CONTROL SYSTEMS

LAB 07
Physical Feedback Systems Simulation Using Simulink Models.
A common actuator in control systems is the DC motor. It directly provides rotary motion
and, coupled with wheels or drums and cables, can provide transitional motion. The
electric circuit of the armature and the free body diagram of the rotor are shown in the
following figure:

Transfer Function
Using Laplace Transforms, the above modeling equations can be expressed in terms of s.

By eliminating I(s) we can get the following open-loop transfer function, where the
rotational speed is the output and the voltage is the input.

The block diagram of a dc motor (armature-controlled) system is shown in Fig.

Block diagram of a dc motor (armature-controlled) system

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where
is the resistance of the motor armature (ohms) = 1.75
is the inductance of the motor armature (H) = 2.83
is the torque constant (Nm/A) = 0.0924
is the back emf constant (V sec/rad) = 0.0924
is the inertia seen by the motor (includes inertia of the load) (kg-m2 ) =
is the mechanical damping coefficient associated with rotation (Nm/(rad/sec))= 5.0
is the applied voltage (volts) = 5 volts

Let us first identify the SIMULINK blocks required to implement the block diagram of Fig. M3.6. This
is given in Fig.

SIMULINK blocks required for implementation

Identifying the block(s) required for simulation purpose is in fact the first step of the construction of
simulation diagram in SIMULINK. The next step is to “drag and drop ” the required blocks from
SIMULINK block libraries to untitled workspace. Let us put the very first block for applied voltage
(Ea) to workspace.

Expand the Sources subnode, move the pointer and click the block labeled Constant, and while
keeping the mouse button pressed down, drag the block and drop it inside the Simulation Window; then
release the mouse button.

Right clicking on the block will provide various options to users from which one can cut, copy, delete,
format (submenu provides facilities for rotation of the block, flipping, changing the font of block
name,...), etc... Apply same procedure for all blocks to get the following model.

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Run the simulation and double click on angular velocity block. You will get the step response of the
system.

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 CONTROL SYSTEMS

Lab Task 01:

Consider a speed control system. The actuator for the motor is a power amplifier.
An amplifier gives a saturating behaviour if the error signal input to the amplifier
exceeds linear range value.

The amplifier gain is 100 and the transfer function of the motor is 0.2083/(s
+1.71). We assume the amplifier of gain 100 saturates at +5 or -5volts. The step
input is 10 volts. Make a simulink model and plot step response.

Lab Task 02:

Consider a temperature control system with measurement noise added to the

feedback signal. The process transfer function is

The simulink inputs a step of 30 to the system. A gain of 3.37. A dead time block
of 0.4 sec between scope and TF blocks.

Design the system in simulink, and show the step response. What will be the
effect of changing value of gain block.

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