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This document presents the results of implementing a PD controller on a mass-spring-damper system to control displacement output in response to a step force input. The open-loop system is unstable, while the initial closed-loop system using only proportional control has high overshoot and steady-state error. Implementing a PD controller with tuned gains of kP=10 and kD=30 reduces the overshoot to 0.6% and steady-state error to 4.7%, meeting design specifications of negligible overshoot and 10 second settling time, though a small steady-state error remains.

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72 views

Lab2 PDF

This document presents the results of implementing a PD controller on a mass-spring-damper system to control displacement output in response to a step force input. The open-loop system is unstable, while the initial closed-loop system using only proportional control has high overshoot and steady-state error. Implementing a PD controller with tuned gains of kP=10 and kD=30 reduces the overshoot to 0.6% and steady-state error to 4.7%, meeting design specifications of negligible overshoot and 10 second settling time, though a small steady-state error remains.

Uploaded by

v ahmad
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CONTROL LABORATORY Friday, 03, 27, 2019

Introduction to Simulink
(Implementing PD controller)
Report
ME Department

1. Ahmad Saleh (0160328)

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CONTROL LABORATORY Friday, 03, 27, 2019

Abstract

Controlling mechanical mass-spring-damper system with step force input and displacement
output using PD controller. The system is represented by two masses vertically connected
with two dampers, and one spring connected vertically to the first block. the open loop system
is represented by the blocks connected with dampers only and no springs. the spring provide
the feedback in the model.

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CONTROL LABORATORY Friday, 03, 27, 2019

Results
• By hand

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CONTROL LABORATORY Friday, 03, 27, 2019

• Using Matlab
for m=1 , b=0.1 , k=0.5 , step size of 0.1 , step input=1

The system equations for the open loop are :

1. my” = - b*(y’- x’) + u


2. mx” = - b*x’ + b*(y’- x’)

we simplify the equations to draw the block diagram to:

1. y” = - (b/m)*y’ + (b/m)*x’ + (1/m)*u


2. x” = - (b/m)*x’ + (b/m)*y’- (b/m)* x’

The block diagram of the two equations is shown in Figure 1

Figure 1

The response of this open loop system (as we can see in Figure 1) is unstable

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CONTROL LABORATORY Friday, 03, 27, 2019

The system equation for the closed loop is :

• my” = - b*(y’- x’) + u – k*y

we simplify the equation to draw the block diagram to:

• y” = - (b/m)*y’+ (b/m)* x’ + (1/m)* u – (k/m)*y

The block diagram of the equation is shown in Figure 2

Figure 2

The response of this closed loop system (as we can see in Figure 2) is stable, but as we can see
that the overshoot percentage and the steady state error are very high.
The steady state of the system is 2. The steady state error approximately is 100% and the
overshoot percentage approximately is 260% with approximately
ess=((2-1)/1)*100=100
peak overshoot value of 3.6
PO=((3.6-1)/1)*100=260

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CONTROL LABORATORY Friday, 03, 27, 2019

Using PD controller we can reduce the overshoot percentage and the steady state error, we
connected the PD controller In the block diagram as shown in Figure 3

Figure 3

I adjust the controller gains such that there is a negligible overshoot and settling time of about 10
seconds using manual tuning for the PD controller and I ended up with kD=30 and kP=10.

By using the PD controller we reduced the over shoot percentage from


ess= ((0.953-1)/1)*100=-4.7
260% to 0.6%, And the steady state error from 100% to 4.7%, but we
couldn't eliminate the steady state error completely because the PD PO= ((1.006-1)/ 1)*100=0.6

controller can adjust only the overshoot percentage.


The final closed loop step reasons did meet the design satisfaction because we have achieved the
negligible overshoot and settling time of 10 seconds. But we still have a steady state error which
is too small, we can neglected it depend on the application of the system, if the system is not
sensitive to this small error we can neglect it.

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