Control Example using Matlab

Cruise Control

Modeling a Cruise Control System
Physical setup and system equations

• The inertia of the wheels is
neglected
• Aerodynamic Drag is neglected
– is proportional to the square
of the car’s speed
• It is assumed that friction is opposing the motion of the car
–is proportional to the car's speed
• The problem is reduced to the simple mass and damper system

Modeling a Cruise Control System
• Using Newton's law, the dynamic equation
for this system is:

mxbx  u


where u is the force from the engine.
• There are several different ways to describe a system of
linear differential equations.
• To calculate the Transfer Function, we shall use the Stare
Space representation then transform it to TF using ss2tf

.State-space equations • The state-space representation is given by the equations:  dx  A x  Bu dt y  C x  Du   where  x is an n by 1 vector representing the state (commonly position and velocity variables in mechanical systems). and y is a scalar representing the output. u is a scalar representing the input (commonly a force or torque in mechanical systems).

State Equation for our CC model    The state vector x is [ x. x ] and y is x The equation mx bx  u   is b 1    u x x m m  or  1   x  0  0     0 b     1  u  x  m  x   m  x y   0 1     0 u  x  x     .

a 10% overshoot on the velocity will not do much damage. let's assume that m = 1000kg b = 50Nsec/m u = 500N • Design requirements – When the engine gives a 500 Newton force. – Rise time < 5 sec Overshoot < 10% Steady state error < 2% . the car will reach a maximum velocity of 10 m/s (22 mph).Design requirements • For this example. A 2% steadystate error is also acceptable for the same reason. Since this is only a cruise control system. – An automobile should be able to accelerate up to that speed in less than 5 seconds.

The system is overdamped. 0 -b/m] B = [0.u*B. u = 500. b = 50. but the rise time is too slow. . 1/m] C = [0 1] D=0 step(A. A = [0 1.D) this step response does not meet the design criteria placed on the problem.Matlab representation and open-loop response m = 1000. so the overshoot response is fine.C.

1/m] C = [0 1] D = 0 [num.denc] = cloop(k*num.D) • Next.denc. step(10*numc. close the loop and add some proportional control to see if the response can be improved.B. function %Closed-loop transfer t = 0:0.t) %for 10m/sec the signal used by step axis([0 20 0 10]) . k = 100.den]=ss2tf(A. [numc.P controller • The first thing to do in this problem is to transform the state-space equations into transfer function form. b = 50.C.den. m = 1000. 0 -b/m] B = [0. u = 500. A = [0 1.1:20.-1).

0500 0 • This is the way Matlab presents the TF 0.Get the Transfer Function • For m = 1000.001s + 0 -----------------s^2 + 0.C. b = 50.D) • Matlab should return the following to the command window: num = 0 0. 0 -b/m] B = [0. 1/m] C = [0 1] D =0 [num. u = 500.05s + 0 . A = [0 1.0010 0 den = 1.den]=ss2tf(A.B.0000 0.

• A step input can be described as a change in the input from zero to a finite value at time t = 0.e. • By default.C. the step command performs a unit step (i. • The basic command to use the step function is one of the following – (depending if you have a set of state-space equations or a transfer function form): step(A. the input goes from zero to one at time t = 0).B.den) . the response to a step input can immediately be plotted.D) step(num. • Given a system that can be described by either a transfer function or a set of state-space equations.Step function • The step function is one of most useful functions in Matlab for control design.

• You must always keep in mind that you are designing a real system. • To illustrate this idea.000. adjust the k value to equal 10.  but you will not be able to make the steady state value go to 10m/sec without getting rise times that are too fast. and you should get the following velocity response: . and the rise time is still too slow. and for a cruise control system to respond 0-10m/sec in less than half of a second is unrealistic.P controller • The steady state error is more than 10%. • Adjust the proportional gain to make the response better.

– For example. with k = 600. • Adjust k until you get a reasonable rise time.P controller • The solution to this problem is to add some integral control to eliminate the steady state error. the response should now look like: .

num1).denc] = cloop(num2. num2 = conv(num.1:20. k = 600.den2. % convolution used to multiply the % polynomials representing the gains den2 = conv(den. so adding too much initially can make the response unrecognizable. % small to get feeling for integral response num1 = [k ki]. t = 0:0. % PI has two gains den1 = [1 0].den1).t) axis([0 20 0 10]) . integral control makes the transient response worse. ki = 1.denc. [numc. step(10*numc.PI controller Remember.-1).

PI controller • Now you can adjust the ki value to reduce the steady state error. • With ki = 40 and k adjusted up a little more to 800. this step response meets all of the design criteria. It is also noteworthy that no derivative control was needed in this example . and therefore no more iteration is needed. the response looks like the following: As you can see.

‫• כוח האינרציה שווה לכוח המניע פחות כוח החיכוך‬ d (t )   (t )  u (t ) dt 2 :‫כלומר‬ :‫וכאשר‬ v  v max v max  C B  CB M 0  u (t )  1 . dv(t ) M  Cu (t )  Bv (t ) dt 2 ‫ מסת המכונית‬.‫מקדם חיכוך‬B . proportional to normal force).Modeling a Cruise Control System Physical setup and system equations Let’s now add Drag and assume the friction to be non velocity dependent (the static friction.‫כח המנוע של‬C ‫המכונית‬ .M .

‫בנית מערכת ב ‪Simulink‬‬ ‫• עבור‬ ‫]‪C = 6250 [N‬‬ ‫]‪B = 2.5 [N/(m/s)2‬‬ ‫]‪M = 1250 [Kg‬‬ ‫הערה‪ :‬אות הבקרה משתנה בין ‪ 0‬ל ‪ .1 -‬לכן כדאי להשתמש ב ‪-‬‬ ‫‪Saturation‬‬ .

• From this window. – We’ll use only the Simulink library (also called toolbox) for now. in which we will build our model.Very Short Simulink Tutorial • In the Matlab command window write simulink. . will be the windows we’ll work with. – This blank window and the library browser window. – Now we have a blank window. and then New (Model). – It is used to choose various Simulink modules to use in your simulation. choose the File menu. • We choose components from the library browser. and then drag them to our work window. • The window that has opened is the Simulink Library Browser.

limiters. derivative. display it on the screen). 3. 7. . Funcitons & Tables – Just what the name says. Nonlinear – Several non-linear functions. 4. Discrete – Provides functions for discrete time. 8. Sources – Components that generate source signals for the system. the Simulink library is divided into several categories: 1. Math – Simple math functions. Signals & Systems – Components that work with signals.g. Pay attention to the mux/demux. such as switches. 2. 5.Simulink Tutorial As we can see. 6. Continuous – Provides functions for continuous time. such as integration. etc. Sinks – Components that handle the outputs of the system (e. etc.

drag the mouse to the left side of the scope (input port) and then release it. • Double click the Constant module to open its dialog window. • Change the constant value to 5. • Now you can change this module’s parameters. You should see a pointed arrow being drawn.Simulink Tutorial: First simulation • • Drag the Constant component from the Simulink library (Sources) to the work window. and then drag the Scope module (Sinks) in the same manner. . Now. click the little triangle (output port) to the right of the Constant module. and while holding the mouse button down.

Simulink Tutorial: First simulation • Double-click the scope to view its window. • Choose Start from the Simulation menu (or press Ctrl+T. . or click the play button on the toolbar) to start the simulation. • You can choose Simulation Parameters… from the Simulation to change the time limits for your simulation.

• Right-click on the scope’s graph window and choose Autoscale to get the following result: . All it does is output the constant value 5 to the graph (the x-axis represents the simulation time). or click the play button on the toolbar) to start the simulation.Simulink Tutorial: First simulation • Choose Start from the Simulation menu (or press Ctrl+T. • Now this is a rather silly simulation.

• First. • The Trigonometric Function and Sum modules reside in the Math category): . build the following system (you can find the Clock module in the Sinks category.Simulink Tutorial • Now let’s try something a little bit more complicated.

• Build the following system (the Derivative module is located in the Continuous category): We can see that this is indeed a cosine. .Simulink Tutorial • Now. but something is wrong at the beginning. let’s see if the derivative is really a cosine.

. the derivative has no prior information for calculation – there’s no initial value for the derivative.Simulink Tutorial • This is because at time 0. – so at the first time step. the derivative assumes that its input has a constant value (and so the derivative is 0).

5  A 2 A  0. The equation is: A  0.5. We can get out of this loop by using the initial condition.5 0 • How can we solve this numerically using Simulink? We’ll notice 2 simple facts: 1.An other example • Let’s say that we have a differential equation that we want to model. If we have A. then we have A (integration). 2. then we have A' (multiplication). If we have A'. . We know that A0 = 0. and so on. so now we can calculate A' and then recalculate the new A.

Simulink Tutorial • double-click the Integrator and choose Initial Condition Source: External. • Note that pressing ctrl when clicking the mouse button on a line.5 seconds –the solution goes to infinity • and see the results in the scope: . allows you to split it into 2 lines: • Set the simulation stop time to 3.

Simulink ‫בנית מערכת ב‬ Automatic Cruise Control ‫• עבור‬ C = 6250 [N] B = 2.5 [N/(m/s)2] M = 1250 [Kg] .‫ לכן כדאי להשתמש ב‬.‫ ל‬0 ‫ אות הבקרה משתנה בין‬:‫הערה‬ Saturation .1 .

Automatic Cruise Control (plant) ‫• נבנה את הסימולציה של הרכב‬ .

Automatic Cruise Control .

‬בחן את התנהגות המערכת‬ ‫רצויה‪  0‬‬ ‫‪.‬‬ .5‬‬ ‫• עבור תנאי‬ ‫‪ .‬‬ ‫– הערה‪ :‬תגובה רצויה אמורה להיות‪:‬‬ ‫ מהירה‪.‫‪Automatic Cruise Control‬‬ ‫ההתחלה‪ (0)  0.‬‬ ‫‪ -‬שגיאת המצב התמיד היא "אפס" )קטנה ככל שניתן(‪.‬‬‫ ערך מקסימלי של )‪ (t‬לא יעלה "מדי" מעל הערך‬‫הנדרש במצב מתמיד‪.8‬‬ ‫ומהירות‬ ‫‪r‬‬ ‫– עם בקר ‪ .P‬עם בקר ‪ I‬ועם בקר ‪) PI‬כל מקרה בנפרד(‪.

Automatic Cruise Control P controller – No wind .

Automatic Cruise Control P controller – with wind .

Automatic Cruise Control I controller – No wind .

Automatic Cruise Control PI controller – No wind .

Automatic Cruise Control PI controller – with wind .

Automatic Cruise Control .

Automatic Cruise Control .