1) The document describes the design of PD and PID controllers for a plant using root locus analysis and MATLAB simulations. A PD controller was designed to meet specifications for overshoot and settling time.
2) Next, a feedback compensation problem was analyzed where the minor loop was designed to meet specifications, and then the major loop was designed.
3) Finally, a PI controller was added to reduce the steady state error to zero for the major loop response. Simulations verified the designed system met all specifications.
Diseno en ingenieria mecanica de Shigley - 8th ---HDes
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How to Use KENPAVE Software to find out the tensile and radial stresses acting due to wheel load.
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International Journal of Engineering Research and Development (IJERD)IJERD Editor
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Diseno en ingenieria mecanica de Shigley - 8th ---HDes
descarga el contenido completo de aqui http://paralafakyoumecanismos.blogspot.com.ar/2014/08/libro-para-mecanismos-y-elementos-de.html
How to Use KENPAVE Software to find out the tensile and radial stresses acting due to wheel load.
KENPAVE Software used to analyse pavement design to check whether pavement is failed in Rutting or Fatigue due to repetitive cycles of loading.
International Journal of Engineering Research and Development (IJERD)IJERD Editor
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In this presentation we can get to know how we can construct a bode plot with suitable examples Of different -different orders.
Along with that a simulation model on MATLAB with graph.
And in this we have explained about the transfer function, poles & zeroes.And the basic concept of stability.
CONTROL SYSTEMS PPT ON A LEAD COMPENSATOR CHARACTERISTICS USING BODE DIAGRAM ...sanjay kumar pediredla
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Along with that a simulation model on MATLAB with graph.
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CONTROL SYSTEMS PPT ON A LEAD COMPENSATOR CHARACTERISTICS USING BODE DIAGRAM ...sanjay kumar pediredla
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About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
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Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
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• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
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Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
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Project final control
1. United International University
Dept. Of Electrical & Electronic Engineering (EEE)
EEE 402
Control System Laboratory
ID
Name
Section
Project Name
Date of Submission
Disclaimer:
I thereby certify that, this Project is prepared by me only, and I did not
copy any part of this from anybody and did not let other copy any part of
my Project.
Sharif Ahmed
Signature of the student
0 2 1 1 2 1 1 1 1
Sharif Ahmed
A
Part-A : Design a pd controller using root locus method and SISOTOOL design tool
Part-B: Design a feedback compensator using root locus method and SISO design tool
2 1 . 1 2 . 1 4
2. Project on:
Part a: Study of PD compensation& Part (b): Study of feedback compensation
Part a: Study of PD compensation
Design requirement:
Given the transfer function
)10)(6)(4(
)(
sss
K
sG
Design a controller that will yield no more than
25% overshoot and no more than a 2-second
settling time for a step input and zero steady state error for step and ramp inputs.
Calculation:
Before compensation:
i)%OS=25
ii)Ts=2 sec
dominant pole= -2±j4.53324
Procedure:
1. Using SISO Design tool, create the design for a unity negative feedback systemwith
)10)(6)(4(
)(
sss
K
sG and plot the root locus.
2. From Edit| SISO Tool Preferences window, select Options tab, select Zero/pole/gain
radio button under Compensator Format and click Ok.
3. Right click on the SISO Design Tool window and then click on Grid.
4. Right click on the SISO Design Tool window and then click on Design Constraints| New
from the appeared window. Select Constraint Type as Percent Overshoot, set Percent
Overshoot as 25 and click Ok.
5. Select the closed-loop pole at the intersection of shadowed region and the root locus.
Write down the value obtained in the C(s) text box. Also, write down the closed-loop
poles and damping ratio obtained from View| Closed Loop Poles.
6. Select Analysis| Response to Step Command. Write down the values of percent
overshoot, peak time, settling time and steady state error from the appeared window of
LTI Viewer for SISO Design Tool.
3. Calculate the imaginary part, d and real part, d of the compensated dominant pole from
the two seconds settling time obtained in Step 6.
7. Find the sum of angles, 𝝨ϴ from the uncompensated system’s poles and zeros to the
desired dominant pole calculated in step 7. Then, calculate the location of compensator
zero, Zc using the formula ωd/(zc – σd) = tan (𝝨ϴ - 180 ̊)
8. Set the Value of the calculated compensated real zero to the root locus using the
window appeared after selecting Compensators| Edit | C, the value of which is obtained
in step 8.
9. Repeat step 6 and discus your findings. This is the end of PD compensation.
10. Set another real zero at -0.001 and a pole at 0 using window appeared after selecting
Compensators| Edit| C.
11. Repeat step 6 and discuss your findings. This is the end of PID compensation.
Before compensation:
For 25% Overshoot:
Dominantpole =- 2.71 ± 6.14i
K = 418
= 0.404
Now,
Kp = 0
lim
s K G(s)
= 0
lim
s
( 4)( 6)( 10)
K
s s s
=
4*6*10
K
=
418
4*6*10
= 1.74
So,Kp = 1.74
4. Now, e( ) =
1
1 Kp
= 0.364
We foundfromstepresponse Tp= 0.587 sec
j𝜔
-2.71+ 6.14𝑖
𝜃4 𝜃3 𝜃2
-10 -6 -4 𝜎𝑑
For a closedloopSystem
T(s) =
( )
1 ( )
KG s
KG s
Nowto meetthe ideal situation,
1 + KG(s) = 0
KG(s) = -1
5. = 1 < ± (2n + 1) 180 ̊
Again, |KG(s)|=1
So, < KG(s) = ± (2n + 1) 180 ̊
𝛴 𝜃 = -𝜃1 - 𝜃2 - 𝜃3 Here, 𝜃1, 𝜃2 , 𝜃3 =anglesdue to Poles
= ±180 ̊
Calculation after compensation:
Percent overshoot % OS = 25 and settling time T’p = 2 sec
And the new dominant Pole = - 𝜎𝑑 ± jωdc
Now,
T’s = 4
dc
= 2
Again 𝜃 =
1
cos
=
1
cos
(0.404) = 66.17
tan𝜃 =
dc
dc
=
2
dc
dc = 2 * tan = 4.53
New Dominant Pole =- 𝜎𝑑𝑐 ± jωdc = - 2 + 4.53i
6. Now, add a pole at the origin to increase systemtype and drive error to zero for step input.
j𝜔
- 2 + 4.53i
𝜃4 𝜃3 𝜃2 𝜃1
-10 -6 -4 0 𝜎𝑑
𝛴 𝜃 = -𝜃1 - 𝜃2 -𝜃3- 𝜃4 Here, 𝜃1, 𝜃2 , 𝜃3, 𝜃4= anglesdue to Poles
𝜃1 =180 -
1
tan 4.53
2
=113.821 ̊
𝜃2 =
1
tan 4.53
4 2
= 66.17 ̊
𝜃3 =
1
tan 4.53
6 2
= 48.55 ̊
𝜃4 =
1
tan 4.53
10 2
= 29.52 ̊
Now Σ 𝜃 = - 113.821- 66.17–48.55 –29.52
8. New transfer function G(s) =
( 2.957)
( 4)( 6)( 10)
s
s s s
Uncompensated PD-compensated PID-compensated
Plant and
Compensator ( 4)( 6)( 10)
K
s s s
K( 2.957)
s( 4)( 6)( 10)
s
s s s
2
( 2.957)(s 0.001)
s ( 3)( 6)( 10)
s
s s s
Dominant
Poles
-2.71±6.14i -2.1±4.51i -2.1 ±4.51i
K 418 291 292
0.404 0.408 0.406
n 6.71 4.93 4.94
%OS 25 25 25
Ts 1.32 1.94 1.76
Tp 0.587 0.235 0.801
Kp& Kv Kp = 1.74 Kv = 13.27
Kp=
Kp=∞
Kv=
e( ) 0.364 e( ) for Kv=0.0753
e( )for Kp=0
Kp=0
Kv=0
Other poles -14.6 -13.3, -2.66 -13.3, -2.66,-0.001
Zeroes none -2.957 -2.957, -0.001
Part b: Study of feedbackcompensation
9. a. Design the value ofK1, as well as a in the feedback
path of the minor loop, to yield a settling time of 1
second with 5% overshoot for the step response.
b. Design the value of K to yield a major-loop
response with 10% overshoot for a step input.
c. Use MATLAB or any other computer
program to simulate the step response to the entire closedloop system.
d.
Add a PI compensator to reduce
the major-loop steady-state
error to zero and simulate the step
response using MATLAB or any other
computer program
Procedure:
Minor-loop compensated system:
1. Using SISO Design tool, create the design for the minor loop containing the plant G(s)
with K1 = 1 and the feedback compensator H(s) = s+a and plot the root locus. The value
of Kf will be adjusted to the location of minor-loop poles
2. From Edit| SISO Tool Preferences window, select Options tab, select Zero/pole/gain
radio button under Compensator Format and click Ok.
10. Right click on the SISO Design Tool window and then click on Grid.
3. Right click on the SISO Design Tool window and then click on Design Constraints| New
from the appeared window. Select Constraint Type as %OS, set Damping it as 5 and click
Ok.
4. Select the closed-loop pole at the intersection of shadowed region and the root locus.
Write down the value obtained in the C(s) text box. This value is equal to Kf. Also, write
down the closed-loop poles and natural frequency obtained from View| Closed Loop
Poles.
5. Select Analysis| Response to Step Command. Write down the values of percent
overshoot, peak time, settling time and steady state error from the appeared window of
LTI Viewer for SISO Design Tool. The performance is tabulated in Table 1.
The entire Closed-loop compensated system:
The closed loop poles and zeros for the minor loop are the open loop poles for the entire unity-
feedback closed-loop system. Henceforth, repeat the steps 1, 4, 5, and 7, complete the
compensation, but this time %OS of 10 for step 4.
This is the end of feedback-compensation using approach 2
Calculation:
Given, settling time, Ts= 1sec
% OS=5%
Now, σd=
Ts
4
=4
We know, % OS 100)1/( 2
e
= 689.0
4.3409
2.995
Now, ωn = σd=4
11. => ωn= 805.5
0.689
4
Thus, 2
nd 1 =4.20
Dominant pole dd j =-4±j4.20
4+j4.20
j ωd
𝜃3 𝜃2 𝜃1
-9 -4 0 𝜎𝑑
𝜃1= 180 ̊ -
1
tan 4.20
133.6
4
𝜃2= 90 ̊
𝜃3=
1
tan 4.30
40.03
9 4
Now ∑ 𝜃= -133.6 – 90-40.03=-263.63
So the compensatedangle shouldbe, 𝜃𝑐=-180-(-263.63)=83.63.
Since the angle ispositive,sowe have toadda zerointhe transferfunction
12. 4+j4.20
j ωd
𝜃4 𝜃3 𝜃2 𝜃1
Zc -9 -4 0 𝜎𝑑
tan 83.63 ̊
4.20
4Zc
Zc-4=0.4689
Zc=4.4689=a
Newtransferfunctionwithoutfeedback
k1( 4.4689)
( 4)( 9)
s
s s s
by giving ( 4.4689)
( 4)( 9)
s
s s s
inputto matlabwe findthe value of k1.
Here we find the value of k1=37.8
So the minor loop open-loop transfer function is K1G(s)H(s)
37.8( 4.4689)
( 4)( 9)
s
s s s
The equivalent minor-loop closed transfer function
1
1 1
K G s
K G s H s
13. 37.8 1
*
( 4)( 9) 37.8( 4.4689)( 4)( 9)
( 4)( 9)
s s s ss s s
s s s
3 2
37.8
13 73.8 168.92s s s
(b):
The major-loop open-loop transfer function is Ge(s) 3 2
37.8
13 73.8 168.92
K
s s s
Drawing the root locus using Ge(s) and searching along the 10% overshoot line (ζ = 0.574) for K
= 0.811.
14. Now the uncompensated and compensated value table should be like this:
Uncompensated Compensated
Plantand
Compensator 3 2
1
13 36
K
s s s 3 2
37.8
13 73.8 168.92
K
s s s
DominantPoles -1.56±j1.64 -3.33±j4.53
Gain K1=50.8 K=0.86
0.689 0.592
n
2.27 5.62
% OS 5 5
Ts
2.75 1.1
Tp
2.03 0.927
Kv
1.411 0
e()
0.708
Otherpoles -9.87 -6.34
Zeroes - -
15. (c): MAtlabcode
(d):
Add a PI compensator to reduce the major-loop steady-state
error to zero. So the new transfer function is 3 2
37.8( 0.001)
s( 13 73.8 168.92)
s
s s s
Andmajor loopsteadysate error reducedto 0.000192.
Discussion:
Part a:
In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks are applied to the system in the form of feed forward path gain
adjustment. Dominant pole is the complex pole. If more than one complex pole is present in a
system then we have to consider the nearest to origin one. We moved the dominant pole to the
root locus. If the compensation angle is positive we have to add zero in that system. If it is
negative we have to add pole in that system. From the table it is clear that for changing settling
time is 2 sec we must be set the value of K such that it should follow the two properties: 1:
KG(s)=-1
2: G(s) (2n 1) 180K
Part b:
Transfer functions designed to be placed in a feedback path can also reshape the root locus.
This design is more complicated that cascaded systemdesign. On the other hand, feedback
compensation can yield faster responses. However this compensation can be achieved by two
approach. In the first approach effect of adding feedback is similar like add new poles and zeros
via H(s) to reshape the root locus to go through the design point. however one thing must be
remember that zeros of the equivalent feedback is not closed loop zeros. The second approach
allows us to use feedback compensation to design a minor loop’s transient response separately
from closed loop system response. Minor loop is the small loop including a feedback path. In
our experiment minor loop was defined as the loop containing the plant, 1/[s(s+4)(s+9)], and
the feedback compensator, Kfs. here the value of Kf will be adjusted to set the location of the
minor loop poles, and then K will be adjusted to yield the desired closed loop response. We can
see from the table that steady state error is reduced after compensation in both approach. The
system also work faster.