BACHELOR OF SCIENCE (B.Sc.

) IN ENGINEERING DISCIPLINES Spring Semester (2012) ANSWER SHEET Soft Copy

Student Name: ______________________________________ Student ID: _____________________________________

Course: Examiner: Date: Duration: Instructions:

Feedback Control Systems Lab (AE 351 / ME 351) Mr. Mohammad Abdul Majid Siddiqi 30/April/2012 2.5 hours

This Answer Sheet Word document includes only those questions where you are asked to save MATLAB code, snapshots of Simulink models or response plots. For questions where you are asked to create Simulink models, create a folder on the Desktop (name it as: Student IDStudent Name) and save all your models in this folder. The names to be used for these models are mentioned in the respective questions. For questions where you are asked to write MATLAB Code, copy your MATLAB code in the space provided in this Word document (in the soft copy). Page 1 of 12

Part I: System Modeling Question 1.3: [25 pts.] Using basic blocks in Simulink (Integrator, Gain, etc.), model the aircraft system of equations (i.e., equations (1), (2) and (3)), using Simulink. Save your Simulink model as AircraftPitchModel_OpenLoop.mdl. [When creating the model, note that the Input to the system is the Elevator Deflection angle (e), and the output of the system is the Pitch angle ()] [Save model on Desktop folder. Include snapshot of model in Word doc]

Question 1.4: [10 + 10 pts.] Simulate the open loop Simulink model created in Question 1.3, for a step input in the Elevator Deflection angle (that is, e = 1). Attach a snapshot of the output plot (Pitch angle () versus time) for a simulation of 15 seconds, and comment of the nature of the output plot. [Attach snapshot of output plot in Word doc. Include comments in hard copy]

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Part II: System Representation

Eqn. (4) Question 2.2: [15 pts.] Use MATLAB to represent the above system (the aircraft pitch model transfer function shown in Eqn. (4)). Save it in a variable called acpitch_sys. [Include MATLAB code in Word doc] Input
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; acpitch_sys=tf(thata,dlta) Transfer function: 1.15 s + 0.18 ------------------------s^3 + 0.739 s^2 + 0.921 s

Output

Question 2.3: [15 pts.] Use MATLAB to obtain the step response of the acpitch_sys system created in Question 2.2, for a simulation of 15 seconds. Attach a snapshot of the step response plot. [Include MATLAB code and step response plot in Word doc] Input
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; acpitch_sys=tf(thata,dlta) step ([0:1:15],acpitch_sys) Output

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Question 2.4: [5 pts.] For the System Transfer Function given by Equation (4), use MATLAB to obtain the State-Space representation. Save the State-Space matrices in variables called A, B, C and D. [Include MATLAB code in Word doc] Input
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; [A,B,C,D]=tf2ss(thata,dlta) Output

A= -0.7390 -0.9210 1.0000 0 0 1.0000 B= 1 0 0 0 0 0

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C= 0 1.1500 0.1800 D= 0

Question 2.5: [5 pts.] Use the SS function in MATLAB to create a state-space object that represents the system (use the A, B, C and D matrices obtained in Question 2.4). Save your system in a variable called sys_ss. [Include MATLAB code in Word doc] Input
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; [A,B,C,D]=tf2ss(thata,dlta); sys_ss = ss(A,B,C,D) Output

a= x1 x1 -0.739 x2 1 x3 0 b= u1 x1 1 x2 0 x3 0 c= y1 d= u1 y1 0 x1 x2 x3 0 1.15 0.18 x2 x3 -0.921 0 0 0 1 0

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Question 2.6: [10 pts.] Use MATLAB to obtain the step response of the sys_ss system created in Question 2.6, for a simulation of 15 seconds. Attach a snapshot of the step response plot. [Note that this response must be the same as the response plot obtained in Question 2.3] [Include MATLAB code and step response plot in Word doc] Input:
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; [A,B,C,D]=tf2ss(thata,dlta); sys_ss = ss(A,B,C,D); step ([0:1:15],sys_ss)

Output:

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Part IV: Controller Design Question 4.1: Proportional Control Simulink [20+5+5 pts.] a. Using the AircraftPitchModel_OpenLoop.mdl Simulink model (created in Question 1.3) as the starting point, create a closed-loop Simulink model (similar to the configuration shown in Fig. 1 on Page 9) with a Proportional Controller (gain Kp). Save your model as PitchController_ClosedLoop_P.mdl. b. Attach a snapshot of the output plot (Theta versus time) for a 50 seconds simulation for a value of Kp = 1. [Note that Theta commanded is equal to 0.2 radians] c. Comment on the nature of the output response plot (obtained in (b) above). Do the overshoot and settling time meet the controller design specifications that were mentioned in Part III? [Save model on Desktop folder. Include snapshot of model in Word doc. Write comments in hard copy]

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Question 4.2: Proportional Control MATLAB [15+10+10+5 pts.] a. Using the acpitch_sys variable created in Question 2.2, use MATLAB to obtain the closed-loop transfer function of the system with a Proportional Controller Kp (use a gain value of Kp = 1). Save the closed-loop transfer function in a variable called sys_cl_p. b. Use MATLAB to obtain the step response of the sys_cl_p system (created in (a)) for a simulation of 50 seconds (value of Kp = 1). Attach a snapshot of the step response plot. c. Use MATLAB to plot the step response plots of the sys_cl_p system (created in (a)) for the following values of Proportional Gain: Kp = 2, 3, 5, 7. Attach a snapshot of the step response plots (all step responses on a single plot) for a simulation of 20 seconds. d. Comment on the nature of the step response plots obtained in (c). How do the following performance parameters vary with increasing values of Proportional Gain (Kp): o Overshoot, Steady-State Error and Settling Time [the step response in part (b) will be similar to that obtained using Simulink in Question 4.1] [Include MATLAB code and step response plot in Word doc] a)
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; acpitch_sys=tf(thata,dlta); kp=1; h=1; ff=series(kp,acpitch_sys); sys_cl_p=feedback(ff,h);

b)

thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; acpitch_sys=tf(thata,dlta); kp=1; h=1; ff=series(kp,acpitch_sys); sys_cl_p=feedback(ff,h); step([0:1:50],sys_cl_p)

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c)
thata=[1.15 0.18]; dlta=[1 0.739 0.921 0]; acpitch_sys=tf(thata,dlta); kp=[2 3 5 7]; h=1; for i=1:4 ff=series(kp(i),acpitch_sys); sys_cl_p=feedback(ff,h); step([0:1:50],sys_cl_p) hold on end

legend (kp=2

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Question 4.3: PID Controller Design Simulink [15+10+10+5 pts.] Create a copy of the PitchController_ClosedLoop_PD.mdl Simulink model created in Question 4.3, and rename it as PitchController_ClosedLoop_PID.mdl. a. Modify the Controller block so that it now represents a Proportional-Integral-Derivative (PID) Controller with gain Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). Be sure to save your model as PitchController_ClosedLoop_PID.mdl.

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b. Modify the Controller Gains Kp, Ki and Kd so that the response meets all the design specifications (make sure none of these gains exceeds a value of 20). Write down these designed values of Controller gains (Kp, Ki and Kd). c. Attach a snapshot of the output plot (Theta versus time) for a 30 seconds simulation for the designed values of Kp, Ki and Kd. [Note that Theta commanded is equal to 0.2 radians] d. Comment on the nature of the output response plot (obtained in (c) above). Are all the Controller design specifications (mentioned in Part III) met? [Save model on Desktop folder. Include snapshot of model in Word doc. Write comments in hard copy]

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