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Automatic_Control_II_Assignment4

This document outlines Assignment 4 for the UCK363E - Automatic Control II course, due on 04/01/2021. It includes tasks related to the state-space model, transfer function, stability analysis, controllability, observability, and the design of a state-feedback controller for a DC motor model. Students are instructed to complete the assignment individually, provide mathematical proofs, and submit their work via Ninova by the deadline.

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8 views

Automatic_Control_II_Assignment4

This document outlines Assignment 4 for the UCK363E - Automatic Control II course, due on 04/01/2021. It includes tasks related to the state-space model, transfer function, stability analysis, controllability, observability, and the design of a state-feedback controller for a DC motor model. Students are instructed to complete the assignment individually, provide mathematical proofs, and submit their work via Ninova by the deadline.

Uploaded by

yabguu58
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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UCK 363E

CRN: 11198

UCK363E -AUTOMATIC CONTROL II


Assignment 4
Deadline: 04/01/2021 by 18:00
Professor : Dr. İsmail Bayezit
Corresponding TA : Rahman Bitirgen [email protected]

Consider the following DC motor model as given below:


The governing equations are obtained using Newton’s 2nd Law and Kirchhoff’s Law:

𝐼𝜃̈ + 𝑏𝜃̇ = 𝐾𝑡 𝑖
𝑑𝑖
𝐿 + 𝑅𝑖 = 𝑉 − 𝐾𝑒 𝜃̇
𝑑𝑡
Table 1: Physical Parameters
𝑰 Total moment of inertia about the rotation axis of the motor
𝒃 Viscous friction coefficient
𝑲𝒕 Motor torque constant
𝑲𝒆 Electromotive force constant
𝑹 Electrical Resistance
𝑳 Electrical Inductance
For simplicity assume that 𝐾𝑡 = 𝐾𝑒 = 𝐾
1. The input of the system is the voltage. You need to determine the states and the output of
the system in order to obtain the state-space form. Please answer the following questions.
a. Obtain the state-space model of the DC motor model.
b. Is the state-space representation unique? Could there be any alternative state-space
representation of the system?
2. The input of the DC mechanism is the voltage. You need to determine the output of the
system. Please answer the following questions.
a. Obtain the transfer function of this system.
b. Is the transfer function unique? (Is there only one transfer function that represents
this system?)
Search for numerical values of the parameters seen in Table 1, and cite the reference that you
used. Using these values for the parameters, please answer the following questions:
3. Is the system stable? Draw the pole-zero map and comment on the status of the stability
accordingly?
4. Obtain the controllable canonic form of the system.
a. What is controllability? Explain it verbally and then mathematically.
b. Is the canonic form controllable? Find the eigenvalues of the 𝐴 matrix.
UCK 363E
CRN: 11198

5. Obtain the observable canonical form of the system.


a. What is observability? Explain it verbally and then mathematically.
b. Is it observable? Find the eigenvalues of the 𝐴 matrix.
6. Are the eigenvalues of the system changed in between Part 4 and Part 5? Explain why or if
not, why not?
7. Is it possible to comment on the controllability and/or observability of a system just by using
the transfer function? If yes, how? If no, why?
8. Design a state-feedback controller with the following instructions:
Assumption: Assume that all the states are measured or estimated.
Control Requirement: The objective of the state-feedback controller is to make the system
respond faster by at least 20% comparing to the open loop response. For instance, if you
apply 10 Volts to the DC motor and the steady state speed is 1000 rpm and the settling time
is 2 seconds. Your controller should adjust the voltage in a way that the required speed is
reached less than 1.6 seconds. The overshoot should be less than 30%.
Rules of Assignment Submission:

• Please complete your assignment by yourself. Never submit the same homework with
another student. All students included in the copy will receive 0/100 (ZERO) from the
project when it is seen that there is a copy in the projects.
• You can benefit from simulation software solving the problems, however you must
show and explain all the steps at the solution.
• You have to MAKE COMMENT and SHOW MATHEMATICAL PROOF before
PRESENTING GRAPHICAL RESULT.
• If you have any questions, you should contact with the corresponding TA Rahman
Bitirgen from the following e-mail address: [email protected]
• You should upload your report and other materials such as codes to Ninova before the
due date. Late submission is not accepted. Only Ninova submission will be considered
as the legal submission.

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