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University of Hertfordshire School of Engineering & Technology Data Acquisition & Control Systems Assessed Matlab Practical 5 Airship

p Control Introduction An airship utilises Buoyancy force to cancel its weight when flying. To generate such Buoyancy force a large volume of hydrogen or helium is required. These large airships have a large surface area. This large surface area (relative to its weight) is advantageous over aircrafts. The large surface of airships can be utilized to install enough solar panels on the airship to produce sufficient power required for the airship propulsion, avionics and control systems. Therefore all the power required for an airship can be achieved by solar power systems, without any source of fossil fuel (Note: At night, these airships are powered by fuel cells which consumes hydrogen generated by solar energy during the day). This is the motivation for studying airships as self-sustained flying vehicles for transport applications.

Introduction: Schematic representation of control system of an airship. The airship in the figure (in airship dynamics) is an unconventional solar-fuel cell powered airship [1]. The information above is the motivation for studying airships, and is not questioned below. See AMP_5_data under your group area for values of for each student. , , ,

and

. NB these values are different

Q1: The Pitch attitude response ( Pitch attitude ( and elevator (

to elevator ( is given in the transfer function below. are illustrated in the figure below.

Obtain the Nyquist Diagram and determine if this transfer function is stable when . The following two MATLAB commands can be used to expand the numerator and denominator in a format required for transfer functions in MATLAB. For example for the numerator the following 2 lines in MATLAB can be used: MATLAB Command: syms s; MATLAB Command: expand( *(s+0.0226)*(s+0.1865)); Draw the Nyquist Diagram and determine if this transfer function is stable when , , and . Is the following sentence true or false for this transfer function? Different values of positive k would simply change the magnitude of the polar plot, but no positive value of k would cause the plot to encircle -1. Draw the Nyquist Plot and determine if this transfer function is stable when , , and . Is the following sentence true or false for this transfer fucntion? The closed-loop system is stable for all . Q2: For the transfer function given below:

Using Bode Plot determine if the system is stable. Obtain Gain Margin and Phase Margin. Q3: For the transfer function below

------------------------s^3 + 3.5 s^2 + 3.5 s + 1 obtain Gain Margin and Phase Margin. What is the crossover frequency for the Phase Margin? Q4: Case 1: Multiply the transfer function in Q3 by:

and obtain the step response for the new transfer function using SIMULINK and determine the maximum amplitude in time domain. Case 2: Multiply the transfer function in Q3 by:

and obtain the step response for the new transfer function using SIMULINK and determine the maximum amplitude in time domain. Obtain Phase Margin and crossover frequency. Which case shows smaller amplitude at any time? Compare Case 1 and Case 2 and state which case shows reduction in oscillations. On completion fill in the AMP_5_results_form.xls file and attached to your submission. Note the deadline for submission is given on Studynet. Reference: [1] Farbod Khoshnoud, Yong K. Chen and Rajnish K. Calay, An Integrated Solar-Fuel Cell Powered System for an Airship, International Conference on Modelling, Identification and Control, Wuhan, China, June 24-26, 2012, in press.