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Untitled 8

The document defines parameters for a DC motor system and calculates its state space representation, eigenvalues, step response, frequency response, and impulse, step, and ramp responses. It provides values for the state, input, and output matrices, eigenvalues, natural frequencies, step response characteristics, bode plot frequencies and magnitudes, and time and amplitude values for the impulse, step, and ramp responses.

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xigis95867
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11 views8 pages

Untitled 8

The document defines parameters for a DC motor system and calculates its state space representation, eigenvalues, step response, frequency response, and impulse, step, and ramp responses. It provides values for the state, input, and output matrices, eigenvalues, natural frequencies, step response characteristics, bode plot frequencies and magnitudes, and time and amplitude values for the impulse, step, and ramp responses.

Uploaded by

xigis95867
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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J = 0.01; % Rotor moment of inertia (kg.

m^2)
b = 0.1; % Friction coefficient (N.m.s)
Ke_dc = 0.01; % Electromotive force (V/rad/sec)
Kt_dc = 0.01; % Motor torque constant (N.m/A)
R_dc = 1; % Resistance (Ohm)
L_dc = 0.5; % Inductance (H)

A_matrix = [0 1 0; 0 -b/J Kt_dc/J; 0 -Ke_dc/L_dc -R_dc/L_dc];


B_matrix = [0; 0; 1/L_dc];
C_matrix = [1 0 0];
D_matrix = 0;

system_ss = ss(A_matrix, B_matrix, C_matrix, D_matrix);


poles_dc_system = eig(A_matrix);
gain_DC = C_matrix * inv(-A_matrix) * B_matrix + D_matrix;

Warning: Matrix is singular to working precision.

[num_dc, den_dc] = ss2tf(A_matrix, B_matrix, C_matrix, D_matrix);


damping_dc_info = damp(tf(num_dc, den_dc));
zeros_dc_system = tzero(system_ss);
step_info_dc = stepinfo(system_ss);
frequency_dc = logspace(-1, 2, 100);
[magnitude_dc, phase_dc] = bode(system_ss, frequency_dc);

figure;
subplot(2, 1, 1);
semilogx(frequency_dc, 20*log10(magnitude_dc(:)));
title('Frequency Response - Magnitude');
xlabel('Frequency (rad/sec)');
ylabel('Magnitude (dB)');
grid on;
subplot(2, 1, 2);
semilogx(frequency_dc, phase_dc(:));
title('Frequency Response - Phase');
xlabel('Frequency (rad/sec)');
ylabel('Phase (degrees)');
grid on;

1
time_impulse_dc = 0:0.01:5;
impulse_response_dc = impulse(system_ss, time_impulse_dc);
figure;
plot(time_impulse_dc, impulse_response_dc);
title('Impulse Response');
xlabel('Time (seconds)');
ylabel('Amplitude');
grid on;

2
time_step_dc = 0:0.01:5;
step_response_dc = step(system_ss, time_step_dc);
figure;
plot(time_step_dc, step_response_dc);
title('Step Response');
xlabel('Time (seconds)');
ylabel('Amplitude');
grid on;

3
time_ramp_dc = 0:0.01:5;
ramp_response_dc = lsim(system_ss, time_ramp_dc, time_ramp_dc);
figure;
plot(time_ramp_dc, ramp_response_dc);
title('Ramp Response');
xlabel('Time (seconds)');
ylabel('Amplitude');
grid on;

4
disp('Motor Characteristics:');

Motor Characteristics:

disp(['State Matrix A:']);

State Matrix A:

disp(A_matrix);

0 1.0000 0
0 -10.0000 1.0000
0 -0.0200 -2.0000

disp(['Input Matrix B:']);

Input Matrix B:

disp(B_matrix);

0
0
2

disp(['Output Matrix C:']);

Output Matrix C:

disp(C_matrix);

1 0 0

5
disp(['Direct Transmission Matrix D:']);

Direct Transmission Matrix D:

disp(D_matrix);

disp(['Eigenvalues (Poles):']);

Eigenvalues (Poles):

disp(poles_dc_system);

0
-9.9975
-2.0025

disp(['Gain Analysis:']);

Gain Analysis:

disp(gain_DC);

NaN

disp(['Natural Frequency, Damping Ratio:']);

Natural Frequency, Damping Ratio:

disp(['Damping Ratio: ', num2str(damping_dc_info(:, 1)')]);

Damping Ratio: 0 2.0025 9.9975

if size(damping_dc_info, 2) > 1
disp(['Natural Frequency (rad/sec): ', num2str(damping_dc_info(:, 2)')]);
else
disp('Natural Frequency information not available.');
end

Natural Frequency information not available.

disp(['Zeros and Poles:']);

Zeros and Poles:

disp(['Poles: ', num2str(poles_dc_system')]);

Poles: 0 -9.9975 -2.0025

disp(['Zeros: ', num2str(zeros_dc_system')]);

Zeros:

disp(['Characteristics: Settling Time, Rise Time, Overshoot Percentage:']);

Characteristics: Settling Time, Rise Time, Overshoot Percentage:

6
disp(['Settling Time (sec): ', num2str(step_info_dc.SettlingTime)]);

Settling Time (sec): NaN

disp(['Rise Time (sec): ', num2str(step_info_dc.RiseTime)]);

Rise Time (sec): NaN

disp(['Overshoot (%): ', num2str(step_info_dc.Overshoot)]);

Overshoot (%): NaN

disp(['Frequency Response (Bode plot):']);

Frequency Response (Bode plot):

disp(['Frequency (rad/sec): ', num2str(frequency_dc)]);

Frequency (rad/sec): 0.1 0.1072267 0.1149757 0.1232847 0.1321941 0.1417474 0.1519911 0.1

disp(['Magnitude (dB): ', num2str(20*log10(magnitude_dc(:))')]);

Magnitude (dB): -0.01993282 -0.6276761 -1.235671 -1.843954 -2.452568 -3.061564 -3.670996

disp(['Phase (degrees): ', num2str(phase_dc(:)')]);

Phase (degrees): -93.43192 -93.67955 -93.94499 -94.2295 -94.53443 -94.86124 -95.21146 -

disp(['Impulse Response:']);

Impulse Response:

disp(['Time (sec): ', num2str(time_impulse_dc)]);

Time (sec): 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

disp(['Amplitude: ', num2str(impulse_response_dc')]);

Amplitude: 0 9.6101e-05 0.00036959 0.00079989 0.0013685 0.0020586 0.0028552 0.0037448 0.0047152 0.005

disp(['Step Response:']);

Step Response:

disp(['Time (sec): ', num2str(time_step_dc)]);

Time (sec): 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

disp(['Amplitude: ', num2str(step_response_dc')]);

Amplitude: 0 3.2354e-07 2.5131e-06 8.2378e-06 1.8972e-05 3.6012e-05 6.0498e-05 9.3426e-05 0.00013566 0.0001

disp(['Ramp Response:']);

Ramp Response:

disp(['Time (sec): ', num2str(time_ramp_dc)]);

7
Time (sec): 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

disp(['Amplitude: ', num2str(ramp_response_dc')]);

Amplitude: 0 8.1367e-10 1.2715e-08 6.2881e-08 1.9419e-07 4.6335e-07 9.3926e-07 1.7015e-06 2.8388e-06 4.4483

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