Input

Operation
Output
2. List of equipment
i) PC
ii) MATLAB/SIMULINK
3. Theoretical background
Open-loop and closed-loop syste
An open-loop control syste !or"s in a siplest !ay# It $i%es an output one input
independent o& t'e pre%ious outputs (!it'out &eed)ac")#
*i$#+ Sc'eatic dia$ra o& t'e open-loop syste
A closed-loop syste cali)rates t'e input )ased on t'e pre%ious output (!it' &eed)ac")#
,
*i$#- Sc'eatic dia$ra o& t'e closed-loop syste
4. Description of the experimental setup
Input
Operation
Output
*i$#. Sc'eatic dia$ra o& t'e e/periental setup &or open-loop control syste
T'e &irst part o& e/perient0 &i$ure +0 o)ser%es t'e )e'a%ior o& t'e open-loop control
syste# A&ter processin$ t'e a)o%e on t'e MATLAB/SIMULINK t'e stead state error and
o%ers'oot percenta$e is to )e deterined#
*i$#1 Sc'eatic dia$ra o& t'e e/periental setup &or closed-loop control syste
*urt'er0 t'e sae steps are to )e done &or t'e closed-loop syste#
*i$#2 Sc'eatic dia$ra o& t'e e/periental setup &or closed-loop control syste !it'
$ain K
T'e last part o& t'e e/perient0 *i$ure 20 is a closed-loop syste !it' $ain0 K# In t'is
part o& t'e e/perient durin$ t'e process t'e $ain K is to )e c'an$ed &ro -#2 to +33#
And &or eac' %alue o& K t'e rise tie0 o%ers'oot percenta$e0 and steady state error is to
)e easured#
5. Data
+# Step response on MATLAB usin$ &i$#. and 1#
a# *ro &i$#4 steady state error5 e 6 + 7 3#2 6 3#2# And t'e Percenta$e O%ers'oot is5
PO 6 3#
*i$#4 Open-loop syste on MATLAB
)# *ro &i$#8 steady state error5 e 6 + 7 3#... 6 3#448# And t'e Percenta$e O%ers'oot
is5 PO 6 3#1..9
T'e steady state error and PO o& t'e closed-loop syste is 'i$'er copared to t'ose
o& t'e open-loop syste#
*i$#8 Closed-loop syste on MATLAB
-# Calculations5
Steady state error5
(+)
T'us0 &or open-loop syste5
s63 e(:)6li;s<(+/s)<;+-+/(s=-,.s,-)>6 3#2 (sae as in +#a#)
And closed-loop syste5
s63 e(:)6li;s<(+/s)/(+,+/(s=-,.s,-))>6 3#448 (sae as in +#)#)
T'e Percenta$e o%ers'oot is calculated )y5
(-)
Since0 ?=-6- and -<@<?6. &ro s=-,.s,-5
*or open-loop5 @6./sArt(B)6+#334
Capin$ coe&&icient is $reater t'an +0 t'us t'ere is no PO
PO 6 3 (sae as in +#a#)
*or closed-loop5 T*6+,+/s=-,.s,-6(s=-,.s,.)/(s=-,.s,-)
@6./sArt(+-)63#B44
T'us usin$ eA#- PO63#1..9# (sae as in +#)#)
.# Step response on MATLAB usin$ &i$#2#
K6-#2
Dise tie6+#3- sec
PO61#.-9
e6+-3#24463#1.1
*i$#B Closed-loop !it' $ain K6-#2
K6+3
Dise tie63#112 sec
PO6--#+9
e6+-3#B..63#+48
*i$#E Closed-loop !it' $ain K6+3
K6-3
Dise tie63#-BB sec
PO6.1#49
e6+-3#E3E63#3B+
*i$#+3 Closed-loop !it' $ain K6-3
K613
Dise tie63#-++ sec
PO618#19
e6+-3#E2-63#31B
*i$#++ Closed-loop !it' $ain K613
K6+33
Dise tie63#+.8 sec
PO64+#89
e6+-3#EB63#3-
*i$#+- Closed-loop !it' $ain K6+33
6. Discussion and onclusions
In t'is la) open-loop and closed-loop systes !ere e/ained in analytical !ay and in a
MATLAB/SIMULINK pro$ras#
In part +#a# !e o)tained an open loop step response o& t'e $i%en syste usin$
MATLAB/SIMULINK (&i$#4)# T'is !as our re&erence point t'at !e can copare t'e
results !it' ne/t e/perient results# In an open-loop syste !e noticed t'at t'ere is no
o%ers'oot# T'is !as due to o%erdaped &unction0 t'at is @F+# Go!e%er t'ere !as a 'i$'
steady state error0 t'e 'al& o& t'e input %alue#
In part +#)# !e o)tained a step response !it' &eed)ac" (&i$#8)# T'e c'an$es in t'e step
response !ere o)%ious5 an o%ers'oot appeared0 rise tie si$ni&icantly dropped0 and t'e
steady state error increased#
Bot' o& t'e a)o%e results atc'ed t'e analytical deri%ation o& t'e percenta$e o%ers'oot
and steady state error#
In t'e last part o& t'e e/perient t'e $ain K !as added to t'e syste# T'is 'ad a 'u$e
e&&ect on a step response as it can )e seen &ro &i$#B-+-# T'e $ain decreased steady state
error and t'e rise tie# In addition t'ose %alues "ept decreasin$ !'ile $ain K !as
increasin$ &ro -#2 to +33# On t'e ot'er 'and percenta$e o%ers'oot increased !it'
increasin$ %alue o& K# By t'e tie K reac'ed +33 t'e o%ers'oot !as 4+#89#
Based on t'e data a)o%e in can )e su$$ested t'at a closed loop syste !it' $ain is an
e&&ecti%e solution# Go!e%er not all o& t'e are accepta)le and t'e $ain K6+3 'as an
accepta)le )alance o& steady state error and o%ers'oot#