final exam m.eng. amjad elshenawy rtecs 2010 1 1 gc(s)gc(s) gc(s)gc(s) controller n sensor noise ...
TRANSCRIPT
![Page 1: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/1.jpg)
Final Exam
M.Eng. Amjad Elshenawy
RTECS 2010
11
Gc(s)Gc(s)
Controller
+ + n
sensornoise
+
w load disturbance
+Gp(s)Gp(s)
Plant
ucontrol
youtput
+-
rreferenceinput, orset-point
esensed
error
![Page 2: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/2.jpg)
Instructions
RTECS 2010
2
![Page 3: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/3.jpg)
Instruction
•The exam is an open book exam•Internet and network connections are not
allowed•Create a new folder
“FirstName_LastName”
RTECS 2010
3
![Page 4: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/4.jpg)
Antenna Azimuth Position Control System
RTECS 2010
4
![Page 5: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/5.jpg)
Problem Description
•The aim is to control the antenna azimuth angle
RTECS 2010
5
![Page 6: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/6.jpg)
System Concept
•Closed loop control is used to control the antenna position
RTECS 2010
6
![Page 7: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/7.jpg)
Block Diagram
RTECS 2010
7
![Page 8: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/8.jpg)
Modelling The Physical System
RTECS 2010
8
![Page 9: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/9.jpg)
Model Name
•Create a model named▫FirstName_LastName_PhysicalSystem.mdl
RTECS 2010
9
![Page 10: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/10.jpg)
Physical System DescriptionPower Amplifier [2.5 Points]•Power Amplifier
▫To drive the dc Motor•The transfer function of the power
amplifier is given as
RTECS 2010
10
100
100)(
ssG
![Page 11: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/11.jpg)
Physical System DescriptionDC Motor [10 Points]•Armature controller DC Motor
RTECS 2010
11
neglected isfriction Static
02.0 :tcoefficienfriction Dynamic
03.0 :Inertia
:tCoefficien EMFBack
5.0 :constant ueMotor torq
0:inductance Armature
8:resistance Armature
d
TEMF
T
a
a
K
J
KK
K
L
R
Where
![Page 12: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/12.jpg)
Block Diagram
RTECS 2010
12
![Page 13: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/13.jpg)
Check Your Model (Optional)Compare with S-Function Model
RTECS 2010
13
Plant_Model_SFunction_Verification.zip
![Page 14: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/14.jpg)
Analogue Controller Design & Tuning
RTECS 2010
14
![Page 15: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/15.jpg)
Model Name
•Create a model named▫FirstName_LastName_Analogue_Controller
.mdl
RTECS 2010
15
![Page 16: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/16.jpg)
Potentiometer Transfer Functoin [2.5 Points]•Both input and output potentiometers
map the angle range [0 ... π] to the voltage range [0 ... 5V]
RTECS 2010
16
![Page 17: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/17.jpg)
Controller Implementation[15 Points]•Implement a PID controller•Tune the controller parameters using
Ziegler-Nichols Oscillation Method with the Tyreus & Luyben Tuning Values using either▫Manual tuning▫Tuning using Simulink control design and
the PID controller block from Simulink Extras Additional linear
RTECS 2010
17
![Page 18: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/18.jpg)
Controller Implementation (Cont.)[15 Points]•Apply a unit step input then using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
RTECS 2010
18
![Page 19: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/19.jpg)
Digital Controller Design
RTECS 2010
19
![Page 20: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/20.jpg)
Model Name
•Create a model named▫FirstName_LastName_Digital_Controller.m
dl
RTECS 2010
20
![Page 21: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/21.jpg)
Digital Control Loop[5 Points]•Introduce the elements of the digital
control loop▫Quantizer▫Delay
•Design the system with a sampling time = 2ms
•No. Of bits used in quantization = 8 bits•Time delay in the loop = 1ms
RTECS 2010
21
![Page 22: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/22.jpg)
Controller Discretization[5 Points]•Perform discretization of the analogue
PID controller using Trapezoidal discretization method for both the integrator and the derivative.
RTECS 2010
22
![Page 23: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/23.jpg)
Results Comparison[Bonus Points]•Apply a unit step input and using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
•Compare the results with those of the analogue controller results
RTECS 2010
23
![Page 24: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/24.jpg)
Software In the LoopTesting
RTECS 2010
24
![Page 25: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/25.jpg)
Model Name
•Create a model named▫FirstName_LastName_Digital_Controller_SI
L.mdl
RTECS 2010
25
![Page 26: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/26.jpg)
Model Configuration[10 Points]•Configure the model to be suitable for SIL•Create an S-function wrapper in which
the PID gains are tunable•Replace the controller by the S-function
wrapper•Perform simulation
RTECS 2010
26
![Page 27: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/27.jpg)
Results Comparison[Bonus Points]•Apply a unit step input and using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
•Compare the results with those of the digital controller results
RTECS 2010
27
![Page 28: Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise w load disturbance Gp(s)Gp(s) Gp(s)Gp(s) Plant](https://reader035.vdocuments.us/reader035/viewer/2022081504/5697bf7d1a28abf838c84d40/html5/thumbnails/28.jpg)
References
•Norman S. Nise, “Control Systems Engineering”
RTECS 2010
28