Control Theory--System Transfer Function and Step Response: Prof Sisil Kumarawadu

PRESENTATION

The presentation of the assignment solutions must be organized, clear, andv descriptive. Consider the
following example.

Using an appropriate software package express the following algebraic fraction as partial fractions

Two methods of presentation of the answer to this question are given below.

Answer-1

Answer-2

Package used is Matlab.

The Matlab code and the results returned are

>> num=[3 2 3];

>> den=[1 3 2];
>> [r, p, k]=residue(n,d)

r =
-11
4
p =
-2
-1
k = 3

Hence, we get

Answer-1 is not acceptable. Answrer-2 is the correct way to present your answer to the question.

Q1] The roll, pitch, and yaw angles of an aircraft is controlled by controlling the positions of the control
surfaces of the aircraft. The main control surfaces are the ailerons, rudder, and elevators. See Fig. 1.

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 Control Theory--System Transfer Function and Step Response: Prof Sisil Kumarawadu

Fig. 1 Control surfaces of an aircraft

Fly-by-wire control systems in modern airships use electric actuators (motors) with electronics controls.

Control of one of the control surfaces is considered here. The control system consists of the sensors,
control electronics, a DC motor, gear train, and the load on the motor. In this control problem, input is
the desired position of the control surface commanded by the pilot and the output is the measured
position of the control surface by the sensors. The objective of the control system is to have the output
of the system, , follow the input, .

The system parameters are:

Gain of the position sensor

Adjustable gain of the preamplifier

Gain of power amplifier

Gain of current feedback

K t =0
Gain of tachometer feedback V/rad/sec

Motor armature resistance

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 Control Theory--System Transfer Function and Step Response: Prof Sisil Kumarawadu

K i=9.0
Torque constant of motor oz-in./A

K b =¿
Motor back-emf constant 0.0636 V/rad/sec

Inertia of motor rotor J m =¿ 0.0001 oz-in.-

sec 2❑

Inertia of load

Viscous friction coefficient of motor

Viscous friction coefficient of load

Gear-train ratio between motor and load

Since the motor shaft is coupled to the load through the gear train, the total inertia and Viscous-friction
coefficient seen by the motor are

The forward path transfer function is given by

K s K 1 K i KN
G ( s )=
s [ ( Ra J t + K 1 K 2 J t ) s+ R a Bt + K 1 K 2 Bt + K i K b + K K 1 K i K t ]

(a) Substitute the system parameters and obtain in the following form

where a and b are constants.

(b) The closed-loop transfer function is the ratio between the output and the input in the s-domain
given by

This expression can be used to obtain the system output for various inputs. When the input is a

unit step change, . Using hand calculations, obtain the unit step response
of the system in the s-domain, , and reduce it to partial fractions when

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 Control Theory--System Transfer Function and Step Response: Prof Sisil Kumarawadu

(i) K = 7.248
(ii) K = 14.5
(iii) K = 181.17.

(c) Use a suitable software package to obtain the results in part (b). Clearly mention the software
package used, give the commands (code) you wrote, and the result as returned by the software
package.
(d) The s-domain responses can be transformed into the time domain using transformation
techniques popular in engineering. The corresponding time responses for are
given below.

Using a suitable software, plot the 3 output responses on the same graph and giving reasons
select the best value for K . What are the shortcomings of the responses corresponding to the
two K values that you did not select?.

Q2] Consider the following unit step response discussed in Q1](d)

Rise-time is defined as the time taken by the unit step response to reach unity ( ).
Obtain the rise-time approximately to the 4th decimal place.

Obtain the time derivative, , of the above signal.

Write an equation that may be solved to obtain the time taken by the step response to reach
the maximum peak value, . Solve this equation to obtain the time taken by the step
response to reach the maximum peak value approximately to the 5 th decimal place. Calculate the
percentage maximum overshoot given by

Note: Clearly show the steps followed and attach the graphs you used.

Q3] Obtain the step response of the closed-loop system for K = 14.5, directly using the Matlab
command, step(NUM, DEN, t) . Obtain

 The rise time

 Maximum overshoot

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 Control Theory--System Transfer Function and Step Response: Prof Sisil Kumarawadu

 Settling time

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