CONTROL SYSTEM

LAB
Assignment 03
Fa18-EEE-009
Waris Shah

DATE: 01 April 21
 Lab Task 03
Frequency domain modeling of electrical and mechanical systems

Objective:
In this lab students will learn how to generate the frequency domain mathematical model of the system
when ODE’s of a system are available. This lab emphasizes on the use of frequency domain modeling
technique to model the system in frequency domain. System transfer function are used for system model
and its response generation.

Introduction:
In this lab Electrical and mechanical system will be modeled in the frequency domain. First a simple
m1 , m2 and m3 . These masses are
rectilinear plant will be modeled. The system has three masses
k k k k c c
connected to each other and to the rigid body by the help of springs ( 1 , 2 , 3 , 4 ) and dampers ( 1 , 2 ,
c3 , c4 ). The applied external force is F(t). The output can be observed at any point in the network which
is undergoing a change.

x1(t) x2(t) x3(t)

k1
k2 k3 k4
m1 m2 m3
F(t)

c1 c2 c3

Electrical System
A three degree of freedom system is shown in Figure 2. The system is
identical to the one provided in the earlier lab. Student has to convert the
given set of equation (3-5) in the frequency domain using Laplace
transformation. Student is free to decide the system output for the given
input. Use the Matlab command to find the system transfer function.
 Code >>>

syms s V1 I1 I2 I3
Z=[4+2*s -(1+2*s) -1;-(1+2*s) 7+5*s -(2+3*s); -1 -(2+3*s) 1+3*s+(5/s)]
z1=inv(Z);
v=[V1;0;0];
I=z1*v;
v0=4.*I(2)
trans=v0/V1;
[n,d]=numden(trans);
num1=sym2poly(n);
den1=sym2poly(d);
a=tf(num1,den1);
step(a)

OutPut Graph >>>

Step Response Step Response

1 0.6

0.8 0.5

0.6 0.4
Amplitude
Amplitude

0.4 0.3

0.2
0.2

0.1
0

0
-0.2 0 1 2 3 4 5 6 7 8
0 1 2 3 4 5 6 7
Time (seconds)
Time (seconds)
Code >>>
syms s1 s2 s3 s y1 c1 m1 m2 m3 c1 c2 c3 k1 k2 k3
k1=100;
k2=200;
k3=300;
k4=400;
m1=2;
m2=2;
m3=1;
c1=2;
c2=3;
c3=2;
y=[(m1*s*s)+(c1*s)+(k1+k2) -k2 0; -k2 (m2*s*s)+(c2+s)+k2+k3 -k3;0 -k3 (m3*s*s)
+(c3*s)+k3+k4]
z=[s1;s2;s3];
c=[y1;0;0];
z=inv(y)*c
s=z/y1
[n,d]=numden(s)
num=[2 7 1906 3100 260000]
den=[4 18 4426 12112 1058000 1370000 50000000]
sys=tf(num,den)
step(sys)

10 -3
Step Response
8

5
Amplitude

0
0 1 2 3 4 5 6 7 8 9
Time (seconds)