Zagazig University, Faculty of Engineering,

Mechatronics Program

Solve an Electromechanical
System with Simulink
“Project”

By: Hazem Tawfik Yassin Tawfik

Level: 300
Under supervision of:
Dr. Mahmoud Atta
Problem Description:
A tank level control is shown in the figure. It is required to control the tank
level c according to the reference input r even though the outlet flow rate
𝒒𝟏 is varied. If the level is not correct, an error voltage e is developed,
amplified and applied to a D.C. servomotor. The motor in turn adjusts the
inlet valve position 𝜽𝒗 through appropriate reduction gearing n and thereby
restores balance by adjusting the inlet flow rate 𝒒𝟐 . The inlet valve supplies
a flow rate of 0.01 𝒎𝟑 /s/rad of its motion. Taking the inertia of the inlet
valve and its viscous friction into consideration, the transfer function of the
𝜽𝒎 (𝒔) 𝟐
servomotor will have the form: =
𝑽(𝒔) (𝟎.𝟎𝟏𝒔𝟐 +𝟎.𝟏𝒔)

Block Diagram:
1. Error detector
𝑒 = 𝐾𝑒 (𝑟 − 𝑐)
𝐸(𝑆) = 𝐾𝑒 [𝑅(𝑠) − 𝐶(𝑠)]
 2. Amplifier
𝑉 = 𝐾𝑒 𝑒
𝑉(𝑠) = 𝐾𝑒 𝐸(𝑠)
3. D.C. Motor
𝜃𝑚 (𝑠) 2
=
𝑉(𝑠) (0.01𝑠 2 + 0.1𝑠)
4. Gear Box
𝜃𝑚 𝜃𝑚 (𝑠)
= 𝑛 = 𝑛
𝜃𝑣 𝜃𝑣 (𝑠)
5. Inlet valve
𝑞2 = 𝐾2 𝜃𝑣
𝑄2 (𝑠) = 𝐾2 𝜃𝑣 (𝑠)
6. Tank
𝑑𝑐
𝑞2 − 𝑞1 = 𝐴𝑡
𝑑𝑡
𝑄2 (𝑠) − 𝑄1 (𝑠) = 𝐴𝑡 𝑠𝐶(𝑠)
𝑐
= 𝑞1
𝑅2
1
𝑄1 (𝑠) = 𝐶(𝑠)
𝑅2

Overall Block Diagram:

- Transfer Function

R(s) 2𝐾𝑎 𝐾𝑒 𝐾2 C(s)

𝑛(0.01𝑆 2 + 0.1𝑆)(𝐴𝑡 𝑆 + 𝑅𝑡 ) + 2𝐾𝑎 𝐾𝑒 𝐾2
Simulation:
- Constants of the system are as follow:
Sensitivity of error detector 𝐾𝑒 = 2.0 V/cm of error
Area of tank 𝐴𝑡 = 0.8 𝑚2
Resistance of exit valve 𝑅𝑡 = 0.25 𝑚2 s
Gear reduction ration = 100:1
Valve constant 𝐾2 = 2
Amplifier constant 𝐾𝑎 = 3

Input of the system:

Output of the system: