Linear Control Systems lab Manual

Lab # 7

Implementation of Closed Loop Motor Speed Control In Simulink

Name: Raja Rohaan Abdullah

Semester: 6th

Section: A

Mis id: 30558

Department of Electrical Engineering

Submitted to: Engr. Saqib Riaz

Armature-controlled do motor system

Scope output:

Mobile robot steering control system

>> n1=[10];

>> d1=[1 10];

>> g=tf(n1,d1);
>> n2=[1 2];

>> d2=[10];

>> g=tf(n2,d2);

>> n3=conv(n1,d1);

>> d3=conv(n2,d2);

>> g=tf(n3,d3);

>> [num,denum]=cloop(n3,d3,-1);

>> g=tf(num,denum);

>> t=[0:0.1:8.2];

>> v1=[0:0.1:2];

>> v2=[2:-0.1:-2];

>> v3=[-2:0.1:0];

>> u=[v1 v2 v3];

>> figure(1);

>> plot(t,u)

>> hold on

>> [y,x]=lsim(num,denum,u,t);

>> plot(t,y)

State Space Representation

>> R=3;

>> C=1/2;

>> L=1;

>> A=[0 1;-1/L*C -R/L];

>> B=[1/L;0];

>> C=[1 0 ];
>> D=[0] ;

>> sys=ss(A,B,C,D)

A=

x1 x2

x1 0 1

x2 -0.5 -3

B=

u1

x1 1

x2 0

C=

x1 x2

y1 1 0

D=

u1

y1 0

>> step(sys)

>> [n1,d1]=ss2tf(A,B,C,D);

>> g=tf(n1,d1)

Transfer function:

s+3

---------------

s^2 + 3 s + 0.5

>> n=[1 3];

>> d=[1 3 0.5];

>> [A,B,C,D]=tf2ss(n,d)
A=

-3.0000 -0.5000

1.0000 0

B=

C=

1 3

D=

>> step(A,B,C,D)

Task:

>> zeta1=2;
>> num=[1];
>> denum=[1 2*zeta1 1];
>> G=tf(num,denum)
Transfer function:
1
-------------
s^2 + 4 s + 1
>> step(num,denum)
>> zeta2= 0.1;
>> num=[1];
>> denum=[1 2*zeta2 1];
>> G=tf(num,denum)
Transfer function:
1
---------------
s^2 + 0.2 s + 1
>> figure(2)
>> step(num,denum)
>> zeta3=0.4;
>> num=[1];
>> denum=[1 2*zeta3 1];
>> G=tf(num,denum)
Transfer function:
1
---------------
s^2 + 0.8 s + 1
>> figure(3)
>> step(num,denum)
>> zeta4=1;
>> num=[1];
>> denum=[1 2*zeta4 1];
>> figure(4)
>> step(num,denum)