M Waleed MEEN201101027

Lab 07
Objective

To design and analyze the Transient Response of a typical control system

Transient Response of Control System

As the name suggests transient response of the control system means changing so, this
occurs mainly after two conditions and these two conditions are written as follows-
➢ Condition one: Just after switching ‘on’ the system that means at the time of application
of an input signal to the system.
➢ Condition second: Just after any abnormal conditions. Abnormal conditions may
include sudden changes in the load, short circuiting etc.

Finding its settling time

System settling is a time in which most of the transient response of the system die out, and
the system reaches to its steady state value. The system with a lower settling time is a fast
(better) system

Finding the steady state value

The steady state value of the system is that value which is the desired response of the system,
This is also called system d.c. gain. Manually it can be found by just putting s=0 in the transfer
function or t=∞

Closed-loop speed tachometer control system

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Where, R(S) is the input voltage

w(S) is the output angular movement of motor

Requirement:

Analyze under external Disturbance Closed loop with feedback is better: Parameters to analyze:
Analyze the settling time Ts.

Consider the closed loop system without Tachometer feedback

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The approximate steady state value of w(7) = -0.66 rad/s at t = 7 sec

Consider the closed loop system with Tachometer feedback

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The approximate steady state value of w(0.02) = -0.02 rad/s at t = 0.02 sec.
Designing a System

Choosing parameter values (choose value of K ) such that: System settles in less time. Analyze
for K = 20 , 100. Given a closed-loop system with two inputs R(s) and D(s)
Y(s) = T(S) R(S) + Td(s) D(S)

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Case-I Without Disturbance the closed loop system

Figure 1 Closed-loop system without Disturbance Case-II

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Exercise:
Consider the torsional mechanical system in Fig-7.10. The torque due to the twisting of the
shaft is kθ; the damping torque due to the braking device is −b; the disturbance torque is d(t);
the input torque is r(t); and the moment of inertia of the mechanical system is J. The transfer
function of the torsional mechanical system is shown below:

Suppose the desired angle θd = 0°, k = 5 , and J = 1.

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Figure 7.3: A torsional mechanical system Do

the following:
(a) Draw the control canonical form of the Block diagram and the transfer function, and also
confirm the transfer function by taking the transfer function using Mason’s Gain Formula.
(b) Determine the open-loop response θ(t) of the system for a unit step disturbance d(t)
using MATLAB (set r(t)=0) . Also confirm the result by finding the analytical result. (c)
With the controller gain Ko = 50, determine the closed-loop response, θ(t), to a unit step
disturbance, d(t), using MATLAB.
(d) Co-plot the open-loop versus the closed-loop response to the disturbance input. (e)
Discuss your results and make an argument for using closed-loop feedback control to
improve the disturbance rejection properties.
(f) Write the state-space equation, from the block diagram, and confirm the transfer
function, manually and then by using MATLAB.

The function used in MATLAB for the transfer function is:

T_ffss= ss (A,B,C,D)

Where, A, B, C and D are the metrics from the state space equation.

The control canonical form of the block diagram and transfer function can be represented as
follows:

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r(t) 1 m(t) d(t)

The transfer function of the system can be derived by combining the transfer functions of the
individual blocks in the block diagram. In this case, the transfer function is given as:

G(s) = θ(t) / r(t) = k/J / (s^2 + (b/J)s + k/J)

Mason's Gain Formula can be used to confirm the transfer function. The transfer function can be
obtained by calculating the gain of all forward paths and subtracting the gain of the loops.

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