Control Lab

COMPLEX PROBLEM

NAME: MUHAMMAD SUBYYAL

CLASS: F19-BSME-FET-B
REG NO.: 870-BSME-FET-F19

SUBMITTED TO: Sir Farhan

Following Mechanical System Was Selected in which
Mass, Spring and Damper is Present.

Introduction:
The mass-spring-damper model consists of discrete mass nodes
distributed throughout an object and interconnected via a network
of springs and dampers. This model is well-suited for modelling
object with complex material properties such as nonlinearity and
viscoelasticity. Packages such as MATLAB may be used to run
simulations of such models. As well as engineering simulation,
these systems have applications in computer graphics and
computer animation.
Example: Mass-Spring-Damper System

The free-body diagram for this system is shown below. The spring
force is proportional to the displacement of the mass, , and the
viscous damping force is proportional to the velocity of the mass,
. Both forces oppose the motion of the mass and are,
therefore, shown in the negative -direction. Note also that
corresponds to the position of the mass when the spring is
unstretched. Damper mass spring systems are widely used in
different areas of engineering field applications. They have been
applied in most dynamics suspension systems to provide more
reliability of the design requirements such as increasing the
factors of safety or absorbing the impact forces.
Mathematical Relationship and Transfer Function:
Now in Matlab Working:

1. Transfer Function:
Coding:
P=poly([-1])
Q=[1 2 2 0 0]
T=tf(P,Q)
Result:

2. Stability:
We have to find Poles Whether the system is Stable or
unstable.
 If Poles are on the Left Side of the Graph – Stable
 If Poles are on the Right Side of the Graph – Unstable
 If poles only on the imaginary axis – Marginally Stable
Real Parts sign will determine the stability.
o Value is Negative – Stable
o Value is Positive – Unstable
Coding:
P=poly([-1])
Q=[1 2 2 0 0]
T=tf(P,Q)

P=poles(T)

Result:

3. Steady State Error:

As from roots there are 2 zeros are coming so our system is
type 2. So my results Should be like following table
Codes:

For Kp:
P=poly([-1])
Q=[1 2 2 0 0]
T=tf(P,Q)
G=feedback(T,1)
P=pole(G)
Kp=dcgain(T)
ess=1/(1+Kp)
Result:
For Kv:
Q=[1 2 2 0 0]
P=conv([1 0],poly([-1]))
W=tf(P,Q)
W=minreal(W)
Kv=dcgain(W)
ess=1/Kv
Result:
For Ka:
nums2g=conv([1 0 0],poly([-1]));
dens2g=[1 2 2 0 0]
s2G=tf(nums2g,dens2g);
s2G=minreal(s2G);
Ka=dcgain(s2G)
ess=1/Ka
Result:
 4. Root Locus:
Coding:
P=poly([-1])
Q=[1 2 2 0 0]
T=tf(P,Q)
G=feedback(T,1)
rlocus(G)
Result:
5. Simulink:
Block Diagram:
For Step Input:

For Ramp Input:

For Parabola:

Conclusion:
Mass Spring and Damper System was Selected for this CEP.
In the First Step Transfer Function of the Mechanical System
was found. In the Second Step We have find the Stability of
System by using Poles Method. My System was 2 type. Steady
State Errors for Step, Ramp and Parabola(sinewave) Input
was Obtained.Root Locus of the System was obtained .Input
Operations are also Performed in Simulink.