EE301P Lab05 Report

Group No. -12 :: Rajendra (B21215), Rachita (B21214)

▪ Aim:

The primary objective of this experiment is to develop an advanced speed control system
for a hybrid electric vehicle. The overarching aim is to ensure the vehicle's operational
stability and maintain a steady-state error within a predefined threshold.

▪ Theory:

The diagram below depicts a potential cascade control configuration for a hybrid vehicle
equipped with a DC motor propulsion system, along with relevant parameter values. In
this experiment, we provide a simplified version of the block diagram to help derive the
transfer function. This transfer function is dependent on the proportional gain (KP) of
the speed controller, with R(s) as the input and V(s) as the output.

Figure 1: Block Diagram of an HEV showing various components

The overall transfer function, derived through additional simplification of Figure 2 by

replacing the relevant transfer function GSC(s) for the speed controller, is expressed as
follows:
 Figure 2: Simplified Block Diagram

By applying the Routh-Hurwitz stability criterion, we can determine the permissible

range of KP values ensuring stability in the closed-loop system. To ascertain the
steadystate error in the system, it is necessary to establish the error function E(s), which
is the difference between the input signal R(s) and the output signal C(s) for a specific
input. Utilizing the final value theorem, we can directly determine the steady-state
error's final value from the Laplace transform of the error function E(s) without the
need to calculate its inverse transform.

Result and Analysis: -

Theoretical derivations for all parts (a), (b), (c), (d)
MATLAB CODES:
 (b) Code for part(b)
(a) Code for part(a)

(b) Code for part(c)

(b) Code for part(d)

Graphs and Inference:

Part(A)

(b) For KP = -0.2

(c) For KP = -0.4

(d) For KP = -0.348

Inference-
Examining Figure 4, it becomes evident that when KP surpasses -0.348, the system output
deviates from the unit step reference input signal, indicating instability. Conversely, when KP
falls below -0.348, the system output aligns with the unit step reference input signal,
signifying stability. At the critical point near KP = -0.348, the system exhibits oscillations in
proximity to the reference value, indicating marginal stability. Detailed transfer calculations
are presented in the theoretical calculations section.

Part(B)

Figure 5: Error function plot in Time domain for step input signal

Inference-
By determining the value of KPSC as 85.86 from the steady-state error equation
corresponding to a 1% error criterion, we obtain the necessary transfer function. The
plotted results indicate an error of 0.01, affirming the agreement with the theoretical
findings. Comprehensive transfer calculations are elucidated in the theoretical calculations
section.

Part(C)
 Figure 6: Error function plot in Time domain for step input signal
Inference-
In this section, we introduced an integrator cascaded with the system, with KISC
representing the variable under consideration. Targeting a 2.5% error, following a similar
approach to the previous segment, KISC is determined to be 34.6909. The plotted results
exhibit an error of 0.025, substantiating the alignment with theoretical predictions. Detailed
transfer calculations are provided in the theoretical calculations section.

Part(D)

Figure 7: Error function plot in Time domain for step input signal

Inference-
In this scenario, the error function is derived by simplifying the provided block diagram to
obtain the error signal. Through this simplification and the application of the final value
theorem, we ascertain that the steady-state error is 0. Therefore, the impact of a unit step
change in climbing torque results in zero steady-state error.