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ACS Lab Exp 2

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ACS Lab Exp 2

Uploaded by

620978vk
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© © All Rights Reserved
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Experiment 2

AIM: Time domain response of rotary servo and Linear servo (first order and
second order) systems using MATLAB/Simulink.

Theory:
The time response represents how the state of a dynamic system changes in time when subjected
to a particular input. Since the models we have derived consist of differential equations, some
integration must be performed in order to determine the time response of the system. For some
simple systems, a closed-form analytical solution may be available. However, for most systems,
especially nonlinear systems or those subject to complicated inputs, this integration must be
carried out numerically. Fortunately, MATLAB provides many useful resources for calculating
time responses for many types of inputs, as we shall see in the following sections.

The time response of a linear dynamic system consists of the sum of the transient response which
depends on the initial conditions and the steady-state response which depends on the system input.
These correspond to the homogenous (free or zero input).

Order system
The order of a dynamic system is the order of the highest derivative of its governing differential
equation. Equivalently, it is the highest power of in the denominator of its transfer function. The
important properties of first, second, and higher-order systems will be reviewed in this section.

First order systems


First-order systems are the simplest dynamic systems to analyze. Some common examples include
mass-damper systems and RC circuits.

The general form of the first-order differential equation is as follows

where the parameters and completely define the character of the first-order system.

DC gain
The DC gain is the ratio of the magnitude of the steady-state step response to the magnitude of
the step input. For stable transfer functions, the Final Value Theorem demonstrates that
the DC gain is the value of the transfer function evaluated at s=0
For first-order systems of the forms shown, the DC gain is

DC Gain
The DC gain, again is the ratio of the magnitude of the steady-state step response to the
magnitude of the step input, and for stable systems it is the value of the transfer function when
S = 0. For the forms given,

.
Damping Ratio
The damping ratio is a dimensionless quantity charaterizing the rate at which an oscillation
in the system's response decays due to effects such as viscous friction or electrical resistance.
From the above definitions,

Natural Frequency
The natural frequency is the frequency (in rad/s) that the system will oscillate at when there
is no damping,

MATLAB CODE:
clc
clear all
close all

% First-Order Rotary Servo System Parameters


K = 1; % System gain
tau = 0.5; % Time constant (seconds)

% Transfer function of first-order system


first_order_tf = tf(K, [tau 1]);

% Display the transfer function


disp('Transfer function of First Order System:');
first_order_tf

% Time vector for simulation


t = 0:0.01:5; % Simulation time from 0 to 5 seconds

% Step response of the first-order system


figure;
step(first_order_tf, t);
title('Step Response of First-Order Rotary Servo System');
xlabel('Time (seconds)');
ylabel('Response');

OUTPUT:
Second-Order Rotary Servo System Parameters
clc
clear all
close all

% Second-Order Rotary Servo System Parameters


K = 1; % System gain
omega_n = 2; % Natural frequency (rad/s)
zeta = 0.7; % Damping ratio

% Transfer function of second-order system


second_order_tf = tf(K*omega_n^2, [1 2*zeta*omega_n omega_n^2]);

% Display the transfer function


disp('Transfer function of Second Order System:');
second_order_tf

% Step response of the second-order system


figure;
step(second_order_tf);
title('Step Response of Second-Order Rotary Servo System');
xlabel('Time (seconds)');
ylabel('Response');
OUTPUT:
7EE4-22 ADVANCED CONTROL SYSTEM LAB
Practical No:-2
Objective:-
Time domain response of rotary servo and linear servo (first order and
second order) systems using MATLAB/Simulink.

S.No. Viva Questions (to be answered in the Lab file)

1. Define first order system?

2. What is the function of integrator in MATLAB?

3. What is the effect of impulse signal on 1st order system?

4. What is the effect of ramp signal on 1st order system?

5. What is the function of integrator in MATLAB?

6. What is the function of scope in MATLAB?

7. What is the effect of step signal on 1st order system?

8. Define various advantage of open loop system?

9. What is the function of Gain Block in MATLAB?

10. What is MATLAB API in control system?

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