Laboratory work 1.2 Nauryzgaliyeva Akmaral Laboratory Work 1.

2 (Part I)

Modeling of common nonlinearities

1)

1. Firstly, I had constructed this scheme on Simulink. And observed the graphs on the scope and XY Graph. So, there are their pictures.

Figure 1. XY Graph

Figure 2. Scope figure of our nonlinear block

Laboratory work 1.2 Nauryzgaliyeva Akmaral 1) Amp with a saturation and the dead zone

Block 2 After constructing Block 2 we must put it in replacement of Block 2 or 3

Finally, we get this picture.

Laboratory work 1.2 Nauryzgaliyeva Akmaral In In1Out1 we have such system :

So, in scope and XY graph we have:

and Now we know typical nonlinearities but we did not yet combine they together. And in this lab we started do this. In this part we had constructed such system which consisted from nonlinearities like saturation and dead zone. Between them was a gain block. And in XY graph there is only a direct line and in the scope we also have such kind of picture. It means that we had signal which we was drawn from dead zone and saturation and its parameters had such nature, so the signal become just a straight line. So, here we have amplifier with dead zone and saturation. It is called amplifier because we have a gain block and its amplifies input signal and amplified signal is the output. 2) Three-position relay

Laboratory work 1.2 Nauryzgaliyeva Akmaral

and We get such scheme:

Inside we have such subsystem:

In this exercise we have been investigated such system like a 3 position relay. The ideal relay is usually two position; it can switch on and switch off on some positions. But here we have a 3position relay. We get a three position relay from adding two relays ideal relays. And in XY graph we have pictures of two relays. It was difficult to obtain these

Laboratory work 1.2 Nauryzgaliyeva Akmaral pictures; we did a lot of changing of parameters but finally we get a picture of relays. And in the scope we have a picture of two signals sine wave and our relay signal.

Laboratory Exercise #1 (part II)

Modeling of nonlinear control systems

Its need to examine the effect of nonlinearities upon the open-loop system response. Then we will try to find the critical parameters of the applied nonlinear element for closed-loop system. The following figure gives the prepared model to examine the effect of saturation on the openloop system when 1 N external force is provided as the input signal (external force,f). Let us neglect in this case the effect of disturbance Lin.part = transfer function of linear control systems. For example: W (s) = 6 s + 1s + 3
2

We constructed such system:

Laboratory work 1.2 Nauryzgaliyeva Akmaral

And we observed the linear part and nonlinear both.

Second order systems are important for a number of reasons. They are the simplest systems that exhibit oscillations and overshoot. Many important systems exhibit second order system behavior.

Second order behavior is part of the behavior of higher order systems and understanding second order systems helps you to understand higher order systems.
Figure 1. Processing step response of a second order system

For yellow (nonlinear)

Laboratory work 1.2 Nauryzgaliyeva Akmaral

According to the figure, the peak value of the step response Ymax = 2.8 and the steady-state value Yss = 2.0 that results in the overshoot of 40% and according to Table 2.1 the damping ratio 0.2083. The period of transient oscillations Tosc = 6.5 2.7 = 3.8 sec and therefore "w osc= 23.143.8=1.652 (rad/sec). Since , natural frequency wn= 1.6521-0.043 =1.689 Let us verify this result using the Tp

s c

value: 2.75 = / (wn 1-0.043 )= wn = /(2.75* 1-0.043)= 3.14/2.62=1.198 . This results in

= 1.198.

Finally, constant gain of the system k = 2.0. For violet(input unit step)

According to figure, Ymax = 1.3 and the steady-state value Yss = 1.0 that results in the overshoot of 30% and according to Table 2.1 the damping ratio 0.367. The period of transient oscillations Tosc = 6.65 2.8 = 3.85 sec and therefore "w osc= 23.143.85=1.631 (rad/sec). Since , natural

s c

frequency wn= 1.6311-0.135 =1.754 Let us verify this result using the Tp value: 2.85 = / (wn 1-0.135 )= wn = /(2.85* 1-0.135)= 3.14/2.651=1.184 . This results in = 1.184 Finally, constant gain of the system k

= 1.0. Yss=1.0 and near 50% of the steady-state value.

100 90 80 70 60 % Overshoot 50 40 30 20 10 0

0 .1

0 .2

0.3

0 .4 0 .5 0 .6 d a m p i n g r at i o

0.7

0 .8

0 .9

Laboratory work 1.2 Nauryzgaliyeva Akmaral

Figure 2. Overshoot vs. Damping Ratio. In the second part we have introduced with the effecting of nonlinear part on the linear. Nonlinear was taken by the putting a nonlinear block saturation and obtaining a nonlinear signal as the output. We also had done calculations and investigated oscillation frequency and natural frequency. We also needed a plot of damping ration and overshoot. Finally, this laboratory work was interesting and we had done a lot of sweet things with nonlinear blocks integrating with each other. Also we see and investigated the graphs of linear and nonlinear parts of our system.