Time Response Analysis

ACTIVITY No.7

In Partial Fulfillment of the Requirements for the Subject ECE 424L (Control Systems Lab)

Name: RABARA, Jay-ar A. LOPEZ, Paul Christian K. Schedule: ECE424L 1:00-4:00 M H516

Date Performed: January 30, 2012 Date Submitted: February 1, 2012

Engr. Jacqueline Flores

I. OBJECTIVES: 1. To determine the accuracy and speed of a certain control system and time setting components. 2. To determine the response of a system with respect to its step response and PZDiagram when its variable gain k is varied. II. PROBLEM:

(Noise) Controller Reference Input Plant

Gc(s)
-

Gp(s)

C(s)

H(s)
Gc(s) = Gp(s) = H(s) =
1. Assume k = 80, determine td, tr, ts, and the %accuracy. 2. Increase/decrease one value for k and observe its effect on the overall response and PZ-Diagram.

III. SOLUTIONS: A. Considering the R(s) as Input:

PROGRAM: x=[]; t=0:0.0001:10; s=poly(0,'s'); A=(80*(s+3))/(s+45); B=4/(((0.5*s)+1)*((2*s)+1)); C=1/((0.05*s)+1); Ts=(A*B)/(1+((A*B)*C)); [sl]=syslin(x,Ts); e=csim('step',t,sl); plot2d(t,e); xgrid();

PROGRAM: x=[]; t=0:0.0001:10; s=poly(0,'s'); A=(80*(s+3))/(s+45); B=4/(((0.5*s)+1)*((2*s)+1)); C=1/((0.05*s)+1); Ts=(A*B)/(1+((A*B)*C)); [sl]=syslin(x,Ts); plzr(sl); xgrid();

1.

td, tr, ts, and %accuracy:

td= 0.091465 s tr= 0.1435 s ts= 1.53 s

% ERR =
SSV (e) SSV ( a ) * 100 % SSv ( a )

where ERR = SSV(expected)-SSV(actual) = |1 - 0.9552| = 0.0448, thus % ERR = % ERR = 4.69% % ACC = 100% - %ERR = 100% 4.69%

% ACC = 95.31%

2.

Varying k:

a. Increasing k (k = 160)

When the value of k is increased, the produced oscillations also increased. This system is considered to be under-damped.

When k is increased, the number of zeros and poles remains the same but then it moved farther from their original position.

b. Decreasing k (k = 40)

When the value of k is decreased, the produced oscillations and the systems response overshoot also decreased so this system is considered to be overdamped.

When k was decreased, the zeros and poles moved closer to each other. B. Considering D(s) as Input:

PROGRAM: x=[]; t=0:0.0001:10 s=poly(0,'s'); A=(80*(s+3))/(s+45); B=4/(((0.5*s)+1)*((2*s)+1)); C=1/((0.05*s)+1); Ts=(B)/(1+(B*(A*C))); [sl]=syslin(x,Ts1); e=csim('step',t,sl); plot2d(t,e); xgrid();

PROGRAM: x=[]; t=0:0.0001:10 s=poly(0,'s'); A=(80*(s+3))/(s+45); B=4/(((0.5*s)+1)*((2*s)+1)); C=1/((0.05*s)+1); Ts=(B)/(1+(B*(A*C))); [sl]=syslin(x,Ts); plzr(sl); xgrid();

1.

td, tr, ts, and

%accuracy:

td = 0.288 s tr = 0.5185 s ts = 1.8125 s

% ERR = where ERR = SSV(expected)-SSV(actual) = |0.18 - 0.1791| = 0.0009, thus % ERR = % ERR = 0.5025% % ACC = 100% - %ERR = 100% 0.5025% % ACC = 99.4975%

2.

Varying k: a. Increasing k (k =480)

When k was increased, the systems steady-state value decreased and produced oscillations before the response reached its SSV.

When k was increased, the systems two opposite poles moved farther from its original position. b. Decreasing k (k = 20)

When k was decreased, the systems response had its delay time and settling time slower to occur or reach so the system is also overdamped.

When k was decreased, the systems poles moved closer from their original position and were almost on the zeros location. IV. OBSERVATIONS /CONCLUSION: In evaluating a stable systems accuracy and speed, a unit step is used as an input to the system and the time delay, settling time, and rise time of the system is

determined. When there is an overshoot, the systems response is said to be faster. While when the systems response has no overshoot it is said to be slower in speed; hence, it increases slowly until steady-state is reached. Control systems inputted with a unit step have a transient response and a steady-state response in their graphs. The time response of a control system provides information on how a system responds to certain inputs such as a unit step. The transient response is the response of a system to a change from stability. While a steady-state is a stable condition of a circuit that occurs as the effects of transients are no longer vital. Steady state determination is used in design specifications of control systems. The responses of a system to a unit step can be classified as one of three types of damping that describes the output in relation to the steady-state response: underdamped, critically damped, and overdamped. An underdamped response is one that oscillates and is decaying. The more underdamped the system, the more oscillations and longer it takes to reach steady-states. A critically damped response is the response that reaches the steadystate value the fastest. And an overdamped response is the response that does not oscillate and takes longer to reach the steady-state than the critically damped.