1.

0 OBJECTIVE OF OUR CONTROL DESIGN:

The objective of our control design is to control the movement (Ө) of sliding gate in
order to achieve the distance which is setting by user.

X1 (Input) X0 (Output)

Distance

Figure 1: The slider gate in process of movement

The actual of interest to be control for this automatic sliding gate system is
velocity displacement, 𝜃 of gate by motor rotation. The average velocity v of an

object moving through a displacement during a time interval (Δt) is described by

the formula:

The important parameters required to study the motion along a straight line are
displacement and velocity. The measure of length of the path is the distance travelled by
the particle and the shortest distance between the initial and final position of the particle
is called displacement.
 The distance travelled by a particle by, however, is different from its displacement
from the origin. For example , if the particle moves from a point O to position P1 and then
to position P2, its displacement at the position P2 is -x2 from origin but , the distance
travelled by the particle is x1+x1+x2 = 2x1+x2 as shown in figure. The distance travelled is
a scalar quantity and the distance is a vector quantity.

We choose distance as a important or interest to be controlled parameter because

to make sure the sliding gate can fully close at the same time with the timer of rotating
motor. There are two (2) situations below shown why the distance (x) as a important
parameter to be controller.

 Situation 1: The sliding gate is not fully close

X1 (Input) X0 (Output)

Not fully close

Figure 2: the sliding gate with not fully close condition

The first situation above shown is the location of the gate is not fully close. This is because, the
time is not enough to gate fully close is not enough by rotation of motor. So, we should consider
the distance of gate to move until fully close with the total rotation of motor that we need.
  Situation 2 (The sliding gate move over of limitation)

X1 (Input) X0 (Output)

Over limit

Figure 3: the sliding gate with move over limit

The second situation shown about the location of sliding gate is across over limit. This is
because, the motor rotate non-stop faster than previous situation. So, we need to control
and consider the time for rotating motor with the distance that necessity for gate to fully
close without across over the limitation.
2.0 Introduction of damping ratio, natural frequency, settling time, peak time and
overshoot

2.0.1 We always choose the typical signal as the input when analyzing the transient response
because of the following advantages:

1. It simplifies mathematical calculation. The performance indices under the given typical
signal are convenient for system analysis and synthesis.
2. The response to a typical input can often be used as the basic for analyzing the
performance of a system under very complex inputs.
3. It is easier to determine the transfer function of unknown links in the system.

Peak Time
Peak Time (tp) is the time that the response takes to reach its first peak value( which will be the only time
that this value is achieved for a stable system

tp 
wn 1   2
Natural Frequency
Natural frequency is the frequency at which a system naturally vibrates once it has been set into
motion. In other words, natural frequency is the number of times a system will oscillate (move
back and forth) between its original position and its displaced position, if there is no outside
interference

Settling time
The time required for the dynamics system response to reach and stay within a threshold of the final
value. The default threshold is 1%
4
ts 
wn
Overshoot

The dynamic system response value that most exceeds unity, expressed as a percent.

Figure 4: performance indices of transient response

2.02 Our setting specification to fulfill our objective:

Maximum overshoot, Mp=2%

The value setting by us
Peak time, tp=2sec
 Damping ratio, 



1 2
Mp  e

ln 0.02  
1  2

 3.912  
1  2
1
 
1.645
  0.779

 Natural frequency, wn


tp 
wn 1   2

2
wn 1  (0.779) 2

wn (0.6271) 
2
wn  2.505rad / s

 Settling time, ts

4
ts 
 wn
4
ts 
0.779(2.505)
ts  2.05s
ii) Defined from the steady state error aspect. Does your system need to have / no to have any
error? Explain your justification.

Figure 5: block diagram in MATLAB 7.0

Transfer function: Close loop system

 (S ) K [ K ( S  1)]

Vi ( S ) ( S  1)(S  S )  K [ K  ( S  1)
2

 (S ) K [ K ( S  1)] K [ K ( S  1)]
  3
Vi ( S ) ( S  1)(S  S )  K [ K  ( S  1) S  2S  ( K  1) S  K 2  K
2 2

S3 1 2 0
S2 K+1 K2 +K

2( K  1)  ( K 2  K )
0
K 1
S1 -K2-K+2K-2=0 0
( K-2)(K+1) = 0
K = 2 and -1
S0 K2 +K

The range of K is: -1 < K < 2

The justification:

According to steady state error analysis, we found the range of gain (K) is from -1 to 2. It means
our system have some error. These systems have some error due to disturbance like friction during the
gate make move to open or close the gate by using motor. The weight of the gate also brings some error
due to gravity. So, the motor specification such as torque and speed must be support the weight of gate
and can move the gate. In order to overcome the steady state error, we setting Maximum overshoot,
Mp=2% and Peak time, tp=2sec. The damping ratio we calculate is 0.779, Natural frequency, wn
is 2.50 rad/s and Settling time, ts is = 2.05s.
3.0 By default you will opt in to implement a close loop feedback system for your plant

i) analyze how effective is your proposed close loop system in terms of steady state error compared to the
performance in open loop system

Open loop system:

Transfer function: open loop system

 (S ) 0.213( S  1)

Vi ( S ) S ( S 2  2S  1)

Steady state error: Open loop error

i) K P  lim GH s 
s 0

 0.213( S  1)  0.213(0  1)
K P  lim   

s 0 S S 2  2 S  1
  00  0  1

ii) KV  lim sGH ( s)

s 0

 0.213( S  1)  0.213(0  1)
 lim s    2  0.213
 S ( S  2S  1)  (0  2(0)  1)
s 0 2

iii) K a  lim s 2GH s 

s 0

 0.213( S  1)   0.213( S  1) 
 lim s 2    lim s  2 0
 S ( S  2S  1)  s 0  ( S  2S  1) 
s 0 2
Close loop system:

Steady state error: close loop error

i) ess step   
1 1
 
1  lim GH 1  K P
s 0

  1 
ii) essramp    lim s 
1
 2 
s 0
1  GH ( s)  s 
 
essramp    lim 
1 1
 
s 0 s  sGH ( s )
  0  lim sGH s 
s 0

essramp   
1 1
  4.695
KV 0.213

  1   
iii) ess    lim .s 
1 1
 3   lim . 2 2 
s 0
1  GH ( s)  s  s 0  s  s GH ( s) 

ess parabolic  
1
2
lim s GH ( s)
s 0

ess parabolic  
1
0
Ka
Comparison between the value of Kv and essramp 

 Open loop error, Kv = 0.213

 Close loop error, essramp   4.695

The value of Kv < essramp  . Even though the Close loop error is bigger than Open loop value

but we still choose Close Loop method to representative in transfer function and still minimax
the error by using integration.

The reason why choose close loop because:

 Close loop system is less sensitivity to disturbance, noise and its got ability to correct
these disturbances and noise.
 The close loop system components for disturbance by measuring the output response,
feeding that measurement back thought a feedback path. if there is any difference
between two responses, the system drive the plant, via actuating signal, to make
correction.
 Transient response and steady-state error can be controlled more conveniently and with
greater flexibility in close loop system, often by a simple adjustment of gain
(amplification) in loop and sometimes by redesigning the controller.
ii) How stable is your close loop system? Explain why?

Figure 6: Close loop system output

According to the graph shown in above, we can conclude now the system is stable when
compare with previous time response graph with open loop system. After 150 seconds the
system is start to stable. The disturbance are occur in this system was corrected by feed back
path.
4.0 Conclusion:

This automatic slider gate system is now stable but there are still same factor such as
settling time, peak time and overshoot can’t achieve the desire value. This is because the
controller such as P controller, PI controller or PID controller not install yet. So we suggested the
PID controller is most suitable controller for this system which is can able to correct the big
value of disturbance and noise.

Reference:

On-line
1. http://en.wikipedia.org/wiki/Control_system
2. http://www.mathworks.com/products/control/
3. http://www.staff.ncl.ac.uk/j.w.finch/CS%20Matlab%20Exercises.pdf

Off-line

1. Kuphaldt, Tony R.. "Chapter 6 LADDER LOGIC". Lessons In Electric Circuits --

Volume IV. Retrieved 22 September 2010.