LAB 2: TRANSFER FUNCTION SEMESTER 1 (2013/2014) BETT 1

NAME

: Saravanan A/L Sukumaran

MATRIX NUMBER : B071210044 SUBJECT : Control Principles (BTKE 2364) : EN.SAIFULLAH BIN SALAM PN. IZADORA BINTI MUSTAFA

INSTRUCTOR

OBJECTIVES
To find a mathematical model, called a transfer function, for a linear time-invariant system (Mechanical & Electrical system). To implement and analyze the system response for the control system obtained.

EQUIPMENT/COMPONENTS
i) ii) Computer MATLAB Software

THEORY
Transfer function A Transfer Function is the ratio of the output of a system to the input of a system, in the Laplace domain considering its initial conditions and equilibrium point to be zero. If we have an input function of X(s), and an output function Y(s), we define the transfer function H(s) to be:

The Transfer Function fully describes a control system. The Order, Type and Frequency response can all be taken from this specific function. Bode plots can be drawn from the open loop Transfer Function. These plots show the stability of the system when the loop is closed. Using the denominator of the transfer function, called the characteristic equation the roots of the system can be derived.

We can separate out our numerator and denominator polynomials as such: num = [79 916 1000]; den = [1 30 300 1000 0]; sys = tf(num, den); Now, we can get our step response from the step function, and plot it for time from 1 to 10 seconds: T = 1:0.001:10; step(sys, T);

Electrical network transfer function Equivalent circuits for the electric networks that we work with first consist of three passive linear components: resistors, capacitors, and inductors." Table 1 summarizes the components and the relationships between voltage and current and between voltage and charge under zero initial conditions. We now combine electrical components into circuits, decide on the input and output, and find the transfer function. Our guiding principles are Kirchhoff s laws. We sum voltages around loops or sum currents at nodes, depending on which technique involves the least effort in algebraic manipulation, and then equate the result to zero. From these relationships we can write the differential equations for the circuit. Then we can take the Laplace transforms of the differential equations and finally solve for the transfer function.

Table 1 : Voltage-current, voltage-charge,and impedence relationships for capacitor,resistor and inductor.

Translational mechanical system transfer function

Mechanical systems parallel electrical networks to such an extent that there are analogies between electrical and mechanical components and variables. Mechanical systems, like electrical networks, have three passive, linear components. Two of them, the spring and the mass, are energy-storage elements; one of them, the viscous damper, dissipates energy. The two energy-storage elements are analogous to the two electrical energy-storage elements, the inductor and capacitor. The energy dissipator is analogous to electrical resistance.

Table 2 : Torque-angular velocity, Torque- angular displacement, impedence relationship

PROCEDURE
PART 1: Mechanical System

Figure 1

x1 & x2 : output displacement for Cart 1 Cart 2. M1, M2: mass of Cart 1 and Cart 2. K1, K2 : spring constant for spring which attached to Cart 1 and Cart 2 fv1 , fv3: coefficient of friction for Cart 1 & Cart 2 (towards floor) fv2 : damper coefficient f(t) : Force applied to the mechanical system.

1) The equivalent transfer function of G1 ( s )

X 1 ( s) X ( s) and G2 ( s ) 2 mechanical system F ( s) F (s) is found from the figure 1. All the given variables used in the calculation.

2) The unit step response is generated for the obtained transfer function G1(s) & G2(s). The system parameter set as below : a. M1, M2 = 1 kg b. K1, K2 = 1 N/m c. fv1 = 2N-s/m d. fv2 ,fv3= 1N-s/m

3)

The related graph of the system response is produced for each transfer function.

PART 2: Electrical System

Figure 2

1) The equivalent transfer function is found from an electrical network given as shown in Figure 2,. The input is v(t) and the output is vL(t)is given. 2) The unit step response generated for the obtained transfer function. The parameter set as below (Set Parameter 4) : R1 = 1 C1 = 1 F R2 = 1 C2 = 1F R3 = 1 L = 1H

3) The unit step response found using MATLAB program as stated in section A above. 4) The parameter varied by using below set of value and their unit step response plotted : R1 () 1 2 C1 (F) 2 1 R2 () 1 0.5 C2 (F) 0.5 1 R3 () 1 2 L (H) 2 1

Set no. Set parameter 5 Set parameter 6

5) The related graph of the system response produced for each of the simulation. 6) The result of system response for set parameter 4~6 compared . The discussion wrote based on the results found.

Result
Transfer function :

Part 1 : Mechanical system

M1S2X1(s) K2X2(s) (K1 +K2)X1(s) (fv1+fv2)sX(s) fv2sX2(s) M1s2X1(s) +(fv1+ fv2)s X(s) +(K1 +K2) X1(s) = (K2+fv2s) X2(s) M1s2X1(s) +(fv1+ fv2)s X(s) +(K1 +K2) X1(s) - (K2+fv2s) X2(s) =0 s2X1(s) +3sX1(s) +2X1(s)-(1+s) X2(s) =0 (s2 +3s+2)X1(s) -(1+s) X2(s) =0 equation 1 M1

M2s2X2(s) K2X2(s) (fv2+fv3) sX(s) M2

F(s) K2X1(s) fv2sX1(s)

M2s2X2(s) + (fv2 +fv3)s X2(s) + K2X2(s) =F(s) +K2X1(s)+ fv2sX1(s) M2s2X2(s) + (fv2 +fv3)s X2(s) + K2X2(s) -F(s) -K2X1(s)- fv2sX1(s) =0 s2X2(s) + 2sX2(s) + X2(s) -F(s) -X1(s) -sX1(s) =0 (s2 +2s +1) X2(s) -(1+s) X1(s) =F(s) equation 2

G1(s) =

(s2 +3s+2) X1(s) - (1+s)X2(s) = 0 -(1+s) X1(s) +(s2 +2s +1) X2(s) = F(s) X1(s) =

X1(s) =

= = = G1(s) =

Command MATLAB G1(s)

Unit Step Response G1(s)

G2(s) =

(s2 +3s+2) X1(s) - (1+s)X2(s) = 0 -(1+s) X1(s) +(s2 +2s +1) X2(s) = F(s) X2(s) =

X2(s) =

= = = G2(s) =

Command MATLAB G2(s)

Unit Step Response G2(S)

Part 2 : Electrical system

Parameter 4 Loop 1 R1I1 + R1I1 + I1[ R1 + I1 + R2[ I1- I2] + I1 + R2I1-+ + R2 + [I1 -I2] = V(s) I1 + [-R2I1]+ ] - I2 [ R2 + I2] = V(s) ] =V(s)

I1[ 1 + + 1 + ] - I2 [ 1 + ] =V(s) I1[ 2+ ] - I2 [ I1[ Loop 2 R3I2 + LsI2 + R2(I1-I2) + R3I2 + LsI2 + R2I2 + I2 [ R3 +Ls +R2 + (I2-I1) = 0 I2 +[-R2I1] + ] + I1 [-R2 ]=0 (-I1) = 0 ] =0 ] - I2 [ ] =V(s) ] =V(s) ........................................................EQ 1

I2 [ 1 +s +1 + ] + I1 [-1 -

I2 [ 2 +s + ] + I1 [ I2 [ ] + I1 [

]=0 ] = 0 ...........................................EQ 2

I2(s) =

= (

V(s) )( )2

= ( )( )2

= [2 ( )]

1 = ( =
2

s 2s + 3s +1

V(L) = I2 x Ls I2 =
=

s / ( 2s2 + 3s +1 )
s2 / (2s2 + 3s +1 )

V(L)

= s2 / (2s2 + 3s +1 )

Command MATLAB Parameter 4

Unit Step Response Parameter 4

Parameter 5 Loop 1 R1I1 + R1I1 + I1[ R1 + I1[ 1 + I1 + R2[ I1- I2] + I1 + R2I1-+ + R2 + [I1 -I2] = V(s) I1 + [-R2I2]+ ] - I2 [ R2 + I2] = V(s) ] =V(s)

+ 1 + ] - I2 [ 1 + ] =V(s) ] =V(s) ] =V(s) ........................................................EQ 1

I1[ 2+ ] - I2 [ I1[ ] - I2 [

Loop 2
R3I2 + LsI2 + R2(I1-I2) + R3I2 + LsI2 + R2I2 + I2 [ R3 +Ls +R2 + (I2-I1) = 0 I2 +[-R2I1] + ] + I1 [-R2 ]=0 (-I1) = 0 ] =0

I2 [ 1 +2s +1 + ] + I1 [-1 I2 [ ] + I1 [

] = 0 ...........................................EQ 2

I2 =

V(s) ( )( )2

2s(s+2) =

V(L) = I2 x Ls I2 =
=

2s(2

/ ( 8s3 + 16s2 +10s +2 )

= 2s3 +4s2 / (4s3 + 8s2 +s+1 )

Command MATLAB Parameter 5

Unit Step Response Parameter 5

Parameter 6 Loop 1 R1I1 + R1I1 + I1[ R1 + I1 + R2[ I1- I2] + I1 + R2I1-+ + R2 + [I1 -I2] = V(s) I1 + [-R2I2]+ ] - I2 [ R2 + I2] = V(s) ] =V(s)

I1[ 2 + + + ] - I2 [ + ] =V(s) I1[ I1[ ] - I2 [ ] - I2 [ ] =V(s)

] =V(s) ........................................................EQ 1

Loop 2
R3I2 + LsI2 + R2(I1-I2) + R3I2 + LsI2 + R2I2 + I2 [ R3 +Ls +R2 + (I2-I1) = 0 I2 +[-R2I1] + ] + I1 [-R2 ]=0 ] = 0 ...........................................EQ 2 (-I1) = 0 ] =0

I2 [ 2 +s + + ] + I1 [ + I2 [ ] + I1 [

I2 =

= (

V(s) )( )2

)(

)-

1 = ( )

2S

V(L) = I2 x Ls I2 =

= 2s2 / (5s2 +6s+1 )

Command MATLAB Parameter 6

Unit Step Response Parameter 6

Discussion
In this lab, entitled control system we were instructed to find the transfer function by using the model figure given. This experiment contains two parts, for first part we were found the transfer function for the mechanical system models, and for the second part we found transfer function for the electrical network models.

For part 1, firstly we observed the model figure for the system, which contains output displacement for Cart 1 Cart 2, mass of cart 1 and cart 2, spring constant for spring which attached to cart 1 and cart 2, coefficient of friction for cart 1, cart 2 and damper coefficient and force applied to the mechanical system. Then, we draw a diagram for both mass 1 and mass 2 in order to simplify the equation of force act on both masses. The system has two degrees of freedom, since each mass can be moved in the horizontal direction while the other is held still. Thus, two simultaneous equations of motion will be required to describe the system. The two equations come from free-body diagrams of each mass. Superposition is used to draw the free- body diagrams. For example, the forces on M1 are due to (1) its own motion and (2) the motion of M1 transmitted to M through the system. We will consider these two sources separate. If we hold Mi still and move M2 to the right, we see the forces If we hold M1 still and move M1 to the right, we see the forces. The total force on M2 is the superposition, or sum, of the forces just discussed.. For Mi, we proceed in a similar fashion: First we move M1 to the right while holding M2 still; then we move M2 to the right and hold M1 still. For each case we evaluate the forces on M1,We obtained the equation of transfer function as below :-

G1(s) =

G2(s) = For transfer function G1(s) and G2(s) ,we generated unit step response by set the system parameter based on the values given. In order to get unit step response, we using the software called MATLAB. We input the value of numerator and denominator in the MATLAB command. The output graph for both G1 and G2 a bit similar in shape, but for G2 the shape of curve greater compared to G1.

Unit Step response G1

Unit Step response G2

For part 2, we were instructed to find the equivalent transfer function for the electrical network system. The first step in the solution is to convert the network into Laplace transforms for impedances and circuit variables, assuming zero initial conditions. We did mesh analysis in order to solve the circuit. The circuit with which we are dealing requires two simultaneous equations to solve for the transfer function. These equations can be found by summing voltages around each mesh through which the assumed currents, I1(s) and I2(s), flow. Around Mesh 1, where Ii(s) flows,. Before we modeled the transfer function, the pattern illustrated by the circuit is:

Recognizing the form will help us write such equations rapidly; for example, mechanical equations of motion have same form.

Then, we substitute the values of parameters into the equation. We used the crammer rule in order to solve the equation. The equation obtained as below:For Parameter 4 : = s2 / (2s2 + 3s +1 )

Then, we input the values of numerator and denominator into MATLAB command to get step response graph.

Unit Step response graph for parameter 4. We repeated the experiment electrical network for two times by changing the value of parameters. The equation and step response of parameter 5 and parameter 6. For Parameter 5 : = 2s3 +4s2 / (4s3 + 8s2 +s+1 )

Unit Step response of parameter 5

For Parameter 6 :

= 2s2 / (5s2 +6s+1 )

Unit Step Response of Parameter 6

Conclusion
After completing this lab and lab report, we were able to draw several important conclusions. Firstly, we were clearly understand what is transfer function. Transfer function is a mathematical model, for a linear time-invariant system for mechanical and electrical system. Then, we learned how to use the crammer rule in control system such as mechanical and electrical network in order to simplify the equation. In addition, we also learned how to find step response using MATLAB software especially in transfer function equation. Moreover, we also know to implement and analyze the system response for the control system obtained.

References
Norman S.Nise(2011). CONTROL SYSTEMS ENGINEERING Sixth Edition, Pg 3367.

Ghosh (2004).Control Systems: Theory And Applications , pg 10 -15.

U.A.Bakshi V.U.Bakshi(2008). Control System Engineering, pg 32-65. Branislav Kisaanin Gyan C. Agarwal(2001). Linear Control Systems: With Solved Problems and Matlab Examples,pg 10-17.

Rao V. Dukkipati (2006).Analysis and Design of Control Systems Using MATLAB, pg 35-39.