NIRMAL KUMAR

SC19B158

Control systems lab

Dept of Avionics,IIST

Experiment -2

Evaluation of step response, frequency response and disturbance response of the nonlinear model
of electromechanical engine gimbal control (EGC) system using MATLAB/SIMULINK.

Objective
1) To understand the effect of nonlinear elements like coulomb friction and speed torque limits of
motor on the step response and frequency response of electromechanical EGC system.

2) Disturbance response of closed loop EGC system for different values of integral controller gains.

Theory :

Figure 1 depicts a nonlinear SIMULINK block diagram depiction of an electromechanical engine

gimbal control system employing a PI plus rate feedback controller. The following nonlinear
elements are described in detail:

a) Actuator stroke limit

The maximum deflection of the engine gimbal is limited to +/- 4 degree which is equivalent
to +/- 4*398*𝜋/180 rad w.r.t motor shaft. This is implemented in Simulink model as the limit
on the final integrator generating the motor deflection variable.
b) Supply voltage limit :
The motor armature is driven by a PWM amplifier in H type configuration with a power
supply voltage of 28 V. This puts an effective bipolar supply voltage limit of +/-28 V.This is
represented as +/- Vs in Simulink model
c) Integrator output limit
All of the controller blocks are constructed using operational amplifier stages that are
powered by a +/- 15 V supply source. As a result, the integral controller output has an
effective saturation limit of +/- 13 V.
d) Coulomb friction
The ball screw is the main cause of motor coulomb friction. Currently, a signum function of
the motor shaft velocity is used to model this. To replicate the actual hardware reaction,
however, a stick-slip model with running friction and stiction will be needed, which is
outside the scope of the current lab session. Coulomb friction measures 0.06 N-m w.r.t. the
motor shaft.

Procedure

A) Step Response
Create a nonlinear Simulink model of the electromechanical EGC system as shown in Fig. 1.
100% motor shaft deflection corresponds to a command amplitude of 4*398*rad. Maintain
the step command amplitudes at 5%, 10%, 50%, and 100% while running the simulink
model. Calculate the rise time (10% to 90%) for each amplitude and insert it into the table
below. Compare the formats of each response within a single plot as well. Get the slew rate
from the 100% step response using the algorithm below.
Slew rate = max rate of change of output = 0.8 * 4*398*\pi/(180*Rise time for
 100% command) = 110.042145 rad/s

Command 5% 10% 50% 100%

Amplitude
Rise time (m.s) 7682 89.2 118 202

B) Distrubance response:
As illustrated in Figure 1, the nput command is maintained at zero and a step disturbance
torque is applied at the motor torque output position. The amount of disturbance is
maintained at 10% of the maximum motor torque, KT*Vs/Ra. Determine the motor shaft
deflection for various integrated controller gains, Ki, as shown in the accompanying table, 10
seconds after the step disturbance application.

Integrator gain, Ki 0 K1/10 K1/5

Motor Shaft 0.3987 0.1854 0.08156
deflection after 10
sec of disturbance
application.

C) Frequency response
The frequency response of a nonlinear system is a function of input command amplitude. This can be
evaluated by taking the ratio of the amplitude of fundamental harmonic of system output to the
input sinusoidal command amplitude and the phase lag of fundamental harmonic of system output
w.r.t the input sinusoidal command. A MATLAB program is developed to carry out the above task.
The first part is to generate a sinusoidal sweep command of the specified amplitude and frequency
range and the second part is to extract the fundamental harmonic amplitude ratio and phase lag.
The MATLAB subroutines sweep.m and dtfa.m are developed to implement these tasks. The
programs are given in the appendix. The simulink model for finding the nonlinear system frequency
response is shown in Fig 2. The external disturbance is assumed as zero.The output of ‘sweep.m’ is
available in MATLAB workspace as vectors ‘T’ (time) and ‘R’ (command) with a sampling interval of
0.001 sec. SIMULINK also use the same sampling interval for numerical simulation. The stop time for
SIMULINK should be kept as max(T). The simulink simulation results should be available as vectors ‘t’
(time) and ‘y’ (output) in the MATLAB workspace. These outputs will be processed by the ‘dtfa.m’ to
evaluate the nonlinear system frequency response The frequency response is to be evaluated for the
following set of command parameters:

Command amplitude (A in sweep.m): 2%, 5%, 10% and 100% of 4𝜋 ∗398/180

Frequency vector (freq in sweep.m): [0.1 to 0.9 Hz in steps of 0.1 Hz, 1 Hz to 9 Hz in steps of 1 Hz
and 10 Hz to 100 Hz in steps of 5 Hz)

The following results are to be obtained from the frequency response.

Command 2% 5% 10% 100%

Prompt
-3dB - 3.1 4.25 1.5
Bandwidth
(Hz)
-90 degree - 4 4.5 2
Bandwidth (Hz)
C) Speed torque characteristics and load locus
For various command profiles, the simulation data can be shown alongside the motor's speed
torque characteristics. 100% sinusoidal and 10% sinusoidal commands with a 5 Hz frequency
are typical command characteristics. While the latter will function within the motor's capacity
limits, the former will compel the motor to operate towards its speed-torque saturation
barrier. The following MATLAB instructions can plot the motor's speed torque characteristics.

plot([Vs/KB 0],[0 KT*Vs/Ra])

hold on
plot([-Vs/KB 0],[0 –KT*Vs/Ra])
plot(Speed_Torque(:,1),Speed_Torque(:,2))
grid on

D) Conclusions
a) There is no overrun for command inputs between 5% and 10% of the maximum value.
Due to the output curve's abrupt change in slope for the 5% example, the rising time is
observed to be very high and the 90% peak value to be attained significantly later than in the
other cases. When the target angle is attained in the 100% instance, there is barely any
variation from it.

b) Slew rate = 110.042145 rad/s

c) Excluding the 5% case, the general trend observed indicates that the rise time increases as
the command amplitude is increased.
d) The findings of the disturbance response show that when the integrator gain is zero, the
system output is at its maximum in the presence of a disturbance. It is obvious that the
output angle caused by the disturbance decreases when the integrator gain is increased.
e) The frequency response curves show that it is only possible to extrapolate from the
graph or change the settings in order to acquire the bandwidth equivalent to 2% of the
maximum command amplitude. It is discovered that the -3dB bandwidth grows as command
amplitude increases.
f) Plotting of the motor speed torque characteristics for 10% (blue) and 100% (yellow)
sinusoidal commands at 5Hz. The graphic shows that, in the scenario when the input signal is
10% amplitude sinusoidal, the required speed and torque values are within the motor's
operating range. The same cannot be stated for a sinusoidal input with 100% amplitude, in
which case the speed and torque values are shown to attempt to surpass the motor's limits.
It is suggested in this situation to use a different motor whose speed and torque
characteristics are completely within the motor's capabilities.