Control Systems

Lab #4

Empirical Modeling

Topics Covered:
• Transfer functions
• Empirical determination of the QUBE Servo model.
• Model validation

Required:
• QUBE Servo System with Load disc attached
• Completion of Stability Analysis Lab
1 Background
As you saw from Lab #3, we modeled the QUBE servo system using the model in Figure
1-1 below. This type of model, which will be explored more in Lab #4, is called a
Physical Model or a First Principles Model.

𝑅𝑅𝑚𝑚 𝐿𝐿𝑚𝑚
+
𝑇𝑇 = 𝐾𝐾𝑇𝑇 𝐼𝐼𝑚𝑚
𝐼𝐼𝑚𝑚 𝜃𝜃𝑚𝑚 (𝑡𝑡), 𝜔𝜔𝑚𝑚 (𝑡𝑡)
+
𝑉𝑉𝑚𝑚 𝑉𝑉𝑏𝑏 = 𝐾𝐾𝑏𝑏 𝜔𝜔𝑚𝑚 (𝑡𝑡)

− 𝐽𝐽ℎ
𝐽𝐽𝑚𝑚
−
𝐽𝐽𝑑𝑑
Figure 1-1 Qube Servo DC motor and load
Suppose that you really didn’t know exactly what the physics of the model was. You
observed the system response to a step input in Lab #3 and saw that the velocity
output was an exponentially increasing function to a constant value. This type of
function is described by the following equation.

𝜔𝜔𝑚𝑚 (𝑡𝑡) = 𝐾𝐾𝑉𝑉𝑎𝑎 �1 − 𝑒𝑒 −𝑡𝑡/𝜏𝜏 �𝑢𝑢(𝑡𝑡)

Where the input is the unit step: 𝑉𝑉𝑚𝑚 (𝑡𝑡) = 𝑉𝑉𝑎𝑎 𝑢𝑢(𝑡𝑡).
Recognizing the shape of responses is the first step in empirical modeling. Typically,
impulse functions, 𝛿𝛿(𝑡𝑡), step functions, 𝑢𝑢(𝑡𝑡), and ramp functions, 𝑡𝑡𝑡𝑡(𝑡𝑡), are used to try
to get an idea of what the model should look like. In this case, a step function reveals
that the QUBE Servo system is a first order model for the speed of the motor.
Taking the Laplace transform of the above equation gives:
1 1
Ω𝑚𝑚 (𝑠𝑠) = 𝐾𝐾𝑉𝑉𝑎𝑎 � − �
𝑠𝑠 𝑠𝑠 + 1/𝜏𝜏
𝐾𝐾1 𝑉𝑉𝑎𝑎
Ω𝑚𝑚 (𝑠𝑠) = � �⋅
𝜏𝜏𝜏𝜏 + 1 𝑠𝑠
Here we arbitrarily made 𝐾𝐾1 = 𝐾𝐾𝐾𝐾 since they are both just constants. The term 𝑉𝑉𝑎𝑎 /𝑠𝑠 is
simply the Laplace transform of the input step function 𝑉𝑉𝑚𝑚 (𝑡𝑡). Therefore, we have:
Ω𝑚𝑚 (𝑠𝑠) 𝐾𝐾1
=
𝑉𝑉𝑚𝑚 (𝑠𝑠) 𝜏𝜏𝜏𝜏 + 1
Using this transfer function and by measuring the QUBE Servo’s response to a step
input a mathematical model can be developed empirically. This accomplished by

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 measuring the voltage to speed gain, 𝐾𝐾1 , and the time constant, 𝜏𝜏, of the speed output
signal.

2 Lab Exercises
Using the model from Lab #3: Stability Analysis, remove the position scope to end up
with the model shown in Figure 2-1 .

Figure 2-1: Step Response Simulink Model

2.1 Measuring the Response Output.

1. Set the step input block to output a 2 V step.
2. Set the simulation time to run for 2.5 seconds

3. Use the Monitor & Tune button , on the Hardware tab, to Run the Model.
The motor should start turning then stop after 2.5 seconds
4. Open the two scope windows to display the voltage waveforms. They should look
similar to the ones below in Figure 2-2. Include READABLE plots of the scope
traces in your lab report. Make sure they are labeled properly in your lab report.
(Note that you can print to a figure from the scope file menu. This figure can then
be saved as a JPEG file from the figure file menu.)

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 a) Step Voltage b) Motor Speed
Figure 2-2: Step Response Scope Traces

5. Use the scopes measurement feature to measure the output speed where it is
constant. Record this speed in your lab report. This is the steady-state speed,
𝜔𝜔𝑠𝑠𝑠𝑠 , and the units are in radians/sec.
6. Use the scopes measurement feature to measure the time constant. Remember
the Motor speed output is of the form:
𝜔𝜔𝑚𝑚 (𝑡𝑡) = 𝜔𝜔ss (1 − 𝑒𝑒 −𝑡𝑡/𝜏𝜏 )
You can measure the time constant by measuring a speed at some time, 𝑡𝑡1 , where
the speed is rising then solving:

𝜔𝜔𝑚𝑚 (𝑡𝑡1 − 𝑡𝑡0 ) = 𝜔𝜔ss (1 − 𝑒𝑒 −(𝑡𝑡1 −𝑡𝑡0 )/𝜏𝜏 )

Remember to subtract the time where the step starts, 𝑡𝑡0 , from the time you
measure on the speed trace. Show the calculations and the resulting time
constant in your lab report.
7. Find the steady state gain by using the step input voltage and the steady-state
speed you measured in step 5. Show the calculations in your Lab report.

2.2 Validating the Empirical Model

Now add a transfer function block and a multiplexer to your Simulink model. As
shown in Figure 2-3 below. Note the values for the gain and time constant in the
transfer function model shown are not what you should use. The actual
parameters you should use are the ones you calculated in Section 2.1.

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 Figure 2-3: Validation of Empirical Model

1. Use the Monitor & Tune button , on the Hardware tab, to Run the
Simulink model. Include READABLE scope traces in your lab report with each of
the output traces identified.
2. Did you derive the empirical model parameters, 𝐾𝐾1 and 𝜏𝜏, correctly? The output
traces should match almost exactly. Discuss any discrepancies and the possible
sources of error.
3. This concludes the Empirical Modeling Lab. Be sure you saved all necessary
pictures of your models and Scope / Figure plots to your USB Memory Stick for
use in your lab report before leaving the lab.