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Automatic Control Practicum Report 1

Module 1: Open Loop Control System

Lecturer: Nofria Hanafi, S.ST., MT

Compiled By:
Muhammad Nabil Asrofi (4122600044)

STUDY PROGRAM D4 MECHATRONICS

ENGINEERING DEPARTMENT OF MECHANICS
AND ENERGY POLYTECHNIC OF SURABAYA 2023
PURPOSE OF THE EXPERIMENT
• Students are able to understand the working principle of an open-loop control system.
• Students are able to understand the characteristics of the open-loop control system of a
DC motor using Simscape Simulink MATLAB.

THEORY BASIS
An open-loop control system is a control system whose output has no influence on the control
action. In an open loop control system there is no feedback network. In other words, the
output open loop control system cannot be used as a feedback comparison with the input.
Therefore, open-loop control systems can only be used if the relationship between the input
and output of the system is known and there are no internal or external disturbances. A simple
block diagram representation of an open-loop control system is as follows:

Figure 1.1 Open-loop control system

TOOLS AND MATERIALS

PC with Matlab software installed.

TRIAL
1. Open the Matlab program.
2. Create a new Simulink worksheet by clicking [New]-[Simulink Model].
3. After a new worksheet appears, create a new model by adding some blocks from the
Simulink Library as listed in Table 1.
Table 1. Component Block List of Open-Loop DC Motor Circuit

Block Library Quantity

Solver Configuration Simscape > Utilities 1
PS-Simulink Converter Simscape > Utilities 2
Controlled PWM Voltage Simscape > Electrical > Integrated Circuits 1
H-Bridge Simscape > Electrical > Semiconductors & 1
Converters > Converters
DC Motor Simscape > Electrical > Electromechanical > Brushed 1
Motors
Current Sensor Simscape > Foundation 1
Library > Electrical > Electrical Sensors
DC Voltage Source Simscape > Foundation 1
Library > Electrical > Electrical Sources
Electrical Reference Simscape > Foundation 1
Library > Electrical > Electrical Elements
Mechanical Rotational Simscape > Foundation 1
Reference Library > Mechanical > Rotational Elements
Ideal Rotational Motion Simscape > Foundation 1
Sensor Library > Mechanical > Mechanical Sensors
Scope Simulink > Commonly Used Blocks 2

4. Change the name of each component and connect the blocks until a block diagram is
constructed as shown in Figure 1.2.

Figure 1.2 DC Motor Circuit Block Diagram with Open Loop System
5. Fill in some block parameters as follows:
a. Motor Input Signal Parameters
1) Set the DC Voltage Source block parameters as follows:
Constant voltage to 2.5
2) Set the Controlled PWM Voltage block parameters as follows:
PWM frequency to 4000
Simulation mode to Averaged
3) Set the parameters of the H-Bridge block as follows:
Simulation mode to Averaged
b. DC Motor Parameters
Set the DC Motor block parameters as follows, leaving the unit settings at their
default values where applicable: 1) Electrical Torque tab:
Model parameterization to By rated power, rated speed & no-load speed
Armature inductance to 0.01
No-load speed to 4000
Rated speed (at rated load) to 2500
Rated load (mechanical power) to 10
Rated DC supply voltage

to 12 2) Mechanical Tab:

Rotor inertia to 2000

Rotor damping to 1e-06
c. Set the PS-Simulink Current block's Output signal unit parameter to 𝐴 to
indicate that the block's input signal has units of amperes.
d. Set the PS-Simulink RPM block's Output signal unit parameter to "rad/s" to
indicate that the block's input signal has units of revolutions per second.
e. Configure Solver Parameters to use a continuous-time solver because the
Simscape Electrical model only runs with a continuous-time solver.
Increase the maximum step size that the solver can take so that the
simulation runs faster.
 1) In the model window, select Modeling > Model Settings to open the
Configuration Parameters dialog box.
2) Select ode15s(Stiff/NDF) from the Solver list. Click Additional Options and enter 1
for the MaxStep Size parameter value.
3) Click Ok.
f. Run the simulation and observe the open-loop response on the RPM scope
for the motor speed graph and the current scope for the current graph.

TASK
1. Repeat the steps and change the constant value of the input signal to (1V, 3V, 5V, and
6 V).
2. Plot and analyze the graph of the open-loop block diagram simulation results.
3. Give an example of another system that is an open-loop system.
4. What are the advantages and disadvantages of using an open-loop system?
5. Prepare an interim report and a formal report.
ANSWER
1. It looks like the graph in number 2.
2. Here is a graph of the experiment results:

a. 1 VDC
The first experiment with an input value of 1 VDC produced a graph as above. In the
Current scope seen at the second 0s, the current is still in the position of 0. And the peak at the
second 0.019s which amounted to 0.682A. Then on the graph there is a decrease to close to 0A
in line with the running time.
The RPM scope starts with 0 rpm and then rises to 800 rpm. This means that the speed on
the motor is getting bigger in line with the time that occurs.
 b. 2.5 VDC
The second experiment with an input value of 2.5 VDC produced a graph as above. In the
Current scope seen at the second 0s, the current is still in position 0. And the peak at the second
0.015s which amounted to 1.705A. Then on the graph there is a decrease to close to 0A in line
with the running time.
The RPM scope starts with 0 rpm and then rises to a maximum of 2000 rpm. This means
that the speed on the motor is getting bigger in line with the time that occurs.

c. 3 VDC

The third experiment with an input value of 3 VDC produced a graph like the one above.
The Current scope shows that at the second 0s, the current is still at the position of 0. And the
peak is at the second 0.017s which is 2.047A. Then on the graph there is a decrease to close to
0A in line with the running time.
The RPM scope starts with 0 rpm and then rises and at 7.91 seconds it has reached a
maximum of 2400 rpm. This means that the speed on the motor is getting bigger in line with
the time that occurs.
 d. 5VDC
The fourth experiment with an input value of 5 VDC produced a graph as above. In the
Current scope seen at the second 0s, the current is still in position 0. And the peak at the second
0.019s which amounted to 3.408A. Then on the graph there is a decrease to close to 0A in line
with the running time.
The RPM scope starts with 0 rpm and then rises and at 9.41 seconds has reached a
maximum of 4000 rpm. This means that the speed on the motor is getting bigger in line with
the time that occurs.

e. 6VDC
The fifth experiment with an input value of 5 VDC produces a graph as above. The
current scope shows that at the second 0s, the current is still at the position of 0. And the peak
at the second 0.019s which amounted to 3.408A. Then on the graph there is a decrease to close
to 0A in line with the running time.
The RPM scope starts with 0 rpm and then rises and at 9.41 seconds has reached a
maximum of 4000 rpm. This means that the speed on the motor is getting bigger in
line with the time that occurs.
Conclusion
From the above experiments, it can be concluded that:
• All graphs that occur must start with 0 both amperage and rpm
• The current graph will rise upwards or maximize at the first second between 0.01 and 0.02.
• The current graph is monotonically exponentially decreasing, which maximizes at the beginning
and decreases to 0 over time (horizontal asymptote x=0).
• The rpm (speed) graph is also exponential but the horizontal asymptote is at the top (unlike a
monotonically decreasing exponential).

• Another open-loop example is in traffic lights, where the working principle is based only on time
Advantages

1. Simple construction.
2. Construction and maintenance costs are relatively low.
3. It has no problems in terms of stability.
4. Suitable for systems with outputs that are difficult to measure.
5. Easy to understand and operate.
6. Does not require in-depth knowledge of the system.
7. Can be used for systems that do not require high accuracy.

Loss

1. Regular calibration of the system is required.

2. Can only be used once the input and output relationships are known.
3. The presence of interference makes the output value inaccurate.
4. The output value may change over time.
5. Unable to adjust to changing environmental conditions.
6. Unable to handle unknown disorders.
7. Cannot guarantee output accuracy.