Scribd Logo
Upload

Welcome to Scribd!

  • 30 views

    Lab 3

    Uploaded by

    Mohammed Buhari Dahiru
    1) An engineer is designing an automatic cruise control for a vehicle and must model the vehicle dynamics, accounting for forces like friction and wind resistance. 2) The document presents models of a vehicle's speed in response to control force, a DC motor's speed in response to applied voltage, and a DC motor's position in response to applied voltage. 3) Exercises are provided to derive transfer functions relating inputs and outputs for each system, implement the models in Simulink, and compare the Simulink outputs to step responses modeled in MATLAB.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Lab 3

    Uploaded by

    Mohammed Buhari Dahiru
    30 views7 pages
    1) An engineer is designing an automatic cruise control for a vehicle and must model the vehicle dynamics, accounting for forces like friction and wind resistance. 2) The document presents models of a vehicle's speed in response to control force, a DC motor's speed in response to applied voltage, and a DC motor's position in response to applied voltage. 3) Exercises are provided to derive transfer functions relating inputs and outputs for each system, implement the models in Simulink, and compare the Simulink outputs to step responses modeled in MATLAB.

    Original Title

    Lab3

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    1) An engineer is designing an automatic cruise control for a vehicle and must model the vehicle dynamics, accounting for forces like friction and wind resistance. 2) The document presents models of a vehicle's speed in response to control force, a DC motor's speed in response to applied voltage, and a DC motor's position in response to applied voltage. 3) Exercises are provided to derive transfer functions relating inputs and outputs for each system, implement the models in Simulink, and compare the Simulink outputs to step responses modeled in MATLAB.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    30 views7 pages

    Lab 3

    Uploaded by

    Mohammed Buhari Dahiru
    1) An engineer is designing an automatic cruise control for a vehicle and must model the vehicle dynamics, accounting for forces like friction and wind resistance. 2) The document presents models of a vehicle's speed in response to control force, a DC motor's speed in response to applied voltage, and a DC motor's position in response to applied voltage. 3) Exercises are provided to derive transfer functions relating inputs and outputs for each system, implement the models in Simulink, and compare the Simulink outputs to step responses modeled in MATLAB.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 7

    Laboratory 3

    Modelling of dynamic systems in Matlab and


    Simulink.
    A control engineer has to design an automatic cruise control for a new vehicle model. The cruise
    controller should be able to maintain constant speed at all-time despite disturbances such as wind
    resistance, friction and changes in terrain. For the first laboratory, let us consider a simple model of the
    vehicle dynamics, as seen in the diagram below. A vehicle of mass m is controlled by a force F1 . This
    force is an ideal representation of the road/tire interface where high order dynamics (power train, tires,
    combustion engine) are neglected. The opposing forces have to do with the friction (rolling resistance)
    and wind drag, and are assumed to vary linearly with the velocity of the vehicle and in exact opposition
    to the vehicle motion.

    Force 2: Friction Force 1: Control Force

    ma

    bv
    Equations

    m  a = F1 − F2
    dv
    m = F1 − b  v
    dt
    Where:
    m is vehicle mass (2000Kg)

    b is the damping coefficient (50 N*s/m)

    Question 1: What is the transfer function that relates speed of the vehicle with the applied force?

    Exercise 1:

    1) Deploy the transfer function in Matlab using the “tf()” inline command (eg.
    P_vehicle=tf(x,y) )
    2) Apply a step of 500 to the transfer function created in 1) using the step() command (eg.
    step(500*P_vehicle) )
    3) Build a Simulink model of the transfer function using integrators sums and
    multiplications only.

    ( F1 − b  v )dt
    Tip   m  dt =  ( F1 − b  v )dt → v = 
    dv
     dt  m

    Useful Simulink blocks for system deployment. Blocks can be found in the following Simulink
    libraries:
    1) Commonly used blocks
    2) Continuous

    3) Create a subsystem of your model by selecting all components and using the Ctrl+G
    command. Add a step at the input of the subsystem and a scope a the output of the
    subsystem as shown below
    provide an appropriate step input of 500 at time equals zero, double-click the Step block and
    set the Step Time to "0" and the Final Value to "500".

    4) Simulate the system output to the control force step


    To simulate this system, first, an appropriate simulation time must be set.
    Select Parameters from the Simulation menu and enter "120" in the Stop Time field. 120 seconds
    is long enough to view the open-loop response.
    5) Simulate the system and compare the oscilloscope plot with the plot of the “step”
    command in Matlab.

    DC Motor Speed: System Modelling


    DC motors provides rotatory motion based in a current input. The equivalent electric and
    mechanical systems of the DC motor is shown below.

    b 
    L R
    v e
    i
    J

    Te 

    The torque generated by a DC machine Te is proportional to the stator current i and the strength
    of the rotor magnetic field. If the rotor magnetic field is provided by a permanent magnet then the
    field can be considered constant and the torque turns proportional to the stator current multiplied
    by a constant K . This constant is equal to the constant that multiplies the back EMF e of the
    machine. The back EMF of the machine is proportional to the angular velocity  of the shaft. The
    equations that define this system are listed below

    Te = Ki
    e = K
    d
    J + b = Te = Ki
    dt
    di
    L + Ri = v − K 
    dt

    Question 2: What is the transfer function that relates the angular velocity  of the motor with
    the applied voltage V in the stator circuit?

    Exercise 2: Using the values in the table below

    J moment of inertia of the rotor 0.01 kg.m^2

    b motor viscous friction constant 0.1 N.m.s


    Ke = K electromotive force constant 0.01 V/rad/sec

    Kt = K motor torque constant 0.01 N.m/Amp

    R electric resistance 1 Ohm

    L electric inductance 0.5 H

    1) Deploy the transfer function in Matlab using the “tf()” inline command (eg.
    P_motor=tf(x,y) )
    2) Apply a step of 500 to the transfer function created in 1) using the step() command (eg.
    step(500*P_motor) )
    3) Build a Simulink model of the transfer function using integrators sums and
    multiplications only.

    4) Create a subsystem of your model by selecting all components and using the Ctrl+G
    command. Add a step at the input of the subsystem and a scope a the output of the
    subsystem as shown below
    5) provide an appropriate step input of 10 volts at time equals 0,

    6) Simulate the system output to the control force step for 10 seconds
    Simulate the system for 10 seconds and compare the oscilloscope plot with the plot of the “step”
    command in Matlab.

    DC Motor Position: System Modelling


    The angular position of the motor shaft can be controlled via discrete inputs from its voltage source.

    b 
    L R
    V e
    i
    J

    Te d
    =
    dt

    The equation defining the position of the motor shaft is given by


    d
    =
    dt

    Question 3: What is the transfer function that relates the angular position  of the motor with
    the applied voltage V in the stator circuit? Use the equation of previous exercise to find out the
    relationship between voltage and angular speed of the motor.

    Exercise 3: Using the values in the table below

    J moment of inertia of the rotor 0.01 kg.m^2

    b motor viscous friction constant 0.1 N.m.s

    Ke = K electromotive force constant 0.01 V/rad/sec

    Kt = K motor torque constant 0.01 N.m/Amp

    R electric resistance 1 Ohm

    L electric inductance 0.5 H

    1) Deploy the transfer function in Matlab using the “tf()” inline command (eg.
    P_thetha=tf(x,y) )
    2) Apply a step of 500 to the transfer function created in 1) using the step() command (eg.
    step(500*P_motor) )
    3) Build a Simulink model of the transfer function using integrators sums and
    multiplications only.

    4) Create a subsystem of your model by selecting all components and using the Ctrl+G
    command. Add a step at the input of the subsystem and a scope to the output of the
    subsystem.

    5) provide an appropriate step input of 10 volts at time equals 0,

    6) Simulate the system output to the control force step for 10 seconds and compare the
    oscilloscope plot with the plot of the “step” command in Matlab.

    You might also like

    pFad - Phonifier reborn

    Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

    Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


    Alternative Proxies:

    Alternative Proxy

    pFad Proxy

    pFad v3 Proxy

    pFad v4 Proxy