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8/2/2019 Control Systems Mini Projectnewww - Mec3825
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DEPARTMENT OF MECHANICAL ENGINEERING
FACULTY OF ENGINEERING
INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
MEC3825
CONTROL SYSTEMS
GROUP MEMBERS
OMAIR A A MAHROUQ 0627667
BURHANI MAKAME BURHANI 0735463
DATE OF SUBMISSION: 18/02/2010
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Complex model of vehicle suspension system
Equations of motion: 1 = -b1 ( 1- 2) – K1(X1-X2) + U
M2 2 =b1( 1- 2) + K1(X2 – X1) + b2( - 2) + K2(W –X2) – U
Block Diagram:
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Simple model of vehicle suspension system
Equations of motion:m + b + ky = b + ku
Transfer Function:
The input U is the height of the road.
The output Y is the height of the vehicle.
m + b + ky = b + ku
Assuming y(0) = 0, (0) = 0, and u(0¡) = 0
(ms2 + bs + k)Y = (bs + k)U
Y/U = (bs + k)/( ms2 + bs + k)
Block Diagram:
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System Analysis
We will take a sample system that has the following values:
m= 1500kg, b=250Nsm, and k =50000N/m
Open loop system:
Thus our transfer function becomes
()
The block diagram for this system is:
The system response is:
Steadystate value= 1
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Rise time = 0.2
Max overshoot % = 100%
Steady state error= 0
Closed loop system:
Our transfer function becomes
()
The block diagram for this system is:
The system response is:
Steadystate value= 0.5
Rise time = 0.2
Max overshoot % = 100%
Steady state error= 0.5
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Closed loop system with Proportional controller
Set Kp = 10
Our transfer function becomes
() ( )
( ) ( )
The block diagram for this system is:
The system response is:
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Steadystate value= 0.9
Rise time = 0.01
Max overshoot % = 89%Steady state error= 0.1
Closed loop system with Proportional and integral controller:
Set Ki = 4
Our transfer function becomes
()
)
The block diagram for this system is:
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The system response is:
Steadystate value= 0.9
Rise time = 0.01
Max overshoot % = 70%
Steady state error= 0
Closed loop system with Proportional Integral Derivative controller:
Set Kd = 0.1
Our transfer function becomes
()
)
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The block diagram for this system is:
The system response is:
Steadystate value= 1
Rise time = 0.01
Max overshoot % = 50%
Steady state error= 0
Conclusion
We can see the effects of the controllers clearly:
When adding the proportional controller, the rise time decreased significantly
from 0.2s to 0.01s.
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When adding the integral controller, the steady state error decreased from 0.1 to
0, and thus was compeltely eliminated
When adding the Derivative controller, the Max overshoot decreased from 70%
to 50%
Thus we can see how adding controllers to the system, enhances its performance.
However, each controller while improving one system charachterisitc, will affect another,
thus a compromise must be found to suit the application.