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Experiment 5 (Part B) : Control Systems Lab

The document outlines Experiment 5 (Part B) for a Control Systems Lab at BITS Pilani, focusing on rotary pendulum modeling and stability analysis. It includes tasks for measuring angles, applying voltages, and analyzing system stability through pole analysis and BIBO principles. Observations and results are to be recorded for various simulations and responses of the servo systems.

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SOHINI KAYAL
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1 views9 pages

Experiment 5 (Part B) : Control Systems Lab

The document outlines Experiment 5 (Part B) for a Control Systems Lab at BITS Pilani, focusing on rotary pendulum modeling and stability analysis. It includes tasks for measuring angles, applying voltages, and analyzing system stability through pole analysis and BIBO principles. Observations and results are to be recorded for various simulations and responses of the servo systems.

Uploaded by

SOHINI KAYAL
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Control Systems Lab

Experiment 5 (Part B)
EEE F245

Names and IDs of Group No. 1 students :

S. No. ID No. Name


1. 2023AAPS0168H NIKHILESH YALLANKI
2. 2022B5A30867H SOHINI KAYAL

BATCH & TIME : P3, Tuesday (9 am to 11 am)

Prepared by
Department of EEE

BITS Pilani, Hyderabad Campus

Date: January 2025

1
A. ROTARY PENDULUM MODELING
Section 5.2:
3. Rotate the rotary arm and pendulum counter-clockwise and examine the response on the scopes.
(Example responses are shown in Figure 5.3). Do the measured angles follow the modelling
conventions given in Section 5.1. Attach the response measured.
Observation / Result:

2
4. Apply a small voltage, e.g., 0.5 V, to the motor by changing the Constant block connected to Analog
Output. Does this adhere to the modelling conventions?

Observation / Result:

Voltage = + 0.5V

3
5. Modify the Simulink model such that the measured angles and applied voltage follow by the
modelling conventions. Briefly list any changes made.

Observation / Result:

Voltage = - 0.5V

4
Section 5.2.2:
9. Rotate the pendulum to the upright vertical position and ensure the angle is measured correctly and it
follows the free-body diagram in Figure 5.1. Capture the response of the pendulum being raise to the
inverted position. Explain what the bias and modulus functions do?

Observation / Result:

The bias and modulus blocks convert the simple pendulum as in the first run to an inverted
pendulum.

5
6
B. STABILITY ANALYSIS

Section 5.5:
1. Determine the stability of the voltage-to-speed servo system from its poles.
[Hint: Using equation 5.2 Find the poles and determine whether the system is stable or unstable or
marginally stable]

Ts +1 = 0
S = -1/T
S = -7.69
Since it is negative (pole value is in the left hand plane), thus the system is stable.

2. Determine the stability of the voltage-to-position servo system from its poles
[Hint: Using equation 5.3 Find the poles and determine whether the system is stable or unstable or
marginally stable]

S(Ts+1) = 0
S = 0, -1/T
S = 0, -7.69
Since one pole is zero – unstable and the other is stable, the system is marginally stable.

3. Apply a unit step voltage to the servo and run the Simulation as shown in Figure 5.5. The
position and speed step response should be similar to Figure 5.6. Attach your responses for
position and speed along with applied motor voltage in results & observation section.

7
4. Based on the speed response(scope) and the BIBO principle, determine the stability of the
system? How does this compare with your results from the poles analysis in step-1?

The speed response is constant and thus is stable.

5. Based on the position response(scope) and the BIBO principle, what is the stability of the
system? How does this compare with your results from the poles analysis in step-2?

The position response increases to infinity and thus is unstable.

6. Is there an input where the open-loop servo position response is stable? If so then modify the
simulation diagram to include your input, test it on the servo, and show the position response.
Attach your responses for position and speed along with applied motor voltage in results &
observation section.
(Hint: Try an impulse (i.e., short step) or sinusoids input and compare the position response with the step response
observed earlier.)

For an impulse (derivative of step input) input, the position response is stable.

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