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| author | prashantsinalkar | 2017-10-10 12:27:19 +0530 |
|---|---|---|
| committer | prashantsinalkar | 2017-10-10 12:27:19 +0530 |
| commit | 7f60ea012dd2524dae921a2a35adbf7ef21f2bb6 (patch) | |
| tree | dbb9e3ddb5fc829e7c5c7e6be99b2c4ba356132c /3432/CH7/EX7.32/Ex7_32.sce | |
| parent | b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b (diff) | |
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initial commit / add all books
Diffstat (limited to '3432/CH7/EX7.32/Ex7_32.sce')
| -rw-r--r-- | 3432/CH7/EX7.32/Ex7_32.sce | 122 |
1 files changed, 122 insertions, 0 deletions
diff --git a/3432/CH7/EX7.32/Ex7_32.sce b/3432/CH7/EX7.32/Ex7_32.sce new file mode 100644 index 000000000..ca1184424 --- /dev/null +++ b/3432/CH7/EX7.32/Ex7_32.sce @@ -0,0 +1,122 @@ +//Example 7.32
+// Redesign of the Dc servo compensator using SRL
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=10;
+den=s*(s+2)*(s+8);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[-10 1 0;-16 0 1;0 0 0]
+G=[0 0 10]';
+H=[1 0 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2+1.56*%i -2-1.56*%i -8.04]
+
+
+// State feedback gain
+K=ppol(F,G,Pc)
+disp(K,'K=',"State feedback gain")
+
+//Estimator - error roots are at
+Pe=[-4+4.49*%i -4-4.49*%i -9.169]
+exec .\acker_dk.sci;
+Lt=ppol(F',H',Pe);
+L=clean(Lt');
+disp(L,'L=',"Observer gain")
+//Error in book, Gain values are different in book.
+//------------------------------------------------------------------
+//Compensator Design
+DK=-K*inv(s*eye(n,n)-F+G*K+L*H)*L;
+DK=syslin('c',DK)
+exec('./zpk_dk.sci', -1);
+[pl,zr,Kp]=zpk_dk(DK);
+Dc=poly(zr,'s','roots')/poly(pl,'s','roots')
+//------------------------------------------------------------------
+//symmetric root locus
+G_s=horner(Gs,-s);
+evans(Gs*G_s)
+zoom_rect([-10 -5 10 5])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Symmetric root locus','fontsize',3);
+//------------------------------------------------------------------
+//root locus
+figure,
+evans(Gs*Dc) //Correct root locus
+zoom_rect([-11 -6 1 6])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus for pole assignment from the SRL','fontsize',3);
+//------------------------------------------------------------------
+//Discrete-time controller
+nc=94.5*conv([7.98 1],[2.52 1])
+dc=conv([59.5348 8.56 1],[10.6 1])
+sysDc=poly(nc,'s','coeff')/poly(dc,'s','coeff');
+sysDc_ss=syslin('c',tf2ss(sysDc));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd);
+
+disp(sysDc,"Continuous-time compensator")
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses
+importXcosDiagram(".\Ex7_32_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
+
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