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Experiment 4 Control System Characteristics new

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CONTROL SYSTEM LABORATORY

Department of Electrical Engineering, UET, Lahore.

Experiment 4 Control System Characteristics

Objectives

1. To explore the steady-state error of a control system.


2. To explore the sensitivity of a control system.

New MATLAB commands to learn in this experiment


Command Description
feedback Enter help feedback in the Matlab Command Window for a detailed description.

Procedure

Section-1

 An open-loop speed control of a separately excited DC motor is shown below,

Td(s)
Disturbance Torque

Va(s) (Input) 1 1 (s) (Output)


Km
Las+Ra Js+B

Kb

with the system parameters as,


Ra La Km J b Kb
1 0.005 10 2 0.5 0.1

Experiment 4 Control System Characteristics Page 1 of 6


CONTROL SYSTEM LABORATORY
Department of Electrical Engineering, UET, Lahore.

 For the open-loop speed control system of a dc motor (shown above), the transfer
function (s)/Td(s) with Td(s)=0 using the given system parameters can be determined
by using the following commands.

Ra = 1; La = 0.005; Km = 10; J = 2; b = 0.5; Kb = 0.1;


num1= [1]; den1=[La Ra] ; num2 = [10]; den2 = [1] ; num3 = [1]; den3 = [J b] ;
sys1 = tf(num1, den1) ;
sys2 = tf(num2, den2) ;
sys3 = tf(num3, den3) ;
sys4 = series(sys1, sys2) ;
sys5 = series(sys4, sys3) ;
sys = feedback(sys5, Kb) ;

 Write sys1, sys2, sys3, sys4, sys5 and sys returned by the MATLAB and verify all
these transfer functions manually.

sys1 = sys2 = sys3 =

sys4 = sys5 =

sys =

what is the following transfer function

G(s)Td=0 = (s)/Td(s) =

 Sketch the open-loop step Response. Label the speed and time axes properly.

Open-loop Step Response

Speed

time (sec)

 Determine the transfer T(s)Va=0 = (s)/Td(s) manually.

Experiment 4 Control System Characteristics Page 2 of 6


CONTROL SYSTEM LABORATORY
Department of Electrical Engineering, UET, Lahore.

T(s)Va=0 = (s)/Td(s) =

 Now write MATLAB commands to determine the above mentioned transfer function.

 Sketch the open-loop step Response. Label the speed and time axes properly.

Open-loop Disturbance Step Response

Speed

time (sec)

 Write your comments on the step response due to Va (Td=0) and due to Td (Va=0).
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Experiment 4 Control System Characteristics Page 3 of 6


CONTROL SYSTEM LABORATORY
Department of Electrical Engineering, UET, Lahore.

Section-2

 A block diagram model of a closed-loop speed control of a DC motor with unity-


feedback is shown below. A proportional controller with gain K is used in this system.
Td(s)
Disturbance Torque
Controller (s)
*(s)
(Desired Speed) 1 1 (Actual Speed)
K Km
Las+Ra Js+B

Kb

 Write the transfer function manually with Td(s)=0.

T(s)Td(s)=0 = *(s)/ (s) =

 Determine the step response for K=1 and K=20 and K=50 and sketch the step response
in each case.
Step Response

y(t)
for
K=1

when
D(s)=0
time (sec)

y(t)
for
K=20

when
D(s)=0
time (sec)

y(t)
for
K=50

when
D(s)=0
time (sec)

Experiment 4 Control System Characteristics Page 4 of 6


CONTROL SYSTEM LABORATORY
Department of Electrical Engineering, UET, Lahore.

 Comment on the effect of K on the settling time and overshoots.


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 Comment on the selection criterion of K.


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Experiment 4 Control System Characteristics Page 5 of 6


CONTROL SYSTEM LABORATORY
Department of Electrical Engineering, UET, Lahore.

Checked by: Date:

Experiment 4 Control System Characteristics Page 6 of 6

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