EEE 305L

Control System Laboratory

Summer 2023

Experiment No. 04
Name of the Experiment : Behavior of Second Order System

Section : 01

Submitted by : Tanima Abbas ID: 20321041

Group No.: 06

Other Group Members :

No. ID Name
1 20221009 Raheela Rubaiyat Khan
2 20221019 Modassir Billah Nirjon
3 20121059 Md. Takky Hasan Khandaker
4 20321044 Md. Shahriar Rahman Rounok
Objective

● Distinguish between underdamped, critically damped and overdamped systems.

● Relate the overshoot and damped frequency to damping factor and natural frequency.
● Describe the form of the step response and the frequency response of a second order
system.

Equipments

● MS15 DC Motor Module

● AS3 Command Potentiometer
● CLIO Interface Module with PC Connection Lead
● System Power 90 Power Supply (or equivalent)
● 4mm Connecting Leads
● PC running VCL Virtual

Introduction

This experiment was designed to find the parameters of the position control of a servosystem,
which is a second order system. The position control system is the integration of the velocity
control system, with a gain of 𝐾𝑖. The ζ value of the system is dependent on the gain

𝐾 = 𝐾𝑐𝐾𝑖𝐾𝑝 of their system, and the more damped the higher the value of K.
Experimental Setup:
Graph

M1= 2.750+1.5 = 4.25

M2= 1.5+1.5 = 3.0

From graph,
Tp = 0.400

So, Overshoot = (𝑀1 − 𝑀2/𝑀2)*100

= (4.25-3)/3*100
= 41.66%
Data Table

Table - 1:
Gain, Overshoot Zeta, ζ TP ωd ωn
KC OS sec rad/sec rad/sec

1.5 0.5 0.215 0.38 8.267 8.465

From previous experiments, we know Ki is 10.30. Thus, we are able to calculate the remaining
values.

Table - 2:
KC KP Ki ωc ζ ωn
rad/sec rad/sec

1.5 0.92 10.30 4.29 0.124 7.81

Question Answers

1. 𝐾𝑝 = 2
𝐾𝑖= 2
ω𝑐 = 10 rad/sec
ω𝑑 = 13 rad/sec

ζ= (ω𝑐/(4𝐾𝑐𝐾𝑝𝐾𝑖)

= (10/𝐾𝑐16)
10
⇒ ζ2 = 16𝐾𝑐
—------ (i)

2
ω𝑛 = ω𝑑/ (1 − ζ ))
2
⇒ ω𝑐𝐾𝑐𝐾𝑖𝐾𝑝) = (ω𝑑/ (1 − ζ ))
 2
⇒ ( (40𝐾𝑐)) = (13/ (1 − ζ )))

169
⇒ 40𝐾𝑐 = 10
1− 16𝐾
𝑐

⇒ 640KC - 400 = 2704

Therefore 𝐾𝑐 = 4. 85

2. The damping ratio is a measure of how oscillatory the step response of the servosystem
is. To calculate the natural frequency, we first determined the %OS. This was then used to
calculate the damping ratio. Any error in our %OS measurement would thus result in an
error in the damping ratio. It is also possible that the %OS overshoot was reduced by
real-world friction between the different parts of the motor. Similarly, to calculate the
natural frequency, we first needed to measure peak time and calculate the damped
frequency in it. Any measurement errors in the Tp would result in an erroneous value for
the natural frequency. The theoretical value for the natural frequency was derived from
the break frequency found in previous experiments. Any errors in the previous
experiments for the value of the break frequency would also give us a wrong value for the
natural frequency.

Discussion

Using experimental techniques using the plot of the position response of the servomotor against
time, we were able to determine the natural frequency and damping ratio of the servo motor.
These practical values were then compared with the theoretical values calculated using the
parameters found in the previous experiments. Some agreement between the theoretical and
practical values have been observed., though there are large discrepancies. The possible sources
of these discrepancies have been discussed. Thus, the objectives of this experiment have been
met.