
%closed loop with unity feedback
sysm_speed2=feedback(sysm_speed1,1);
step(sysm_speed2)

Graph for close-loop with unity feedback in motor speed system

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Close-loop with unity feedback and proportional control system

V(s) +

1.6

---------------------------

0.0054 s^2 + 0.081 s + 1.72

Matlab code for Close-loop with unity feedback and proportional control system
J=9*10^-3;
b=0.12;
Ke=8*10^-3;
Kt=0.008;
R=1;
L=0.6;
s = tf('s');
sysm_speed1=Ke/((J*s+b)*(L*s+R)+Ke^2);
%closed loop with unity feedback and proportional controller
Kp=200;
C=pid(Kp);
sysm_speed3=feedback(C*sysm_speed1,1)
step(sysm_speed3)
stepinfo(sysm_speed3)
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Graph for close-loop with unity feedback and proportional control in motor speed
system
Overshoot: 23.3198
SettlingTime: 0.4706
Peak: 1.1471
PeakTime: 0.1965
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Graph compare with 3 system in motor speed control

As we can see The close-loop with unity feedback and proportional control respond has less
steady state error than the other but it has overshoot which mean this system has more
performance than the other.
Motor Position system
Use The physical parameters for my system :
(J) moment of inertia of the rotor (3.2284E-6)*1.2 kg.m^2

(b) motor viscous friction constant (3.5077E-6)*0.8 N.m.s

(Ke) electromotive force constant 0.0274*0.8 V/rad/sec

(Kb) motor torque constant 0.0274*0.8 N.m/Amp

(R) electric resistance 4 Ohm

(L) electric inductance (2.75E-6)*1 H

Assume Ke=Kb=K

Open-loop system
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V(s)
(s)

=
0.02192

------------------------------------------

1.065e-11 s^3 + 1.55e-05 s^2 + 0.0004917 s

Matlab code for open-loop system

J=3.2284E-6 * 1.2;
b=3.5077E-6 * 0.8;
Ke=0.0274*0.8;
Kb=0.0274*0.8;
R=4;
L=2.75E-6*1;
%open loop
s = tf('s');
sysm_pos1=Ke/(s*((J*s+b)*(L*s+R)+Ke^2));
step(sysm_pos1)
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Graph for open-loop in motor position system

Close-loop with unity feedback system

V(s) (s)
+

=
0.02192

----------------------------------------------------

1.065e-11 s^3 + 1.55e-05 s^2 + 0.0004917 s + 0.02192

Matlab code for close-loop with unity feedback system

J=3.2284E-6 * 1.2;
b=3.5077E-6 * 0.8;
Ke=0.0274*0.8;
Kb=0.0274*0.8;
R=4;
L=2.75E-6*1;
s = tf('s');
sysm_pos1=Ke/(s*((J*s+b)*(L*s+R)+Ke^2));
%closed loop with unity feedback
sysm_pos2=feedback(sysm_pos1,1);
step(sysm_pos2)
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Graph for close-loop with unity feedback in motor position system

Close-loop with unity feedback and proportional control system

V(s)
+ (s)

0.2411

---------------------------------------------------

1.065e-11 s^3 + 1.55e-05 s^2 + 0.0004917 s + 0.2411

Matlab code for Close-loop with unity feedback and proportional control system
J=3.2284E-6 * 1.2;
b=3.5077E-6 * 0.8;
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Ke=0.0274*0.8;
Kb=0.0274*0.8;
R=4;
L=2.75E-6*1;
s = tf('s');
sysm_pos1=Ke/(s*((J*s+b)*(L*s+R)+Ke^2));
Kp=11;
C=pid(Kp);
sysm_pos3=feedback(C*sysm_pos1,1);
step(sysm_pos3)
stepinfo(sysm_pos3)

Graph for close-loop with unity feedback and proportional control in motor position system
Overshoot: 66.8281
SettlingTime: 0.2345
Peak: 1.6683
PeakTime: 0.0252
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Graph compare with 2 system in motor position control

The open loop system it has infinite error steady state that make the system least performance.
For system 2 and system 3 the system 2 has more stability than system 3 and error steady
state for these two system is nearly equal and system 3 has more overshoot than system 2
which mean system 2 has more performance than system 3. But we can improve system 3
performance and stability my adjust gain Kp.