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EXPERIMENT 11

SIMULATE THE [Link] CONTROL SYSTEM USING MATLAB

AIM: To simulate the [Link] control system using Mat lab and to observe the step response
when the system is (a) wider damped (b) critically damped/ over damped.

[Link] CONTROL SYSTEM

A de-motor position control system is shown in fig. The following parameters and variables are
defined: e-error voltage, er- the reference input, 9L-the load position, KA- the amplifier gain=200, ea-
the motor input voltage, eh- the back emf, i.- the motor current, Tm- the motor torque, Jm- the motor
inertia=0.03, Bm- the motor viscous-friction coefficient=lO, ·JL- the foad inertia 0.05, Kr- the motor
torque constant=21, Kt,-the back emf constant=l5.5V/rpm, Ke- the error-detector·gain-E/2 n, where
E=21t. R.- the motor resistance=l.15, Ge 9r-0L . _o -~ n
• I\_ -( \,\91 ~
Ra ~f\f~

KA
LOAD
~~~t~~t------'

To ~imulate the above ~.[Link] control system using Mat lab and ol>tain its step response:
'
Obtain the transfer functions of each 1).lock.

The TFs of [Link]:plifier = Eb(s)/E(s)=KA 10.

2. Dc·moto~ ~neglecting La)=8m(s) / Eb(s) =(Kt/ Ra)/ (s (Js+B))
where B=Bm+Kt Kb !Ra-293, J Im+ JL 0.08
=18.26/(s(0.08s+293)
. _ =18.26/(0.08s+293) * 1/s.
[Link] shaft= 9L(s) / ~m(s)=l(assumed as rigid shaft)
[Link] detector=E(s) =(8r(s)- 8L(s)) *Kp=Be(s) *K ;
Where Kp =l. P

.Now r:J>resen~ ~<~• transfer functions of different blocks, using simulink and interconnect them as

shown· m the following figure.

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,,. •
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30
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,.. ,;_
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..... ·-~~-
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II • ,. .
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..................
""L...
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 ----

L ~
~~v
spud ~O

'/-
ql
18.62
1--+--t~\
s
0 .08s+2Q3 '·
output
Transfer Fen Integrator
EL _,,
Amplifier Gain motor transfer function

potentiometer, Kp

; •. f;~
The blocks used in the above fig. can be accessed from simulink. The transfer functlo~ and""t
integrator blocks can be obtained from continuous part, summer and gain from math part, step m!~'.:::::
from sources part andscopes from sinks part. Once the ~loc~s are ~t_erco~ected, followm~
procedure is adopted to simulate ~--,
........

PROCEDURE:
G~
1) Click on step input block and set final value as 1 ·and other parameters to 0.
~~
2) Click on amplifier gain and set gain to 200. Similarly set gains of flexible shaft and error detectorc'<:,
to 1 each. b-
3) Click on tran~fer functi~~ block and set nume;~~ot value as 18.62 and denominator to [0.08 293)~~

4) Save the interconnected block diagram.

' r;-:,
. ... ~

5) Click on simulation tool bar and go to simulation parameters and s~t ~tart time to 0.0 and stop ~~
to 0.5sec. ' f_;--,
. ,--:1
6) Click on the start simulation button and observe the waveforms of error, speed and output 8L Tht'
output eL corresponds to critically/over damped second order step response. 6i

7) Change the denominator value of transfer function to [0.08 1OJ and repeat step 6 after setting stof'"➔
time to 0.1sec. The output eL in this case corresponds to under damped second order step ,r~
response. • \.:'.I

**~**

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