Lab Experiment 1: Mathematical Model of Mechanical, Electrical System

Exercise 1.
Find the value of A-1B if the matrices A = [1 1 1 ; 1 2 3 ; 1 4 9] and B = [10; 32; -16]

Program
% To find the Value of A-1B
clear all ;
A= [1 1 1; 1 2 3 ; 1 4 9];
B= [10; 32; -16] ;
C= inv (A);
X=C*B

Answer
X= -58.0000
114.0000
-46.0000

Exercise 2.

Open loop system

A system which manually control the input of any process

We are getting 110 V supply instead of 220 V

Then the gain is 220 V/ 110 V = 2

Suppose if we get an output of 250V instead of 220 V then the gain is 250 V / 220 V =
0.88
Closed loop system
A system automatically controls the input of any process

Suppose we are getting a varying input ac supply between 110 V – 250 V, while we
require 220V ac supply. Then set desired value = 220.

The value of gain increases the perfection in output of the system.

We are considering following value Gain = 0.1 , 1 , 10

Exercise 3
Find step and impulse response of a system

2(𝑠+1)
𝐶(𝑠) = (𝑠3 +11𝑠2 +30𝑠)

Simulink Diagram

Exercise 4.

Find the Unit Step response of this Transfer Function

% Define the transfer function

num = [10 120 660 2280 4730 4600 1600];
den = [1 14 113 628 2379 6350 11115 9800 3200];
sys = tf(num, den);
% Plot the unit step response
step(sys);
% Add title and axis labels
title('Unit Step Response');
xlabel(“Time (seconds)”);
ylabel(“Output”);
% Customize the axis
xlim([0 10]); % set x-axis limits
ylim([0 1.2]); % set x-axis limits
grid on; % add grid lines

Exercise 5.
Obtain the dynamical response of the mechanical system as shown in Figure. 1 when f(t)
is a unit step input.

Mathematical model of the mechanical system is as follows

𝑑𝑥 𝑑2 𝑥 𝑑𝑥
𝑓(𝑡) = 𝐾𝑥 + 𝐵1 𝑑𝑡 + 𝑀1 𝑑𝑡 2 + 𝐵2 𝑑𝑡 (1)
Taking Laplace transform of the Eq.1 and rearranging the equation we get the transfer
function as shown below
𝑋(𝑠) 1
=
𝐹(𝑠) 𝑀1 𝑠 2 + 𝐵1 + 𝐵2 𝑠 + 1
𝐾 𝐾
𝑋(𝑠) 1
=
𝐹(𝑠) 𝜏 2 𝑠 2 + 2𝛿𝜏𝑠 + 1
𝑀1 𝐵1 + 𝐵2
𝜏=√ 𝑎𝑛𝑑 2𝛿𝜏 =
𝑘 𝐾
(Or)
𝑋(𝑠) 𝜔2
= 2
𝐹(𝑠) 𝑠 + 2𝛿𝜔𝑠 + 𝜔 2
𝑘 𝐵1 + 𝐵2
𝜔=√ 𝑎𝑛𝑑 2𝛿𝜔 =
𝑀1 𝑀1
Program
m=1; % Mass
b2=0.5; % Dash pot coefficient
b1=0.5; % Dash pot coefficient
k=1; % Spring Constant
nu=[0 0 1]; % Numerator polynomial of the system’s transfer function
de=[m/k (b1+b2)/k 1]; % Denominator polynomial of the system’s transfer function
step (nu, de); % step function to get response and to plot on the screen

Output:

Exercise 6.
Obtain the dynamical response of the mechanical system for the system for a step input
applied at t=0. The plot response from t=0 to t=10 sec.

clear all;
m=1; % Mass
b2=0.5; % Dash pot coefficient
b1=0.5; % Dash pot coefficient
k=1; % Spring Constant
nu=[0 0 1]; % Numerator polynomial of the system’s transfer function
de=[m/k (b1+b2)/k 1]; % Denominator polynomial of the system’s transfer function
t=0 : 0.01 : 10; % Range of t values
y =step (nu, de, t); % Step function to get response from t=0 to t=10.
xlabel (‘Time in second’); % Label for X axis.
ylabel (‘Magnitude’); % Label for Y axis.
plot (t, y); % To plot the response.

Output:

Exercise 7.

Find step and impulse response of a system

𝑠 2 + 420𝑠
𝐶(𝑠) = 2
(𝑠 + 620𝑠 + 4000)