Lab:1

Title: To study the dynamics of Spring Mass Damper System and analyze the response on
parameter variation
Apparatus Required:

1. Matlab Software

Theory:
The system of equation that defines the dynamics of Spring Mass Damper System can be
written as:

𝑚𝑑 2 𝑥 𝑑𝑥
𝐹(𝑡) = + 𝑏 + 𝑐𝑥
𝑑𝑡 2 𝑑𝑡
This is a second order differential equation. There are two states in this system which are
defined as 𝑥1 𝑎𝑛𝑑 𝑥2, where first one is the position and later one is the velocity of the mass
i.e.
𝑑𝑥
𝑥1 = 𝑥 and 𝑥2 = .
𝑑𝑡

The state space representation of the system can be written as:

𝑥1̇ = 𝑥2
𝑏 𝑘 𝐹
𝑥2̇ = − 𝑥2 − 𝑥1 +
𝑚 𝑚 𝑚
The above equations are the state space representation of SMD system. This equation can be
solved to obtain the solution of position and velocity of mass for input force F and given initial
condition.
Procedure:

The system of equation defined for the motion of dynamics of SMD can be solved numerically
using ODE solver toolbox of MATLAB. For this a function file is created to define the system
function and a script file is created to solve and analyze the results. The program flow for
function file is given below:

function x_dot = SMD(t,x)

end
Similarly, the program code for solving the system for given initial condition and time span is
given below:
Results:
The response of system for m = 1, b = 2, k =3 for input force 1 N step is shown below:
The response of system for m = 2, b = 2, k = 3 for input force 1 N step is shown below:

The response of system for m = 1, b = 0.5, k = 3 for input force 1 N step is shown below:
The response of system for m = 1, b = 2 and k = 10 for input force 1N step is shown below:

Discussion:

Write on at least 100 words on your understanding on the dynamics of SMD for different
parameters.

Note: Don’t print the graphs and figure, observe the graph and draw free hand on report.

Lab 2: To study the dynamics of DC Position Servomotor for variation of gain parameter
Apparatus Required:
1. DC Position Servomechanism Trainer Kit
Theory:
A servo (servomechanism) is an electromagnetic device that converts electricity into precise
controlled motion by use of negative feedback mechanisms. The position control have
innumerable applications such as Machine tool position control, tracking system and so on.
The diagram for the control mechanism of the dc position servomotor is shown below:
There are two feedback mechanism in dc position servomechanism. One is position feedback
mechanism and another is velocity feedback mechanism. When the input is changed in step i.e.
given certain input. 60 degrees for instance, the output shaft exhibits and oscillating behavior
when the value of amplifier gain is set large. This is due to the nature of system of higher value
of amplifier gain. However, the response would be fast. Hence, in order to maintain the required
steady state accuracy and reducing the oscillating behavior, various stabilizing techniques can
be used. In this experiment for stabilization velocity feedback or derivative feedback is used to
stabilize the output.
The analysis of closed loop transfer function for the dc position servo system can be done as
follows:
The equations describing the system components are :
1. For the potentiometer error detection

𝐸(𝑠) = 𝐾1 (𝑅(𝑠) − 𝐶(𝑆)) = 0.795 × (𝑅(𝑠) − 𝐶(𝑠))

2. For the amplifier

𝐸𝑎 (𝑠) = 𝐾𝑝 𝐸(𝑠) = 200 × 𝐸(𝑠)

3. For the armature voltage-controlled motor:

𝜃(𝑠) 𝐾𝑚
=
𝐸𝑎 (𝑠) 𝑠(𝑇𝑚 𝑠 + 1)
Where, 𝐾𝑚 = (𝐾𝑡 × 𝑏)𝑅𝑎 + 𝐾 × 𝐾𝑏 called motor gain constant.
𝑇𝑚 = 𝑅𝑎 𝐽 𝑅𝑎 × 𝑏 + 𝐾𝑡 × 𝐾𝑏
The J and b are the equivalent moment of inertia and damping constant referred to motor shaft
𝐽 = 𝐽𝑚 + 𝑛 2 𝐽𝑙𝑜𝑎𝑑
𝑏 = 𝑏𝑚 + 𝑛 2 𝑏𝑙𝑜𝑎𝑑
On putting the values, we get
𝜃(𝑠) 0.866
=
𝐸𝑎 (𝑠) 𝑠(0.22𝑠 + 1)
The closed loop feedback system is solved to obtain the closed loop transfer function as:
𝜃𝑖𝑛 (𝑠) 39
= 2
𝜃𝑜𝑢𝑡 (𝑠) 𝑠 + 4.545 𝑠 + 39
We can obtain the transient specification from above equations and can compare with the
experimental results. (This analysis is performed only for position feedback, for velocity
feedback we have to reduce the velocity feedback loop first ).
Procedure:
The following diagram shows the typical connection of the dc position servomechanism.
Results:

S.N K 𝜃𝑖𝑛 𝜃𝑜𝑢𝑡 𝑒𝑟𝑟𝑜𝑟 = |𝜃𝑖𝑛 − 𝜃𝑜𝑢𝑡 | Remarks

1 20
2 40
3 60 Oscillating,
vibrating,
4 20 80 noisy,
5 100 sluggish
6 120
7 140
8 20
9 40
10 60 Oscillating,
vibrating,
11 40 80 noisy,
12 100 sluggish
13 120
14 140
15 20
16 40
17 60 Oscillating,
vibrating,
18 60 80 noisy,
19 100 sluggish
20 120
21 140

Discussion:
Lab 2: To study the dynamics of uncompensated and compensated system using lead and
lag compensator

Apparatus Required:
1. Matlab Software
Theory:
In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks are applied to the system in the form of feed forward path gain
adjustment. Compensate a unstable system to make it stable. A compensating network is used
to minimize overshoot. These compensating networks increase the steady state accuracy of the
system. An important point to be noted here is that the increase in the steady state accuracy
brings instability to the system. Compensating networks also introduces poles and zeros in the
system thereby causes changes in the transfer function of the system. Due to this, performance
specifications of the system change.

There are basically two type of compensators:

Lead Compensator
Lag Compensator

The effect of use of Lead compensator and Lag compensator is illustrated from following
figure.

Figure 1a.shows the uncompensated system. b) shows the compensation using lead and c) shows the compensation using
lag compensator
Generally, lead compensator improves the system transient characteristics whereas lag
compensator improves the steady state characteristics. The transfer function of lead
compensator is given as:
1
𝑠+𝑇
𝐺𝑐 (𝑠) = 𝐾𝑐
1
𝑠 + 𝛼𝑇

Where, 0 < 𝛼 < 1. Similarly, the lag compensator is given as:

1
𝑠+𝑇
𝐺𝑐 (𝑠) = 𝐾𝑐
1
𝑠+
𝛽𝑇
Where, 𝛽 > 1

Procedure:
Solve the problem number: 5 and 8 for BEL and BEI
Solve the problem number: 3 and 4 for BME
Add lead and lag compensator in system
https://github.com/deependran7/Control-System-Series/blob/main/Control_Problems.pdf

Results:
1. Results without compensator:
Step and ramp response, root locus and bode plot of system without compensator
2. Result with compensator:
Step and ramp response, root locus and bode plot of system with compensator
Discussion:
Discuss on stability, responses and your perspective on control system design.