Circuit and Control System IPCC Laboratory (21EC43)
3) Speed torque characteristics of i)AC Servomotor ii) DC Servomotors
% Speed-Torque Characteristics of AC and DC Servomotors
% Define the parameters of the AC servomotor
P = 4; % Number of poles
V = 220; % Voltage
f = 50; % Frequency
R = 1; % Resistance
L = 0.1; % Inductance
J = 0.01; % Moment of inertia
B = 0.1; % Viscous friction coefficient
% Define the AC servomotor transfer function
num = [1];
den = [L*J (R*J + L*B) (R*B + K^2)];
G_ac = tf(num, den);
% Define the parameters of the DC servomotor
K = 0.1; % Torque constant
R = 1; % Resistance
L = 0.1; % Inductance
J = 0.01; % Moment of inertia
B = 0.1; % Viscous friction coefficient
% Define the DC servomotor transfer function
num = [K];
den = [L*J (R*J + L*B) (R*B + K^2)];
G_dc = tf(num, den);
% Plot the speed-torque characteristics of the AC servomotor
subplot(2,1,1);
t = 0:0.01:10;
u = 10*sin(t);
[y, t] = lsim(G_ac, u, t);
plot(y, u);
xlabel('Torque');
ylabel('Speed');
title('AC Servomotor Speed-Torque Characteristics');
% Plot the speed-torque characteristics of the DC servomotor
subplot(2,1,2);
t = 0:0.01:10;
u = 10*sin(t);
[y, t] = lsim(G_dc, u, t);
plot(y, u);
xlabel('Torque');
ylabel('Speed');
title('DC Servomotor Speed-Torque Characteristics');
The parameters of the AC and DC servomotors and their transfer functions. We then simulate the
response of the servomotors to a sinusoidal torque input and plot the speed-torque characteristics.
The speed-torque characteristics of the AC servomotor show that the speed is proportional to the
frequency of the AC power supply and the torque is proportional to the current flowing through
the windings. The speed-torque characteristics of the DC servomotor show that the speed is
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
1
Circuit and Control System IPCC Laboratory (21EC43)
proportional to the torque and the torque is proportional to the current flowing through the
windings.
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
2
Circuit and Control System IPCC Laboratory (21EC43)
4) Determination of time response specification of a second order under damped System, fordifferent
damping factors.
% Second-Order Underdamped System Example
% Given System
wn = 10; % Natural Frequency
zeta = [0.1 0.3 0.5 0.7 0.9]; % Damping Ratio
% Calculate Time Response Specification for Different Damping Factors
for i = 1:length(zeta)
% Calculate Damped Natural Frequency
wd = wn*sqrt(1-zeta(i)^2);
% Calculate Time Response Specification
tr = pi/(wd*sqrt(1-zeta(i)^2));
ts = 4/(zeta(i)*wd);
Mp = exp(-zeta(i)*pi/sqrt(1-zeta(i)^2));
% Display Results
fprintf('Damping Ratio = %.1f\n', zeta(i));
fprintf('Damped Natural Frequency = %.2f rad/s\n', wd);
fprintf('Rise Time = %.2f s\n', tr);
fprintf('Settling Time = %.2f s\n', ts);
fprintf('Percent Overshoot = %.2f %%\n\n', Mp*100);
end
Result:
Damping Ratio = 0.1
Damped Natural Frequency = 9.95 rad/s
Rise Time = 0.32 s
Settling Time = 4.02 s
Percent Overshoot = 72.92 %
Damping Ratio = 0.3
Damped Natural Frequency = 9.54 rad/s
Rise Time = 0.35 s
Settling Time = 1.40 s
Percent Overshoot = 37.23 %
Damping Ratio = 0.5
Damped Natural Frequency = 8.66 rad/s
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
Rise Time = 0.42 s
Settling Time = 0.92 s
Percent Overshoot = 16.30 %
Damping Ratio = 0.7
Damped Natural Frequency = 7.14 rad/s
Rise Time = 0.62 s
Settling Time = 0.80 s
Percent Overshoot = 4.60 %
Damping Ratio = 0.9
Damped Natural Frequency = 4.36 rad/s
Rise Time = 1.65 s
Settling Time = 1.02 s
Percent Overshoot = 0.15 %
Note that program calculates the time response specification of a second-order underdamped system for
different damping ratios. The program first defines the natural frequency and damping ratio of the system.
Then, it calculates the damped natural frequency, rise time, settling time, and percent overshoot for each
damping ratio using the formulas:
- Damped Natural Frequency: wd = wn*sqrt(1-zeta^2)
- Rise Time: tr = pi/(wd*sqrt(1-zeta^2))
- Settling Time: ts = 4/(zeta*wd)
- Percent Overshoot: Mp = exp(-zeta*pi/sqrt(1-zeta^2))
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
5) Determination of frequency response of a second order System
% Second-Order System Frequency Response Example
% Given System
wn = 10; % Natural Frequency
zeta = 0.5; % Damping Ratio
% Define Transfer Function
num = wn^2;
den = [1 2*zeta*wn wn^2];
sys = tf(num, den);
% Define Frequency Range
w = logspace(-1, 2, 1000);
% Calculate Frequency Response
[mag, phase] = bode(sys, w);
% Reshape data to 2D matrix
mag2d = reshape(mag, [], size(mag, 3));
phase2d = reshape(phase, [], size(phase, 3));
% Plot Frequency Response
figure;
subplot(2,1,1);
semilogx(w, 20*log10(mag2d));
grid on;
title('Magnitude Response');
xlabel('Frequency (rad/s)');
ylabel('Magnitude (dB)');
subplot(2,1,2);
semilogx(w, phase2d);
grid on;
title('Phase Response');
xlabel('Frequency (rad/s)');
ylabel('Phase (deg)');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
6) Determination of frequency response of a lead lag compensator
% Lead-Lag Compensator Frequency Response Example
% Given System
K = 1; % Gain
wn = 10; % Natural Frequency
zeta = 0.5; % Damping Ratio
M = 10; % DC Gain
alpha = 0.1; % Lag Ratio
beta = 10; % Lead Ratio
% Define Transfer Function
num = [M*alpha*beta K*M*alpha K];
den = [1 2*zeta*wn wn^2];
sys = tf(num, den);
% Define Frequency Range
w = logspace(-1, 2, 1000);
% Calculate Frequency Response
[mag, phase] = bode(sys, w);
% Reshape data to 2D matrix
mag2d = reshape(mag, [], size(mag, 3));
phase2d = reshape(phase, [], size(phase, 3));
% Plot Frequency Response
figure;
subplot(2,1,1);
semilogx(w, 20*log10(mag2d));
grid on;
title('Magnitude Response');
xlabel('Frequency (rad/s)');
ylabel('Magnitude (dB)');
subplot(2,1,2);
semilogx(w, phase2d);
grid on;
title('Phase Response');
xlabel('Frequency (rad/s)');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
6
Circuit and Control System IPCC Laboratory (21EC43)
ylabel('Phase (deg)');
7) Using Suitable simulation package study of speed control of DC motor using
i) Armature control
ii) Field control
% Speed Control of DC Motor using Armature Control and Field Control
% Define the parameters of the DC motor
Ra = 1; % Armature resistance
La = 0.1; % Armature inductance
Kt = 0.1; % Torque constant
J = 0.01; % Moment of inertia
B = 0.1; % Viscous friction coefficient
Rf = 1; % Field resistance
Lf = 0.1; % Field inductance
% Define the transfer function of the DC motor
num = [Kt];
den = [J*La B*La+(J*Rf) B*Rf+Kt*Kt];
G = tf(num, den);
% Define the input signal
t = 0:0.01:10;
u = 10*sin(t);
% Simulate the DC motor with armature control
Kp = 1;
Ki = 0.1;
C_arm = pid(Kp, Ki);
T_arm = feedback(C_arm*G, 1);
[y_arm, t] = lsim(T_arm, u, t);
% Simulate the DC motor with field control
Kp = 1;
Ki = 0.1;
C_field = pid(Kp, Ki);
T_field = feedback(G*C_field, 1);
[y_field, t] = lsim(T_field, u, t);
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
% Plot the results
subplot(2,1,1);
plot(t, u, 'b', t, y_arm, 'r');
xlabel('Time (s)');
ylabel('Speed (rad/s)');
title('Armature Control');
legend('Input', 'Output');
subplot(2,1,2);
plot(t, u, 'b', t, y_field, 'r');
xlabel('Time (s)');
ylabel('Speed (rad/s)');
title('Field Control');
legend('Input', 'Output');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
8) Using suitable simulation package, draw Root locus & Bode plot of the given transfer function.
Here transfer function `sys` using the numerator and denominator coefficients. We then use the `rlocus` function to
plot the root locus of the system and the `bode` function to plot the Bode plot of the system.
% Given Transfer Function
num = [1 2];
den = [1 4 3];
sys = tf(num, den);
% Root Locus Plot
figure;
rlocus(sys);
grid on;
title('Root Locus Plot');
% Bode Plot
figure;
bode(sys);
grid on;
title('Bode Plot');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
9) Using suitable simulation package, obtain the time response from state model of a system.
% Given State Model
A = [-2 -1; 1 -2];
B = [1; 0];
C = [0 1];
D = 0;
sys = ss(A, B, C, D);
% Define Input Signal
t = linspace(0, 10, 1000);
u = sin(t);
% Simulate System Response
[y, t, x] = lsim(sys, u, t);
% Plot System Response
figure;
plot(t, y);
grid on;
title('System Response');
xlabel('Time (s)');
ylabel('Output');
In this example, we define a state model `sys` using the state-space matrices `A`, `B`, `C`, and `D`.
We then define an input signal `u` and a time vector `t` for simulation. We use the `lsim` function to
simulate the system response to the input signal and obtain the output `y`, time vector `t`, and state
vector `x`. Finally, we plot the system response over time using the `plot` function.
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
10) Implementation of PI, PD Controllers.
PI Controllers:
In this example, we define a transfer function `G` for the given system. We then define the parameters `Kp` and `Ki`
for the PI controller and calculate the transfer function `C`. We use the `feedback` function to obtain the closed-loop
system transfer function `sys`. Finally, we plot the step response of the closed-loop system using the `step` function.
% Given System
s = tf('s');
G = 1/(s*(s+1));
% PI Controller Parameters
Kp = 1;
Ki = 1;
% PI Controller Transfer Function
C = Kp + Ki/s;
% Closed-Loop System Transfer Function
sys = feedback(C*G, 1);
% Step Response
step(sys);
grid on;
title('Step Response with PI Controller');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
PD Controller:
In this example, we define a transfer function `G` for the given system. We then define the parameters
`Kp` and `Kd` for the PD controller and calculate the transfer function `C`. We use the `feedback`
function to obtain the closed-loop system transfer function `sys`. Finally, we plot the step response of the
closed-loop system using the `step` function.
% Given System
s = tf('s');
G = 1/(s*(s+1));
% PD Controller Parameters
Kp = 1;
Kd = 1;
% PD Controller Transfer Function
C = Kp + Kd*s;
% Closed-Loop System Transfer Function
sys = feedback(C*G, 1);
% Step Response
step(sys);
grid on;
title('Step Response with PD Controller');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
11) Implement a PID Controller and hence realize an Error Detector.
In this example, we define a plant transfer function `G` and a PID controller transfer function `C`. We then use the
`feedback` function to define the closed-loop transfer function `T`. We simulate the closed-loop system using the
`lsim` function and plot the input and output signals. Finally, we calculate and plot the error signal `e` by subtracting
the output signal from the input signal.
% PID Controller and Error Detector Example
% Define the plant transfer function
num = [1];
den = [1 10 20];
G = tf(num, den);
% Define the PID controller transfer function
Kp = 1;
Ki = 0.1;
Kd = 0.01;
C = pid(Kp, Ki, Kd);
% Define the closed-loop transfer function
T = feedback(C*G, 1);
% Define the input signal
t = 0:0.01:10;
r = sin(t);
% Simulate the closed-loop system
[y, t] = lsim(T, r, t);
% Plot the results
subplot(2,1,1);
plot(t, r, 'b', t, y, 'r');
xlabel('Time (s)');
ylabel('Amplitude');
title('Input (blue) and Output (red)');
% Calculate and plot the error signal
e = r - y;
subplot(2,1,2);
plot(t, e, 'g');
xlabel('Time (s)');
ylabel('Amplitude');
title('Error Signal');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
13
Circuit and Control System IPCC Laboratory (21EC43)
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
14
Circuit and Control System IPCC Laboratory (21EC43)
12) Demonstrate the effect of PI, PD and PID controller on the system response.
In this example, a plant transfer function `G` and an input signal `r`. We then define the PI, PD, and PID controller
transfer functions `C_pi`, `C_pd`, and `C_pid`, respectively. We use the `feedback` function to define the closed-
loop transfer functions `T_pi`, `T_pd`, and `T_pid`. We simulate the closed-loop systems with each controller using
the `lsim` function and plot the results.
Modify can be done on the controller gains and plant transfer function to observe the effect of different controller
configurations on the system response
% PI, PD, and PID Controller Example
% Define the plant transfer function
num = [1];
den = [1 10 20];
G = tf(num, den);
% Define the input signal
t = 0:0.01:10;
r = sin(t);
% Define the PI controller transfer function
Kp = 1;
Ki = 0.1;
C_pi = pid(Kp, Ki);
% Define the PD controller transfer function
Kp = 1;
Kd = 0.1;
C_pd = pid(Kp, 0, Kd);
% Define the PID controller transfer function
Kp = 1;
Ki = 0.1;
Kd = 0.01;
C_pid = pid(Kp, Ki, Kd);
% Simulate the closed-loop system with PI controller
T_pi = feedback(C_pi*G, 1);
[y_pi, t] = lsim(T_pi, r, t);
% Simulate the closed-loop system with PD controller
T_pd = feedback(C_pd*G, 1);
[y_pd, t] = lsim(T_pd, r, t);
% Simulate the closed-loop system with PID controller
T_pid = feedback(C_pid*G, 1);
[y_pid, t] = lsim(T_pid, r, t);
% Plot the results
subplot(2,2,1);
plot(t, r, 'b', t, y_pi, 'r');
xlabel('Time (s)');
ylabel('Amplitude');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
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Circuit and Control System IPCC Laboratory (21EC43)
title('PI Controller');
legend('Input', 'Output');
subplot(2,2,2);
plot(t, r, 'b', t, y_pd, 'r');
xlabel('Time (s)');
ylabel('Amplitude');
title('PD Controller');
legend('Input', 'Output');
subplot(2,2,3);
plot(t, r, 'b', t, y_pid, 'r');
xlabel('Time (s)');
ylabel('Amplitude');
title('PID Controller');
legend('Input', 'Output');
Prepared by Mr. Praveen A Patil, Asst. Professor, Dept. of ECE
verified by Dr. Bharathi Gururaj, HOD, ECE,ACSCE, BANGALORE
16
