Feedback and Control Systems: Activity No. 1 - System Modeling and Simulation

Feedback and Control Systems
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SYSTEM MODELING AND SIMULATION
Activity No. 1
I. ACTIVITY OBJECTIVES
This activity aims to
1. introduce the modeling and simulation tools of MATLAB and LabVIEW to the students;
2. equip the students with the skills and knowledge in using MATLAB and LabVIEW to model and
simulate systems; and
3. equip the students with the skill to measure the major performance indicators of a control system,
namely: time response parameters, error performance and stability.
II. INTENDED LEARNING OUTCOMES
At the end of this activity, the student shall be able to
1. create MATLAB and LabVIEW programs that will simulate electrical, mechanical and position
control systems; and
2. determine the effects of component values to the systems time response parameters, error and
stability of dynamic systems.
III. BACKGROUND INFORMATION
One of the steps involved in the design of a control system is to model the system itself from its schematic.
The systems model is very important since it will provide information on the systems various parameters,
such as time response, error and stability information. These parameters will then help the designer to
come up with a control system that would make the system perform at its desired state. Thus, modeling
and simulation is an important step in the design of control systems.
Systems can be modeled as transfer functions using the Laplace transform of the differential equation
representing the system, or as state-space models which expresses the system in terms of state and
output vectors. Solutions of both models can be highly simplified by the use of computer aided tools, such
as MATLAB and LabVIEW. In this activity, MATLAB and LabVIEW are to be used to model and simulate
dynamic systems after obtaining their transfer functions.
MATLAB has the control system toolbox which can be used to create transfer function s-domain models of
dynamic systems and plot and obtain information on the systems step response. In the same manner,
LabVIEW has the control design and simulation module which can be used to simulate dynamic systems.
This activity will demonstrate how these tools can be used to model and simulate dynamic systems.
Activity No. 1 System Modeling and Simulation
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IV. RESOURCES NEEDED
To perform this activity, a computer workstation with MATLAB R2012a or higher and LabVIEW 8.6 or
higher installed is required. For MATLAB, the control systems toolbox is required and for LabVIEW, the
control design and simulation module.
V. LEARNING ACTIVITIES
Activity 1.1 Modeling and simulation of a series RLC electrical network.
1. Consider the simple series RLC circuit shown below. This circuit will be modeled in s-domain and will
be simulated using LabVIEW. Let L = 1 H, C = 1 F and R = 1 . For the questions to follow, write
the solutions onto separate sheets of paper.
Q1.1(a) For this circuit, find the transfer function ( ) =
( )/ ( ).
Q1.1(b) For a step input, find an expression for the output capacitor voltage.
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Q1.1(c) Using this expression, plot the output capacitor voltage and roughly sketch the plot below.
2.
MATLAB. The transfer function can be created in MATLAB by creating a row vector matrix containing
the coefficients of the numerator and the denominator of the transfer function. For the transfer function
of the form
N(s) a s + a
s
++a s+a
G(s) =
=
D(s)
b s +b s
+ +b s+b
where n > m, create a row vector num equal to
a
num = [ a
and a row vector den equal to
den = [ b
a ]
b ]
in the workspace. Then create the object sys which contains the transfer function whose numerator
and denominator coefficients in num and den by using the command tf() in the following format
>> sys = tf(num,den)
In defining numerator and denominator coefficients, the command poly() is also useful. Type in
the command help poly() for more information on this function and how can it be used.
3.
To plot the step response of the system whose transfer function is sys use the command
step()in the following format:
>> step(sys)
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Q1.3(a) Roughly sketch the plot of the transfer function of the above circuit. Use this graph to
determine the time response and error of the system.
4.
LabVIEW. Build the front panel (FP) and the block diagram (BD) as shown below, calling this VI
act01-01.vi.
In the BD, place a Simulation Loop. Right-click on one of the boundaries of the loop and choose
Configure Simulation Parameters. Change the Simulation Times Final Time to 20.
Place a Step Signal, a Transfer Function, a Build Array and the SimTime Waveform functions
inside the simulation loop. Configure the transfer function block to contain the transfer function
obtained from Q1.1(a).
In the FP, a Waveform Chart will automatically be placed. Configure the Legend on the top right
part of the chart and name them as Input and Output as shown. Right click on the chart and
choose X Scale >> Properties. In the Display Format tab, choose Type as Floating-point, then
click OK. Change the scale of the x-axis of the waveform chart to 0-20.
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Q1.4(a) Use the VI to plot the step response of the circuit above. Roughly sketch the plot below and
label the necessary time response and error information in the plot. The plots obtained in the
previous steps must be the same.
Q1.4(b) Based on the plots obtained, is the system stable? Why or why not?
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Q1.4(c) Change some of the parameters of the RLC circuit and obtain a new transfer function.
Simulate this new transfer function. Use both MATLAB and LabVIEW. Conduct several trials (at
least ten trials) and plot the step response of the system in each trial. Comment on the effect of the
values of the resistor, inductor and capacitor on the output capacitor voltage.
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Q1.4(d) Discuss the different timing options in the Configure Simulation Parameters of the
simulation loop.
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Q1.4(e) Create a virtual instrument using the control design and simulation module and MathScript
node of LabVIEW to simulate the electrical network below. Provide a screenshot of the block
diagram and the front panel of the VI on a separate sheet of paper. Plot the step response on the
space provided below.
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Activity 1.2 Modeling and simulation of mechanical systems.
1. In this part of the activity, the response of the mechanical system such as the one shown below to a
step input will be simulated.
Q2.1(a) Find the transfer functions

spaces provided below.
( )=
( )=
( )=
( )/ ( ) and
( )=
( )/ ( ). Fill up the
( )/ ( )
( )/ ( )
Q2.1(b) Compute for the output displacement of the system

and plot them on the space provided.
()
( ) and
( ) to a step force input
()
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Plot of
2.
( ) and
()
Repeat steps 2, 3 and 4 of Activity 1.1 to simulate the mechanical system given.
( ),
( ) and the step input as seen in the waveform chart on
Q2.2(a) Roughly sketch the plot of

the space provided.
Plot of ( ) and
( ) in MATLAB
( ) and
( ) in LabVIEW
Plot of
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Q2.2(b) Interpret the waveforms. How does the position of the masses vary as a step force is
applied to the system at ( )? (Hint: what happens when you apply a step force to the system
above?)
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Q2.2(c) Determine what happens when the surface at which the masses moves on has friction
which is = / for both masses. Plot the new response on a separate sheet of paper and
interpret the results.
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Q2.2(d) Simulate the rotational mechanical system below, plotting the responses ( ) and ( )
with respect to an input step torque.
Plot of
( ) and
( )
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Q2.2(e) Interpret the waveforms. How does the angular position of the inertia vary as a step torque
is applied to the system at ( )?
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VI. CONCLUSIONS
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VII. ASSESSMENT TASKS - MACHINE PROBLEMS
1. Create a MATLAB program or a LabVIEW virtual instrument that will interactively simulate electrical
and mechanical system. System configuration is your choice, just provide the schematic. The interface
must contain controls to adjust the parameters of the components of the system. Build one program or
VI for each of the system (electrical, translational mechanical and rotational mechanical). Graphics can
be integrated into the program. Using these programs or VIs, investigate the effect of the component
values to the time response, error performance and stability of the system.
2.
A position control system can be represented by a block diagram shown below, where K is a constant
gain and G(s) is the transfer function of the plant, which takes the form
K
G(s) =
s(s + a)
where K and a are constants. (Note that G(s) has the same form as the transfer function of a
servomotor.)
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Create a MATLAB program or a LabVIEW virtual instrument to implement and simulate the position
control system as shown. Using this simulator, investigate the effect of the constants K, K and a to
the time response, error and stability of the system.
VIII. REFERENCES
N. Nise. (2011). Control Systems Engineering 6th Edition. United States of America: John Wiley & Sons.
R. Dorf & R. Bishop. (2011). Modern Control Systems 12th Edition. New Jersey: Prentice Hall.
National Instruments (2010).LabVIEW 2010 Control Design and Simulation Module Help. NI Developer
Zone. Retrieved May 31, 2011. From http://zone.ni.com/reference/en-XX/help/371894E-01/
National Instruments (n.d.). What isLabVIEW Control Design and Simulation Module. NI Developer Zone.
Retrieved May 31, 2011. From http://zone.ni.com/devzone/cda/tut/p/id/11281
IX. ASSESSMENT RUBRIC
A. Assessment rubric for the activitys intended learning outcomes (70%)
INTENDED LEARNING
OUTCOMES
Create a program that will

simulate the performance
of electrical system
(MP 1)
A program for
electrical system was
created but does not
work or results vary
significantly from
reality
The program returns

The program works but
The program works,
results that are
the results are doubtful
the results are credible expected and with little
or are inconsistent
but the interface is
or no variation from
when trials are
difficult to use
reality and with user
repeatedly done
friendly interface.
Determine the effect of

component values of
electrical system to the
performance of the system
(MP 1)
An investigation was
made but contains
insufficient data or
limited trials.
A sufficient amount of The data gathered was The data gathered was
data were gathered but analyzed but does not analyzed very well and
was not synthesized
support the
valid conclusions were
properly.
conclusions made.
drawn.
Points
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INTENDED LEARNING
OUTCOMES

of translational mechanical
system
(MP 1)
A program for
translational
mechanical system
was created but does
not work or results
vary significantly from
reality
The program returns

The program works,
results that are
or are inconsistent
when trials are
difficult to use
repeatedly done
friendly interface

component values of
translational mechanical
system to the performance
of the system
(MP 1)
made but contains
limited trials.
was not synthesized
support the
properly.
conclusions made.
drawn.

of rotational mechanical
system
(MP 1)
A program for
rotational mechanical
system was created
but does not work or
results vary
significantly from
reality
The program returns

The program works,
results that are
or are inconsistent
when trials are
difficult to use
repeatedly done
friendly interface

component values of
rotational mechanical
system to the performance
of the system
(MP 1)
made but contains
limited trials.
was not synthesized
support the
properly.
conclusions made.
drawn.

of a position control
system
(MP 2)
component values of
position control system to
the performance of the
system
(MP 2)
Points
A program for a
The program returns
position control system
The program works,
results that are
was created but does
or are inconsistent
not work or results
when trials are
vary significantly from
difficult to use
repeatedly done
reality
friendly interface
made but contains
limited trials.
was not synthesized
support the
properly.
conclusions made.
drawn.
Total Score
Mean Score = (Total Score /8)
Percentage Score = (Total Score / 32) x 100%
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INTENDED LEARNING
OUTCOMES
Points
A = 70% of the Percentage Score
B. Assessment rubric for the conduct of laboratory experiments (30%)

Performance Indicators
Conduct experiments in accordance with

good and safe laboratory practice.
Operate equipment and instruments with

ease
Analyze data, validate experimental values

against theoretical values to determine
possible experimental errors, and provide
valid conclusions.
Points
Members follow good

Members do not follow
Members follow good
and safe laboratory
good and safe laboratory
and safe laboratory
practice most of the time
practice in the conduct of
practice at all times in the
in the conduct of
experiments.
conduct of experiments.
experiments.
Members are unable to
operate the equipment
and instruments.
The group has

incomplete data.
Members are able to

operate equipment and
instrument with
supervision.
Members are able to

operate the equipment
and instruments with
ease and with minimum
supervision.
The group has complete

data but has no analysis
and valid conclusion.
The group has complete

data, validates
experimental values
against theoretical
values, and provides
valid conclusion.
Total Score
Mean Score = (Total Score /3)

Percentage Score = (Total Score / 9) x 100%
B = 30% of the Percentage Score
Laboratory Rating
A
Total
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