ME-408 Automatic Controls Theory

Mini Project
8th Semester Session 2015-2019

Submitted To: Dr Umar Ibrahim

Dated: 15/05/2019

Name Registration Number Class Number

Muhammad Shahzaib 15PWMEC3957 110
Ismail
Hassan Arif 15PWMEC3960 113
Ghayoor Ahmad 15PWMEC3972 127
Mohammad Ameer Hamza 15PWMEC3975 133
Wajid Ullah 15PWMEC4033 146

Department of Mechanical Engineering

UET Peshawar

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 Table of Contents

Introduction of Electromechanical Systems: ………………… 3

Electromechanical Equations: ……………………………………….4
Mathematical Modelling of the system: ………………………… 7
Response of the system for Input functions: ………………….11
• Step input ……………………………………………………………. 12
• ramp input …………………………………………………………… 13
• sinusoidal Input …………………………………………………… 14
Analytical responses: …………………………………………………… 15
Simulink Model of the system ………………………………………18
Time characteristics: ……………………………………………………. 20
Time Response characteristic of
the System (MATLAB): ……………………………………………….21
Comparison Between Analytical calculations
and Simulink Model: …………………………………………………. 22
Conclusion and future work: ………………………………………. 22
References: …………………………………………………………………… 22

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 Electro-Mechanical Systems
Introduction
As the name suggests, electromechanical systems or devices
convert electrical energy into mechanical movement – and
sometimes vice versa. Most of the common electromechanical
components, such as electric motors and solenoids are used in
combination with mechanical parts to provide actuation or
movement.

Solenoids are used, for example, as actuators in vending

machines, cash registers and photocopiers. Electric motors, for
example, are used in linear actuators (providing straight line
movement), in electric window systems, operating tables, and
robotic arms.

A relatively new branch of engineering design called

mechatronics involves integrating the three areas of sensing,
electronic control and mechanical actuation. A modern camera
is a good example of a mechatronic product. One of the goals
of mechatronics is to reduce the number of mechanical
components to an absolute
minimum; nevertheless, in any system where movement is
needed, there remains a basic need for some kind of controlled
mechanical output.

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Electro-Mechanical Equations:

Let us first discuss the mechanical constants, Jm and Dm. Consider

Figure 2.37, which shows a motor with inertia Ja and damping Da at the
armature driving a load consisting of inertia JL and damping DL.
Assuming that all inertia and damping values shown are known, JL
And DL can be reflected back to the armature as some equivalent inertia
and damping to be added to Ja and Da, respectively. Thus, the
equivalent inertia Jm, and equivalent damping Dm , at the armature are

Jm = Ja + JL(N1/N2)2 ; Dm = Da + DL(N1/N2)2 (2.155)

In Figure 2.35(a) a magnetic field is developed by stationary permanent

magnets or a stationary electromagnet called the fixed field. A rotating
circuit called the armature, through which current ia(t) flows, passes
through this magnetic field at right angles and feels a force, F = Blia(t),
where B is the magnetic field strength and l is the length of the
conductor. The resulting torque turns the rotor, the rotating member of
the motor. There is another phenomenon that occurs in the motor: A
conductor moving at right angles to a magnetic field generates a voltage
at the terminals of the conductor equal to e = Blv, where e is the voltage

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and v is the velocity of the conductor normal to the magnetic field. Since
the current-carrying armature is rotating in a magnetic field, its voltage is
proportional to speed. Thus,

𝒅𝛉𝐦(𝒕)
vb(t) = Kb (2.144)
𝒅𝒕

We call vb(t) the back electromotive force (back emf); Kb is a constant of

𝒅𝛉𝐦(𝒕)
proportionality called the back emf constant and = 𝛚𝐦(𝐭) is the
𝒅𝒕
angular velocity of the motor. Taking the Laplace transform, we get

Vb(s) = Kbs θm(s) (2.145)

The relationship between the armature current ia(t) , the applied

armature voltage, ea(t), and the back emf, vb(t), is found by writing a loop
equation around the Laplace transformed armature circuit.

RaIa(s) + LasIa(s) + Vb(s) = Ea(s) (2.146)

The torque developed by the motor is proportional to the armature

current; thus,

Tm(s) = KtIa(s) (2.147)

Where,Tm is the torque developed by the motor, and Kt is a constant of

proportionality called the motor torque constant, which depends on the
motor and magnetic field characteristics. In a consistent set of units, the
value of Kt is equal to the value of Kb. Rearranging Eq. (2.147) yields

Ia(s) = Tm(s)/Kt (2.148)

Substituting Eqs. (2.145) and (2.148) into Eq. (2.146), with La = 0, yields

(Ra/Kt)Tm(s) + Kbs θm(s) = Ea(s) (2.156)

Taking the inverse laplace transform, we get

(Ra/Kt)Tm(t) + Kb 𝛚m(t) = ea(t) (2.157)

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If a dc voltage, ea, is applied, the motor will turn at a constant angular
velocity, 𝛚 m, with a constant torque, Tm. Hence, dropping the functional
relationship based on time from Eq. (2.157), the following relationship
exists when the motor is operating at steady state with a dc voltage
input:

(Ra/Kt)Tm + Kb 𝛚m = ea (2.158)

Solving for Tm yields :

Tm = -(KbKt/Ra) 𝛚m + (Kt/Ra)ea (2.159)

Equation (2.159) is a straight line, Tm vs ωm, and is shown in

Figure 2.38. This plot is called the torque-speed curve. The torque axis
intercept occurs when the angular velocity reaches zero. That value of
torque is called the stall torque, Tstall. Thus,
Tstall = (Kt/Ra)ea (2.160)

The angular velocity occurring when the torquw is zero is called the no-
load speed, 𝛚no-load . Thus,

𝛚no-load = ea/Kb (2.161)

The electrical constants of the motor’s transfer function can now be

found from Eqs, (2.160) and (2.161) as

Kt/Ra = Tstall/ea (2.162)

Kb = ea/ 𝛚no-load (2.163)

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 Mathematical Modelling of the electromechanical
System and Transfer function of the system

Chapter 2: Question 42

Solution:
G(s) = θL(s)/Ea(s)
Transfer Ftn=?
First From Eq 2.162 of Book , we have
Kt/Ra = Tstall/Ea

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Where,
Kt = Motor Shaft Constant
TStall = Stall Torque
Ea = Applied Armature Voltage
Ra = Armature Resistance
Now we Use
Kt/Ra = Tstall/Ea
Tstall = 200 (from the figure)
Ea = 50 (from the figure)
200/50 = 4
Also from Eq 2.163 we have,
Kb = ea/ ωno load
Where,
ωno load = The no load speed
Kb = Back emf Constant
Now,
Kb = 50/300
= 1/6

Now, Finding the equivalent Inertia (Jm) and damping (Dm)

From Eq 2.155 of book: we have,

Jm = Ja + JL(N1/N2)2

Dm = Da + DL(N1/N2)2

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Where,

Ja = Armature Inertia

Da = // // Damping

JL = Load Inertia

DL = // // Damping

N1 = Angular Speed 1

N2 = // // // // 2

So,
Jm = 10 + 18 (50/150)2 = 12
Dm = 8 + 36 (50/150)2 = 12
Now that we have all the required information, we go to Eq 2.153:
𝐊𝐭 /(𝐑𝐚𝐉𝐦)
𝚯𝐦(𝐬)/𝐄𝐚(𝐬) = 𝟏 𝐊𝐭𝐊𝐛
𝒔[𝒔+ (𝐃𝐦+ )]
𝐉𝐦 𝐑𝐚

Where,
Kt/Ra = 4
Jm = 12
Dm = 12
Kb = 1/6
Putting Values in 2.153,
4 ∗ 1/12
Θm(s)/Ea(s) =
1 1
s[s + (12 + 4 ∗ )]
12 6

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 4/12
=
1 4
s[s + (12 + )]
12 6
1/3
=
1 76
s[s + ( )]
12 6
𝟏
𝚯𝐦(𝐬)/𝐄𝐚(𝐬) = 𝟑
𝟕𝟔
𝐬[𝐬 + ]
𝟕𝟐
Since the desired transfer ftn is G(s) = θL(s)/Ea(s)
But we have θm(s)/Ea(s)
So, we use the following relation to get the desired transfer
function.
We know that gear ration = 50/150 = 1/3
1
And so as a result θL(s)= θm(s)
3

SO,
𝟏
𝟗
G(s) = θL(s)/Ea(s) = 𝟕𝟔
𝐬[𝐬+ ]
𝟕𝟐

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 Response of the system for step, ramp and
sinusoidal Input functions

Now Finding the response for step, ramp and sinusoidal functions:
1- The use of a step input is in transient response and steady start
error and its function is
u(t)
2- The use of ramp input is steady state error and its function is
tu(t)
3- The use of sinusoidal input is in Transient response , Modelling
and steady state error and its function is
Sinωt
Now,
Their corresponding laplace transform are as follows:
𝟏
• u(t) =
𝒔
𝟏
• tu(t) =
𝒔𝟐
𝛚
• Sinωt =
𝒔𝟐 +𝛚𝟐

Now,
Applying these inputs to our transfer function:
1
9
G(s) = θL(s)/Ea(s) = 76
s[s+ ]
72

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Unit Step function:
1
1 9
θL(s)/𝑠 = 76
s[s+ ]
72
1
= 9
76
𝑠 2 [s +
]
72
Now using Partial fraction to solve:
1
9 𝐴 𝐵 𝐶
= + +
76 𝑠 2 𝑠 𝑠 + 76
𝑠 2 (𝑠 + 72) 72
So, the eq becomes:
1 2
9 648 36
= 19 + −
76 𝑠 2 361(18𝑠 + 19) 361𝑠
𝑠 2 (𝑠 + 72)

Now Taking Inverse Laplace Transform

𝟏𝟗
− 𝒕
= 𝟎. 𝟏𝟎𝟓𝒕 + 𝟎. 𝟎𝟗𝟗𝟕𝒆 𝟏𝟖 − 𝟎. 𝟎𝟗𝟗𝟕

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Ramp function:
1
1 9
θL(s)/𝑠2 = 76
s[s+ ]
72
1
= 9
76
𝑠 2 [s(+ )]
72
1
= 9
76
𝑠 3 [s + ]
72
Now using Partial fraction to solve:
1
9 𝐴 𝐵 𝐶 𝐷
= 3+ 2+ +
76 𝑠 𝑠 + 76
𝑠 3 (𝑠 + 72) 𝑠 𝑠
72
By solving we get the final result:
1
9 2 36 11664 648
= − − +
76 19𝑠 3 361𝑠 2 6859(18𝑠 + 19) 6859𝑠
𝑠 3 (𝑠 + 72)

Taking Inverse Laplace Transform Gives:

𝟏𝟗
=𝟎. 𝟎𝟓𝟐𝟔𝟑𝒕𝟐 − 𝟎. 𝟎𝟗𝟗𝟕𝒕 − 𝟎. 𝟎𝟗𝟒𝟒𝟕𝒆−𝟏𝟖𝒕 + 𝟎. 𝟎𝟗𝟒𝟒𝟕

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Sinusoidal function:
1
ω 9
θL(s)/ 𝑠2 +ω2 = 76
s[s+ ]
72
ω
9
= 76
(𝑠2 +ω2 )[s(s+ )]
72

Assuming ω = 1:
1
9
= 76
(𝑠2 +1)[s(s+ )]
72
Using Partial Fraction to solve:
1
9 𝐴 𝐵 𝐶𝑠 + 𝐷
= + + 2
76 76 𝑠 + 1
(𝑠2 + 1)[s(s + )] 𝑠 𝑠 +
72 72
So, Transfer function becomes:
1
9 2 11664 (−38𝑠 − 36)
= − +
76 19𝑠 13015(18𝑠 + 19) 685(𝑠 2 + 1)
(𝑠2 + 1) [s (s + )]
72

Taking Laplace Inverse: we get

𝟏𝟗
−𝟏𝟖𝒕
= 𝟎. 𝟏𝟎𝟓 − 𝟎. 𝟎𝟒𝟗𝟖𝒆 − 𝟎. 𝟎𝟓𝟓𝟒𝒄𝒐𝒔𝒕 − 𝟎. 𝟎𝟓𝟐𝟓𝒔𝒊𝒏𝒕

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 Analytical Response of the electromechanical
system for step, ramp and sinusoidal inputs using
Ms excel
Step Input Response:
t/s QL(t)
0 0
0.2 0.018663843
0.4 0.069835516
0.6 0.14732826
0.8 0.246132759
1 0.362193045
1.2 0.492225068
1.4 0.633569785
1.6 0.78407421
1.8 0.941995104
2 1.105920996
2.2 1.27470904
2.4 1.447433889
2.6 1.623346309
2.8 1.801839652
3 1.982422729
3.2 2.16469783
3.4 2.348342936
3.6 2.533097313
3.8 2.718749849
4 2.905129611
4.2 3.092098195
4.4 3.27954354
4.6 3.467374909
4.8 3.655518838
5 3.84391584

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Ramp input Response:
t/s QL(t)
0 0
0.2 0.000140648
0.4 0.001069946
0.6 0.00343913
0.8 0.007775499
1 0.014505995
1.2 0.023976309
1.4 0.036466338
1.6 0.052202715
1.8 0.071368936
2 0.094113579
2.2 0.120556943
2.4 0.150796433
2.6 0.184910915
2.8 0.222964247
3 0.265008134
3.2 0.311084439
3.4 0.361227059
3.6 0.415463441
3.8 0.473815805
4 0.536302146
4.2 0.602937032
4.4 0.673732259
4.6 0.748697378
4.8 0.827840122
5 0.911166754

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Sinusoidal Input Response:

t/s QL(t) 5.2 0.125496437 10.2 0.181667339 15.2 0.128170675

0 -1.23358E-17 5.4 0.110499767 10.4 0.179888811 15.4 0.142197387
0.2 0.000140362 5.6 0.095280236 10.6 0.175135121 15.6 0.154751648
0.4 0.001061127 5.8 0.080447281 10.8 0.167595799 15.8 0.165332959
0.6 0.003374662 6 0.066594417 11 0.157571423 16 0.173519476
0.8 0.007514279 6.2 0.054275673 11.2 0.145461644 16.2 0.178984829
1 0.013740469
6.4 0.043983581 11.4 0.131749247 16.4 0.181511132
1.2 0.022149556
6.6 0.036129608 11.6 0.116980909 16.6 0.180997668
1.4 0.032685265
6.8 0.0310278 11.8 0.1017454 16.8 0.177464908
1.6 0.045153448
1.8 0.059239928 7 0.028882307 12 0.086650117 17 0.171053692
2 0.074531204 7.2 0.029779273 12.2 0.072296864 17.2 0.162019615
2.2 0.09053756 7.4 0.033683436 12.4 0.059257862 17.4 0.150722838
2.4 0.106717955 7.6 0.040439549 12.6 0.048052937 17.6 0.137613726
2.6 0.122505932 7.8 0.049778594 12.8 0.039128797 17.8 0.123214899
2.8 0.137335721 8 0.061328514 13 0.032841219 18 0.108100393
3 0.150667636 8.2 0.074629063 13.2 0.02944087 18.2 0.092872775
3.2 0.162011902 8.4 0.089150164 13.4 0.029063313 18.4 0.078139122
3.4 0.170950043 8.6 0.104313044 13.6 0.0317236 18.6 0.06448682
3.6 0.177153077
8.8 0.119513322 13.8 0.037315675 18.8 0.052460141
3.8 0.180395858
9 0.134145102 14 0.0456166 19 0.042538552
4 0.18056704
4.2 0.177674318
9.2 0.147625134 14.2 0.056295443 19.2 0.035117595
4.4 0.171844773 9.4 0.159416073 14.4 0.068926473 19.4 0.03049312
4.6 0.163320329 9.6 0.169047899 14.6 0.083006131 19.6 0.028849491
4.8 0.152448538 9.8 0.176136661 14.8 0.097973106 19.8 0.030252233
5 0.139669064 10 0.180399785 15 0.113230711 20 0.034645424

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 Simulink Model of the system
1. For Step System Input:

2. For Ramp System Input:

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3. For sinusoidal System Input:

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 Time characteristics

Time constant:
Time constant is the time taken for the curve to reach 63% of it’s peak value hence using the
curve plotted for step function in MS Excel we find it as:
Rise time = 3.4 secs

Rise time:
Rise time is the time take to reach 90% of the peek value from 10% of peek value:
Rise time = 3.5 secs

Settling time:
Settling time is the time taken for the curve to settle down.
Settling time = infinity
We can see that the curve did not settle down but rather kept moving straight

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Time Response characteristic of the System
(MATLAB)

MATLAB code for time characteristic

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 Comparison Between Analytical calculations and
Simulink Model

Upon comparison we see that the graphs plotted analytically using MS Excel are exactly the
same as that plotted with the help of MATLAB Simulink, having the same time constant, rise
time and settling time. With this we can conclude that the equations we derived analytically are
correct and therefore yielded the correct plots.

Conclusion and future work

Use of Simulink is very easy, user friendly and very less time consuming, it can calculate
transfer functions within seconds and plot graphs with very high accuracy. In future we will try
to solve a problem with higher degree of motion which will make the problem more complex
to solve, hence we will use MATLAB and Simulink rather than the analytical approach as it
would take much less time and will be very accurate.

References:
• n.s. nise control system engineering, 6th edition (wiley), chapter 2
• https://www.mathworks.com/academia.html?s_tid=gn_acad
• https://www.Youtube.com/MATLABtutorials

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