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document MATLAB 9 mai

The document outlines a laboratory experiment focused on studying the effect of feedback on control system design using the English Channel boring machine as a practical example. It includes objectives, deliverables, and exercises involving transfer functions, system responses to step inputs and disturbances, and the design of a second-order feedback system. The goal is to analyze system performance and design a control system that meets specified transient response criteria.

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14 views

document MATLAB 9 mai

The document outlines a laboratory experiment focused on studying the effect of feedback on control system design using the English Channel boring machine as a practical example. It includes objectives, deliverables, and exercises involving transfer functions, system responses to step inputs and disturbances, and the design of a second-order feedback system. The goal is to analyze system performance and design a control system that meets specified transient response criteria.

Uploaded by

thetjr57
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Laboratory Experiment 4

Effect of Feedback on disturbance &Control System Design


Objective: The objective of this exercise will be to study the effect of feedback on the
response of the system to step input and step disturbance taking the practical example of
English Channel boring machine and design a control system taking into account
performance measurement.
Deliverables: Acomplete lab report including the following:
Summarized learning outcomes.
The Simulink model.
MATLAB scripts and results for Exercise 1& 2.

Overview

The construction of the tunnel under the English Channel from France to the Great Britain
began in December 1987. The first connection of the boring tunnels from each country was
achieved in November 1990. The tunnel is 23.5 miles long and bored 200 feet below sea
level. Costing $14 billion, it was completed in 1992 making it possible for a train to travel
from London to Paris in three hours.

The machine operated from both ends of the channel, bored towards the
middle. To link up
accurately in the middle of the channel, a laser guidance system kept the machines
precisely
aligned. A model of the boring machine control is shown in the figure, where Y(s) is the
actual angle of direction of travel of the boring machine and R(s) is the desired
angle. The
effect of load on the machine is represented by the disturbance, Td(s).

T(s)
R(s) Gc(s) G(s)
Controller
Y(s)
Plant
Desired 1
K+ 11s Angle
Angle
s(s + 1)

Figure: A block diagram model of a boring machine control system


Exercise 1:
a) Get the transfer function from R(s) to Y(s)
b) Get the transfer function from D(s) to Y(s)
c) Generate the system response; for K= 10,
20, 50, 100; duc to a unit step input - r(t)
d) Generate the system response; for K= 10, 20, 50, 100;
e) For each case find the percentage due to a unit step disturbance- d(t)
of y(1) ovcrshoot(%0.S.), rise time, scttling timne, steady state
f) Compare the results of the two cascs
g) Investigate the cffect of changing the
on the system output
controller gain on thc intluence of the disturbance
M-files for two cases of K-20and K=100 are shown below
1
Due to unit step-r(s)
% Response to a Unit Step Input R(s)=1/s for K=20 and K=100
%
numg=[1);deng-[1 1 0]; sysg-tf(numg,deng):
K1=100;K2=20;
num1=[11 K1];num2=[11 K2];den=[0 1);
sysl=tf(num1,den);sys2=tf(num2, den);
%
sysa=series(sys1,sysg);sysb=series(sys2,sysd);
sysc=feedback(sysa, [1]);sysd=feedback(sysb, [1]);
%
t=[0:0.01:2.0];
ly1,t]=step(sysc,t); ly2,t)]=step(sysd,t):
subplot(211);plot(t,y1);title("Step Response for K=100');
xlabel('Time (seconds)'):ylabel('y(t');grid on;
subplot(212);plot(t,y2);title('Step Response for K=20');
subplot(212);plot(t,y2);title(»Disturbance Response for K=20');
xlabel(Time (seconds)'):ylabel(y(t'):grid on;

Due to unit disturbance - Td(s)


%Response to a Disturbance Input D(s)=1/s
for K=20 and K=100
%
numg=[1];deng=[1 10];sysg=tf(numg, deng);
K1=100;K2=20;
num1=(11 K1];num2=[11 K2];den=[0 1];
sys1=tf(num1,den);sys2=tf(num2, den);
%
sysa=feedback(sysg, sys1),;sysa=minreal(sysa);
sysb=feedback(sysg,sys2);sysb=minreal(sysb);
%
t=[0:0.01:2.5];
[y1,t)=step(sysa,t); ly2,t]=step(sysb,t);
subplot(211);plot(t, y1); title('Disturbance Response for K=100');
xlabel(Time (seconds)');ylabel('y(t)' ):grid on;
label(Time (seconds)');ylabel(y(t)' );grid on;

Exercise 2: Design of a Second order feedback system based on performances.


For the motor system given below,we need to design fecdback such that the overshoot is limited
and there is less oscillatory nature in the response based on the specifications provided in the
table. Assume no disturbance (D(s)=0).

2
MMotor D(s) Load
Amplifier Constant
1
R(s) Y(s)
K¡ 5 20)
s(s+

Table: Specifications for the Transient


Response
Performance Measure Desired Value
Percent overshoot Less than 8%
Settling time Less than
400ms
Use MATLAB, to find the system performance for different values of K, and find which value of
the gain K, satisfies the design condition specified. Use the following table.
Ka 20 30 50 60 80

Percent
Overshoot

Settling
time

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