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| author | Siddharth Agarwal | 2019-09-03 18:27:40 +0530 |
|---|---|---|
| committer | Siddharth Agarwal | 2019-09-03 18:27:40 +0530 |
| commit | 8ac15bc5efafa2afc053c293152605b0e6ae60ff (patch) | |
| tree | e1bc17aae137922b1ee990f17aae4a6cb15b7d87 /Working_Examples/3432/CH6 | |
| parent | 52a477ec613900885e29c4a0b02806a415b4f83a (diff) | |
| download | Xcos_block_examples-master.tar.gz Xcos_block_examples-master.tar.bz2 Xcos_block_examples-master.zip | |
Diffstat (limited to 'Working_Examples/3432/CH6')
63 files changed, 946 insertions, 0 deletions
diff --git a/Working_Examples/3432/CH6/EX6.10/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.10/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.10/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.10/Ex6_10.sce b/Working_Examples/3432/CH6/EX6.10/Ex6_10.sce new file mode 100755 index 0000000..f1f5c20 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.10/Ex6_10.sce @@ -0,0 +1,46 @@ +//Example 6.10
+// Nyquist plot for an Open-loop unstable system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+s=poly(0,'s');
+sysG=(s+1)/(s*(s/10-1));
+evans(sysG,50)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Root Locus for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+zoom_rect([-5 -4 5 4])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+h=legend('');
+h.visible = "off"
+
+g1=syslin('c',(s+1)/(s*(s/10-1)));
+//------------------------------------------------------------------
+//The bode plot of the system
+figure;
+bode(g1,0.1/2/%pi,100/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Bode plot for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+//bode(g,2*%pi*0.1,2*%pi*100)
+//------------------------------------------------------------------
+figure;
+//The nyquist plot of the system
+nyquist(g1,0.5/2/%pi,100/2/%pi,0.05)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=(s+1)/[s(s/10-1)]$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+zoom_rect([-2 -2 1 2]);
+xset("color",2);
+xset("font size", 3);
+xstring(-1,1.5,"${\fgcolor{blue}{\omega>0}}$",0,0);
+xstring(-1,-1.5,"${\fgcolor{blue}{\omega<0}}$",0,0);
+xstring(-1.5,0,"${\fgcolor{blue}{\omega=\pm \sqrt{10}}}$",0,0);
+xstring(-0.5,0.1,"${\fgcolor{blue}{\omega=\infty}}$",0,0);
+xarrows([-0.2;0],[0.2;0],-1,2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.10/Ex6_10_f0.pdf b/Working_Examples/3432/CH6/EX6.10/Ex6_10_f0.pdf Binary files differnew file mode 100755 index 0000000..36c7a51 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.10/Ex6_10_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.10/Ex6_10_f1.pdf b/Working_Examples/3432/CH6/EX6.10/Ex6_10_f1.pdf Binary files differnew file mode 100755 index 0000000..b0d811d --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.10/Ex6_10_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.11/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.11/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.11/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.11/Ex6_11.sce b/Working_Examples/3432/CH6/EX6.11/Ex6_11.sce new file mode 100755 index 0000000..4a78234 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.11/Ex6_11.sce @@ -0,0 +1,28 @@ +//Example 6.11
+// Stability properties for a conditionally stable system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+s=poly(0,'s');
+Gs=(s+10)^2/(s^3);
+evans(Gs,100)
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-40 -20 5 20])
+title(["Root locus for","$G(s)=(s+10)^2/s^3$"],'fontsize',3)
+h=legend('');
+h.visible = "off"
+Gs1=syslin('c',(s+10)^2/(s^3));
+//------------------------------------------------------------------
+//The nyquist plot of the system
+figure;
+nyquist(7*Gs1,8/2/%pi,100/2/%pi,0.005)
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=(s+10)^2/s^3$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+xset("color",2);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.11/Ex6_11_f0.pdf b/Working_Examples/3432/CH6/EX6.11/Ex6_11_f0.pdf Binary files differnew file mode 100755 index 0000000..68c5877 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.11/Ex6_11_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.11/Ex6_11_f1.pdf b/Working_Examples/3432/CH6/EX6.11/Ex6_11_f1.pdf Binary files differnew file mode 100755 index 0000000..3b27650 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.11/Ex6_11_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.12/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.12/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.12/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.12/Ex6_12.sce b/Working_Examples/3432/CH6/EX6.12/Ex6_12.sce new file mode 100755 index 0000000..ae6ce2f --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.12/Ex6_12.sce @@ -0,0 +1,40 @@ +//Example 6.12
+// Nyquist plot for a system with Multiple Crossover frequencies
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+s=poly(0,'s');
+K=85;
+g1=K*(s+1)/(s^2*(s^2+2*s+82));
+g2=(s^2+2*s+43.25)/(s^2+2*s+101);
+
+Gs=syslin('c',g2*g1);
+//------------------------------------------------------------------
+figure;
+//The nyquist plot of the system
+nyquist(Gs,0.5/2/%pi,100/2/%pi,0.005)
+title(["Nyquist plot for the complex system";...
+"$G(s)=85(s+1)(s^2+2s+43.25)/[((s^2+2s+82)(s^2+2s+101)]$"],...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+zoom_rect([-2 -1 0.6 1])
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+xset("color",2);
+//------------------------------------------------------------------
+//The bode plot of the system
+gm=g_margin(Gs);
+pm=p_margin(Gs)
+disp(pm,"Phase margin",gm,"Gain margin")
+figure(1)
+bode(Gs,0.01/2/%pi,100/2/%pi,0.01)
+title(["Bode plot for";...
+"$G(s)=85(s+1)(s^2+2s+43.25)/[((s^2+2s+82)(s^2+2s+101)]$"],...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+
diff --git a/Working_Examples/3432/CH6/EX6.12/Ex6_12_f0.pdf b/Working_Examples/3432/CH6/EX6.12/Ex6_12_f0.pdf Binary files differnew file mode 100755 index 0000000..2c70787 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.12/Ex6_12_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.12/Ex6_12_f1.pdf b/Working_Examples/3432/CH6/EX6.12/Ex6_12_f1.pdf Binary files differnew file mode 100755 index 0000000..6a37281 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.12/Ex6_12_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.13/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.13/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.13/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.13/Ex6_13.sce b/Working_Examples/3432/CH6/EX6.13/Ex6_13.sce new file mode 100755 index 0000000..3d22214 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.13/Ex6_13.sce @@ -0,0 +1,77 @@ +//Example 6.13
+// Use of simple design criterion for spacecraft attitude control.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+s=poly(0,'s');
+G=1/s^2;
+g1=syslin('c',G);
+
+//The bode plot of the system
+zoom_rect([0.01 -20 100 60])
+bode(g1,0.05/2/%pi,2/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Magnitude of the spacecrafts frequency','fontsize',3)
+//------------------------------------------------------------------
+
+K=1;
+Td=20;
+Ds=(Td*s+1);
+gd1=syslin('c',K*Ds*G);
+
+////The bode plot of compnenstaed open loop system
+figure
+bode(gd1,0.01/2/%pi,1/2/%pi,"rad")
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Bode plot for compensated open-loop transfer function'...
+,'fontsize',3)
+xstring(0.02,70,"-40db/decade",0,0);
+xstring(0.2,40,"-20db/decade",0,0);
+
+//The bode plot of compnenstaed closed loop system
+K=0.01;
+gc1=K*gd1/(1+K*gd1);
+gcl1=syslin('c',gc1);
+figure
+bode(gcl1,0.01/2/%pi,10/2/%pi,"rad")
+title('Closesd loop frequency response','fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+//Bandwidth
+[frq, repf,splitf]=repfreq(gc1,[0.01/2/%pi:0.001:10/2/%pi]);
+[db, phi]=dbphi(repf);
+w=find(db<=db(1)-3);
+wc=w(1);
+frqc=frq(wc)*2*%pi;
+
+plot2d3(frqc,db(wc),5)
+
+[r c]=size(frq(1:w(1)));
+magn=db(wc)*ones(r,c)
+plot(frq(1:w(1))*2*%pi,magn,"b--")
+temp_db=db(w);
+[r c]=size(db(w));
+temp_w=frqc*ones(r,c);
+plot(temp_w,temp_db,"b--")
+xset("font size", 3);
+xstring(0.04,-16,"$\omega_{BW}$");
+xstring(frqc,-4,"-3db");
+xset("line style",4)
+xarrows([0.01;frqc],[-10;-10],-0.2,5)
+xarrows([frqc;0.01],[-10;-10],-0.2,5)
+//------------------------------------------------------------------
+//Step response of PD compnensation
+figure
+t=0:0.5:100;
+v=csim('step',t,gcl1);
+plot2d(t,v)
+
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Step response for PD compensation','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+ylabel('$\theta$','fontsize',2)
+//-------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.13/Ex6_13_f0.pdf b/Working_Examples/3432/CH6/EX6.13/Ex6_13_f0.pdf Binary files differnew file mode 100755 index 0000000..d57831e --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.13/Ex6_13_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.13/Ex6_13_f3.pdf b/Working_Examples/3432/CH6/EX6.13/Ex6_13_f3.pdf Binary files differnew file mode 100755 index 0000000..42cd3fa --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.13/Ex6_13_f3.pdf diff --git a/Working_Examples/3432/CH6/EX6.14/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.14/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.14/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.14/Ex6_14.sce b/Working_Examples/3432/CH6/EX6.14/Ex6_14.sce new file mode 100644 index 0000000..c3b2f0a --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.14/Ex6_14.sce @@ -0,0 +1,8 @@ +//Example 6.14 +//Lead compensation for DC motor. + +// the required value +// for step response, set sw to 2 +// for ramp response, set sw to 0 + +sw = 2 diff --git a/Working_Examples/3432/CH6/EX6.14/Ex6_14_f1.pdf b/Working_Examples/3432/CH6/EX6.14/Ex6_14_f1.pdf Binary files differnew file mode 100755 index 0000000..107b25e --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.14/Ex6_14_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.14/Ex6_14_f2.pdf b/Working_Examples/3432/CH6/EX6.14/Ex6_14_f2.pdf Binary files differnew file mode 100755 index 0000000..69288db --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.14/Ex6_14_f2.pdf diff --git a/Working_Examples/3432/CH6/EX6.14/Ex6_14_model.xcos b/Working_Examples/3432/CH6/EX6.14/Ex6_14_model.xcos new file mode 100755 index 0000000..3e29294 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.14/Ex6_14_model.xcos @@ -0,0 +1 @@ +<?xml version="1.0" encoding="UTF-8"?><XcosDiagram background="-1" finalIntegrationTime="5.0" title="Ex6_14_model"><!--Xcos - 1.0 - scilab-5.5.2 - 20160406 2040--><mxGraphModel as="model"><root><mxCell id="-2dd55334:14dcbdd0183:-7fd2"/><mxCell id="-2dd55334:14dcbdd0183:-7fd3" parent="-2dd55334:14dcbdd0183:-7fd2"/><BasicBlock dependsOnT="1" id="-2dd55334:14dcbdd0183:-7fa4" interfaceFunctionName="CLR" ordering="1" parent="-2dd55334:14dcbdd0183:-7fd3" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR;flip=false;mirror=false"><ScilabString as="exprs" height="2" width="1"><data column="0" line="0" value="1"/><data column="0" line="1" value="s"/></ScilabString><ScilabDouble as="realParameters" height="4" width="1"><data column="0" line="0" realPart="-0.0"/><data column="0" line="1" realPart="1.0"/><data column="0" line="2" realPart="1.0"/><data 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\ No newline at end of file diff --git a/Working_Examples/3432/CH6/EX6.15/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.15/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.15/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.15/Ex6_15.sce b/Working_Examples/3432/CH6/EX6.15/Ex6_15.sce new file mode 100755 index 0000000..2a3b9a4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.15/Ex6_15.sce @@ -0,0 +1,78 @@ +//Example 6.15 +//Lead compensation for Temperature Control System. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//System transfer function +s=poly(0,'s'); +numG=1; +denG=(s/0.5+1)*(s+1)*(s/2+1); +sysG=numG/denG; +//Dc gain +K=9; + +KGs=syslin('c',K*sysG); + +//Lead compensator 1 +numD=s+1; +denD=s/3+1; +D1=numD/denD; +D1s=syslin('c',D1); + +KGD1s=D1s*KGs; //compensated system + +//Lead compensator 2 +numD=s/1.5+1; +denD=s/15+1; +D2=numD/denD; +D2s=syslin('c',D2); + +KGD2s=D2s*KGs; //compensated system + +//The bode plot of the system with K +bode([KGs;KGD1s;KGD2s],0.1/2/%pi,10/2/%pi,['KG';'KGD1';'KGD2'],"rad"); +exec .\fig_settings.sci; // custom script for setting figure properties +title('Bode plot for lead compensation design','fontsize',3) +//------------------------------------------------------------------ +//Margins of uncompensated and compensated systems +[gm1,wcg1]=g_margin(KGs); +[pm1,wcp1]=p_margin(KGs); +disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,... +"Phase margin",gm1,"Gain margin",... +"Uncompensated system :") + +[gm2,wcg2]=g_margin(KGD1s); +[pm2,wcp2]=p_margin(KGD1s); +disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,... +"Phase margin",gm2,"Gain margin",... +"System with D1 compensator :") + +[gm3,wcg3]=g_margin(KGD2s); +[pm3,wcp3]=p_margin(KGD2s); +disp(wcp3*2*%pi,"Wcp",wcg3*2*%pi,"Wcg",pm3,... +"Phase margin",gm3,"Gain margin",... +"System with D2 compensator :") +//------------------------------------------------------------------ +//step response comparison +//closed loop system +Gc1=KGD1s/(KGD1s+1); +Gc2=KGD2s/(KGD2s+1); +figure; +t=0:0.05:20; +v1=csim('step',t,Gc1); +v2=csim('step',t,Gc2); +plot2d([t',t'],[v1',v2']) + +//Title, labels and grid to the figure +exec .\fig_settings.sci; //custom script for setting figure properties +title('Step response for lead compensation design','fontsize',3) +xlabel('Time t (sec.)','fontsize',2) +ylabel('y','fontsize',2) + +xset("font size", 3); +xarrows([2.5;1.5],[1.3;1.2],-1,1) +xstring(2.5,1.3,"D2",0,0) +xstring(4,1.2,"D1",0,0) +//------------------------------------------------------------------ diff --git a/Working_Examples/3432/CH6/EX6.15/Ex6_15_f0.pdf b/Working_Examples/3432/CH6/EX6.15/Ex6_15_f0.pdf Binary files differnew file mode 100755 index 0000000..1e7a2c4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.15/Ex6_15_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.15/Ex6_15_f1.pdf b/Working_Examples/3432/CH6/EX6.15/Ex6_15_f1.pdf Binary files differnew file mode 100755 index 0000000..7726e01 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.15/Ex6_15_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.16/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.16/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.16/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.16/Ex6_16.sce b/Working_Examples/3432/CH6/EX6.16/Ex6_16.sce new file mode 100755 index 0000000..a21196a --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.16/Ex6_16.sce @@ -0,0 +1,55 @@ +//Example 6.16 +//Lead compensation for Servomechanism System. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//System transfer function +s=poly(0,'s'); +numG=10; +denG=s*(s/2.5+1)*(s/6+1); +G=numG/denG; +//Dc gain +K=1; + +KGs=syslin('c',K*G); + +//Lead compensator 1 +numD=s/2+1; +denD=s/20+1; +D1=numD/denD; +D1s=syslin('c',D1); + +KGD1s=D1s*KGs; //compensated system + +//Lead compensator 2 +numD=s/4+1; +denD=s/40+1; +D2=D1*numD/denD; //double compensator +D2s=syslin('c',D2); + + +KGD2s=D2s*KGs; //compensated system + +//The bode plot of the system with K +bode([KGs;KGD1s;KGD2s],0.1/2/%pi,100/2/%pi,['KG';'KGD1';'KGD2'],"rad"); +exec .\fig_settings.sci; //custom script for setting figure properties +title('Bode plot for lead compensation design','fontsize',3) +//------------------------------------------------------------------ +//Margins of uncompensated and compensated systems +[gm1,wcg1]=g_margin(KGs); +[pm1,wcp1]=p_margin(KGs); +disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,... +"Phase margin",gm1,"Gain margin","Uncompensated system :") + +[gm2,wcg2]=g_margin(KGD1s); +[pm2,wcp2]=p_margin(KGD1s); +disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,... +"Phase margin",gm2,"Gain margin","System with D1 compensator :") + +[gm3,wcg3]=g_margin(KGD2s); +[pm3,wcp3]=p_margin(KGD2s); +disp(wcp3*2*%pi,"Wcp",wcg3*2*%pi,"Wcg",pm3,... +"Phase margin",gm3,"Gain margin","System with D2 compensator :") +//------------------------------------------------------------------ diff --git a/Working_Examples/3432/CH6/EX6.16/Ex6_16_f0.pdf b/Working_Examples/3432/CH6/EX6.16/Ex6_16_f0.pdf Binary files differnew file mode 100755 index 0000000..b236af6 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.16/Ex6_16_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.17/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.17/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.17/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.17/Ex6_17.sce b/Working_Examples/3432/CH6/EX6.17/Ex6_17.sce new file mode 100755 index 0000000..22af946 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.17/Ex6_17.sce @@ -0,0 +1,57 @@ +//Example 6.17 +//Lag compensation for Temperature Control System. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//System transfer function +s=poly(0,'s'); +numG=1; +denG=(s/0.5+1)*(s+1)*(s/2+1); +G=numG/denG; +//Dc gain +K=3; //to set phase requirement + +KGs=syslin('c',K*G); + +//Lag compensator +numD=5*s+1; +denD=15*s+1; +D=3*numD/denD; +Ds=syslin('c',D); + +KGDs=Ds*KGs; //compensated system + +//The bode plot of the system with K +bode([KGs;KGDs],0.01/2/%pi,10/2/%pi,['KG';'KGD'],"rad"); +exec .\fig_settings.sci; //custom script for setting figure properties +title('Frequency response of lag-compensation design','fontsize',3) + +//------------------------------------------------------------------ +//Margins of uncompensated and compensated systems +[gm1,wcg1]=g_margin(KGs); +[pm1,wcp1]=p_margin(KGs); +disp(wcp1*2*%pi,"Wcp",wcg1*2*%pi,"Wcg",pm1,"Phase margin",... +gm1,"Gain margin","Uncompensated system :") + +[gm2,wcg2]=g_margin(KGDs); +[pm2,wcp2]=p_margin(KGDs); +disp(wcp2*2*%pi,"Wcp",wcg2*2*%pi,"Wcg",pm2,"Phase margin",... +gm2,"Gain margin","Compensated system :") + +//------------------------------------------------------------------ +//step response +//closed loop system +Gc=KGDs/(KGDs+1); +figure; +t=0:0.05:20; +v=csim('step',t,Gc); +plot2d(t,v) + +//Title, labels and grid to the figure +exec .\fig_settings.sci; //custom script for setting figure properties +title('Step response for lag compensation design','fontsize',3) +xlabel('Time t (sec.)','fontsize',2) +ylabel('y','fontsize',2) +//------------------------------------------------------------------ diff --git a/Working_Examples/3432/CH6/EX6.17/Ex6_17_f0.pdf b/Working_Examples/3432/CH6/EX6.17/Ex6_17_f0.pdf Binary files differnew file mode 100755 index 0000000..441cf5b --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.17/Ex6_17_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.17/Ex6_17_f1.pdf b/Working_Examples/3432/CH6/EX6.17/Ex6_17_f1.pdf Binary files differnew file mode 100755 index 0000000..607607c --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.17/Ex6_17_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.18/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.18/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.18/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.18/Ex6_18.sce b/Working_Examples/3432/CH6/EX6.18/Ex6_18.sce new file mode 100755 index 0000000..0ec43ba --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.18/Ex6_18.sce @@ -0,0 +1,42 @@ +//Example 6.18 +//Lag compensation for DC motor. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//System transfer function +s=poly(0,'s'); +g=1/s/(s+1); +K=10; //DC gain +KGs=syslin('c',K*g); + +//Lag compensator +numD=10*s+1; //0.1 +denD=100*s+1; //0.01 +D=numD/denD; +Ds=syslin('c',D); + +KGDs=Ds*KGs; //compensated system + +//The bode plot of the system +bode([KGs;KGDs],0.001/2/%pi,10/2/%pi,['KG(s)';'D(s)G(s)'],"rad"); +exec .\fig_settings.sci; // custom script for setting figure properties +title('Frequency response of lag-compensation design... + of DC motor','fontsize',3) +//------------------------------------------------------------------ +//step response +//closed loop system +Gc=KGDs/(KGDs+1); +figure; +t=0:0.05:50; +v=csim('step',t,Gc); +plot(t,v,2) + +//Title, labels and grid to the figure +exec .\fig_settings.sci; // custom script for setting figure properties +title('Step response for Lag-compensation design... + of DC motor','fontsize',3) +xlabel('Time t (sec.)','fontsize',2) +ylabel('y','fontsize',2) +//------------------------------------------------------------------ diff --git a/Working_Examples/3432/CH6/EX6.18/Ex6_18_f0.pdf b/Working_Examples/3432/CH6/EX6.18/Ex6_18_f0.pdf Binary files differnew file mode 100755 index 0000000..5f85523 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.18/Ex6_18_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.18/Ex6_18_f1.pdf b/Working_Examples/3432/CH6/EX6.18/Ex6_18_f1.pdf Binary files differnew file mode 100755 index 0000000..e43c621 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.18/Ex6_18_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.19/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.19/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.19/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.19/Ex6_19.sce b/Working_Examples/3432/CH6/EX6.19/Ex6_19.sce new file mode 100755 index 0000000..126f637 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.19/Ex6_19.sce @@ -0,0 +1,74 @@ +//Example 6.19 +//PID compensation design for spacecraft attitude control. + +xdel(winsid())//close all graphics Windows +clear; +clc; +//------------------------------------------------------------------ +//System transfer function +s=poly(0,'s'); +G1=(0.9/s^2); +G2=(2/(s+2)); +G=G1*G2; +Gs=syslin('c',G); + +// PID controller parameters +Td_inv=0.1; // Td_inv=1/Td=0.1 +Kd=1/Td_inv; //Kd=Td=Td_inv (derivative gain) + +Ti_inv=0.005; // Ti_inv=1/Ti=0.005 +Ki=Ti_inv; //Ki=Ti_inv (integral gain) + +Kp=0.05 //Kp (Proportional gain) + +D=Kp*(Kd*s+1)*(Ki/s+1); //PID Compensator + +Dsc=syslin('c',D); + +Ds=syslin('c',D/Kp); //PID Compensator with Kp=1 +// Compensated system with Kp=1 +GDs=Gs*Ds; +//PID compensated system Kp=0.05; +GDsc=Gs*Dsc; +//------------------------------------------------------------------ +//The bode plots +bode([Gs;GDs;GDsc],0.01/2/%pi,100/2/%pi,... +['G(s)';'D(s)G(s) with (Kp=1)';'D(s)G(s) with (Kp=0.05)'],"rad"); +exec .\fig_settings.sci; //custom script for setting figure properties +title('Compensation for PID design','fontsize',3) + +//Phase margin of pid compensated system with Kp=0.05; +[pm wcp]=p_margin(GDsc); + +//------------------------------------------------------------------ +//closed loop system +//step response +Gc=GDsc/(GDsc+1); +figure; +t=0:0.05:40; +y=csim('step',t,Gc); +plot(t,y,2) + +//Title, labels and grid to the figure +exec .\fig_settings.sci; //custom script for setting figure properties +title('Step response for PID compensation of spacecraft'... +,'fontsize',3) +xlabel('Time t (sec.)','fontsize',2) +ylabel('$theta$','fontsize',2) +//------------------------------------------------------------------ +//step disturbance response +Gc=G1/((G1*G2*D)+1); +Gcs=syslin('c',Gc); +figure; +t=0:0.5:1000; +u=0.1*ones(1,length(t)); +y=csim(u,t,Gcs) +plot(t,y,2) + +//Title, labels and grid to the figure +exec .\fig_settings.sci; // custom script for setting figure properties +title('Step disturbance response for PID compensation... + of spacecraft','fontsize',3) +xlabel('Time t (sec.)','fontsize',2) +ylabel('$theta$','fontsize',2) +//------------------------------------------------------------------ diff --git a/Working_Examples/3432/CH6/EX6.19/Ex6_19_f0.pdf b/Working_Examples/3432/CH6/EX6.19/Ex6_19_f0.pdf Binary files differnew file mode 100755 index 0000000..f2687e0 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.19/Ex6_19_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.19/Ex6_19_f1.pdf b/Working_Examples/3432/CH6/EX6.19/Ex6_19_f1.pdf Binary files differnew file mode 100755 index 0000000..c4b8b97 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.19/Ex6_19_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.2.b/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.2.b/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.2.b/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.2.b/Ex6_2.sce b/Working_Examples/3432/CH6/EX6.2.b/Ex6_2.sce new file mode 100755 index 0000000..03eae0b --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.2.b/Ex6_2.sce @@ -0,0 +1,28 @@ +//Example 6.2
+//Frequency response characteristics of Lead compensator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=1, T=1, alpha=0.1
+s=poly(0,'s');
+sysD=syslin('c',K*(T*s+1)/(alpha*T*s+1));
+
+//The bode plot of the system
+
+fmin=0.1/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=100/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax);
+//OR
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysD,fmin,fmax,"rad")
+
+//------------------------------------------------------------------
+title('(a) Magnitude and (b) phase for the lead compensator',...
+'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.2.b/Ex6_2_f0.pdf b/Working_Examples/3432/CH6/EX6.2.b/Ex6_2_f0.pdf Binary files differnew file mode 100755 index 0000000..827a43a --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.2.b/Ex6_2_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.3/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.3/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.3/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.3/Ex6_3.sce b/Working_Examples/3432/CH6/EX6.3/Ex6_3.sce new file mode 100755 index 0000000..bb49eb0 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.3/Ex6_3.sce @@ -0,0 +1,65 @@ +//Example 6.3
+//Bode Plot for Real Poles and Zeros.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=2000;
+s=poly(0,'s');
+Gs=syslin('c',(K*(s+0.5))/(s*(s+10)*(s+50)));
+
+//The bode plot of the system
+wmin=0.1; // mininmum frq. in rad/sec for response
+wmax=100; // maximum frq. in red/sec for response
+fmin=wmin/2/%pi // mininmum frq. in Hz for response
+fmax=wmax/2/%pi // maximum frq. in Hz for response
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax)
+//OR
+//(Only for scilab ver. 5.5.1)
+//Bode (frequency scale in rad/sec)
+// or gainplot or phaseplot plot with asymptotes
+figure(0)
+gainplot(Gs,fmin,fmax);
+bode_asymp(Gs,wmin,wmax);
+xstring(0.03,22,"slope=-1(-20db/dec)",0,0);
+xstring(0.2,9,"slope=0",0,0);
+xstring(3,7,"slope=-1(-20db/dec)",0,0)
+xstring(0.9,-8,"slope=-2(-40db/dec)",0,0)
+title('Composit plots (a) magnitude plot','fontsize',3);
+h=legend('');
+exec .\fig_settings.sci; //custom script for setting figure properties
+h.visible = "off"
+//------------------------------------------------------------------
+
+//phase plot for poles and zeros
+zr=((s/0.5)+1)/s //infact this is zero and pole at origin.
+zr=syslin('c', zr);
+pl1=1/((s/10)+1)
+pl1=syslin('c', pl1);
+pl2=1/((s/50)+1)
+pl2=syslin('c', pl2);
+figure(1)
+phaseplot([Gs;zr;pl1;pl2],fmin,fmax);
+xstring(5.5,-14,"$\frac {1}{s/0.5+1}$",0,0);
+xstring(2.8,-22,"$\frac{1}{s/50+1}$",0,0);
+xstring(2.5,-60,"$\frac{1}{s/10+1}$",0,0);
+xstring(1.2,-100,["Composite";"(Actual)"],0,0);
+title('Composit plots (b) Phase','fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+
+//------------------------------------------------------------------
+figure(2)
+bode(Gs,fmin,fmax,"rad"); //frequency scale n radians
+bode_asymp(Gs,wmin,wmax);
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('(c) magnitude plot and phase plot approximate and actual...
+','fontsize',3)
+xstring(2.8,-22,"$\frac{1}{s/50+1}$",0,0);
+h=legend('');
+h.visible = "off"
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.3/Ex6_3_f0.pdf b/Working_Examples/3432/CH6/EX6.3/Ex6_3_f0.pdf Binary files differnew file mode 100755 index 0000000..f344048 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.3/Ex6_3_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.3/Ex6_3_f1.pdf b/Working_Examples/3432/CH6/EX6.3/Ex6_3_f1.pdf Binary files differnew file mode 100755 index 0000000..fa0837d --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.3/Ex6_3_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.4/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.4/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.4/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.4/Ex6_4.sce b/Working_Examples/3432/CH6/EX6.4/Ex6_4.sce new file mode 100755 index 0000000..6e1124a --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.4/Ex6_4.sce @@ -0,0 +1,28 @@ +//Example 6.4
+//Bode Plot with Complex Poles.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=10;
+s=poly(0,'s');
+Gs=syslin('c',(K)/(s*(s^2+0.4*s+4)));
+//The bode plot of the system
+
+fmin=0.1/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=10/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax);
+//OR
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(Gs,fmin,fmax,0.01,"rad")
+
+//------------------------------------------------------------------
+title(['Bode plot for a transfer function with complex poles';...
+ '(a) magnitude...
+ (b) phase'],'fontsize',3)
+
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.4/Ex6_4_f0.pdf b/Working_Examples/3432/CH6/EX6.4/Ex6_4_f0.pdf Binary files differnew file mode 100755 index 0000000..58d9414 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.4/Ex6_4_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.6/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.6/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.6/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.6/Ex6_6.sce b/Working_Examples/3432/CH6/EX6.6/Ex6_6.sce new file mode 100755 index 0000000..a70ab9c --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.6/Ex6_6.sce @@ -0,0 +1,30 @@ +//Example 6.6
+//Bode Plot for Complex Poles and Zeros:
+//Satellite with Flexible appendages.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=0.01;
+s=poly(0,'s');
+NumG=K*(s^2+0.01*s+1);
+DenG=s^2*((s^2/4)+0.02*(s/2)+1)
+sysG=syslin('c',NumG/DenG);
+
+fmin=0.09/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=11/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax);
+//OR
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysG,fmin,fmax,0.01,"rad")
+
+//------------------------------------------------------------------
+title(["Bode plot for a transfer function with complex...
+poles and zeros"; "(a) magnitude (b) phase"],'fontsize',3)
+//------------------------------------------------------------------
+
+disp('NOTE : Result of the above example can be verified by checking the figures shown in example 6.5')
diff --git a/Working_Examples/3432/CH6/EX6.6/Ex6_6_f0.pdf b/Working_Examples/3432/CH6/EX6.6/Ex6_6_f0.pdf Binary files differnew file mode 100755 index 0000000..9e2dc15 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.6/Ex6_6_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.7/EX6_7_f0.pdf b/Working_Examples/3432/CH6/EX6.7/EX6_7_f0.pdf Binary files differnew file mode 100755 index 0000000..9e46a12 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.7/EX6_7_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.7/Ex6_7.sce b/Working_Examples/3432/CH6/EX6.7/Ex6_7.sce new file mode 100755 index 0000000..0ea6d5b --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.7/Ex6_7.sce @@ -0,0 +1,44 @@ +//Example 6.7
+//Computation of velocity error constant Kv from Bode plot
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its bode plot
+K=10;
+s=poly(0,'s');
+Gs=syslin('c',(K)/(s*(s+1)));
+//The bode plot of the system
+
+fmin=0.01/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=10/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+//------------------------------------------------------------------
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax);
+//OR
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(Gs,fmin,fmax,0.01,"rad")
+title(['Determination of Kv from the Bode plot for the system',...
+'$10/[s(s+1)]$'],'fontsize',3)
+//choose frequency (rad) and magnitude from bode plot and calculate Kv
+//Here at w=0.01, magngitude in db is M=60
+//i.e actual magnitude of the reponse is |A|=10^(M/20)
+w=0.01; // in rad
+M=60 // in db
+A=10^(M/20) //actual gain
+
+//Velocity error constant Kv=w*|A(w)|
+Kv=w*A;
+disp(Kv,"The Velocity error Constant from bode plot is: ")
+//------------------------------------------------------------------
+// Computation of the Kv
+[frq repf]=repfreq(Gs,fmin,fmax);
+//frq in Hz, repf is freq. response in rectangular form.
+//From bode plot, Kv=w*|A(w)|
+//i.e Kv=2*pi*f*|A(2*pi*f)|
+
+idx=1;//selecting the frequency and response at that frequency from arrays
+Kv=2*%pi*frq(idx)*abs(repf(idx))
+disp(Kv,"The Velocity error Constant is computed at 0.0015915 Hz (0.01 rad/sec) : ")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.8/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.8/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.8/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.8/Ex6_8.sce b/Working_Examples/3432/CH6/EX6.8/Ex6_8.sce new file mode 100755 index 0000000..6625052 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.8/Ex6_8.sce @@ -0,0 +1,48 @@ +//Example 6.8
+// Nyquist plot for a second order system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function and its root locus
+s=poly(0,'s');
+g=1/(s+1)^2;
+sysG=syslin('c',g);
+
+evans(sysG);
+exec .\fig_settings.sci; //custom script for setting figure properties
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+title(['Root locus of','$G(s)=1/(s+1)^2$','with respect to K'],...
+'fontsize',3)
+zoom_rect([-3,-2,2,3])
+h=legend('');
+h.visible = "off"
+//------------------------------------------------------------------
+figure(1)
+//The bode plot of the system
+fmin=0.01/2/%pi; //mininmum frq. in Hz for response (0.1 rad/sec)
+fmax=100/2/%pi; //maximum frq. in Hz for response (100 read/sec)
+
+//Bode plot for frequency in Hz (scilab ver. 5.4.1)
+//bode(g,fmin,fmax);
+//OR
+//Bode plot for frequency in rad/sec (scilab ver. 5.5.1)
+bode(sysG,fmin,fmax,0.01,"rad")
+title(['Open loop bode plot for', '$G(s)=1/(s+1)^2$'],'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+
+figure(2)
+//The nyquist plot of the system
+nyquist(sysG);
+title('Nyquist plot of the evaluation of K G(s) for s=C1 and K=1'...
+,'fontsize',3);
+exec .\fig_settings.sci; //custom script for setting figure properties
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset('color',2)
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.8/Ex6_8_f0.pdf b/Working_Examples/3432/CH6/EX6.8/Ex6_8_f0.pdf Binary files differnew file mode 100755 index 0000000..2bb5cdb --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.8/Ex6_8_f0.pdf diff --git a/Working_Examples/3432/CH6/EX6.8/Ex6_8_f1.pdf b/Working_Examples/3432/CH6/EX6.8/Ex6_8_f1.pdf Binary files differnew file mode 100755 index 0000000..690c6b5 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.8/Ex6_8_f1.pdf diff --git a/Working_Examples/3432/CH6/EX6.9/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH6/EX6.9/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.9/DEPENDENCIES/fig_settings.sci @@ -0,0 +1,9 @@ +//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH6/EX6.9/Ex6_9.sce b/Working_Examples/3432/CH6/EX6.9/Ex6_9.sce new file mode 100755 index 0000000..a66b127 --- /dev/null +++ b/Working_Examples/3432/CH6/EX6.9/Ex6_9.sce @@ -0,0 +1,53 @@ +//Example 6.9
+// Nyquist plot for a third order system.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function
+s=poly(0,'s');
+g=syslin('c',1/(s*(s+1)^2));
+
+//The bode plot of the system
+fmin=0.01/2/%pi;
+fmax=100/2/%pi;
+//[frq,repf]=repfreq(g1,fmin,fmax,0.01);
+bode(g,fmin,fmax,"rad");
+frq=[1,10]/2/%pi;
+[frq, repf]=repfreq(g,frq);
+[db, phi]=dbphi(repf);
+plot(frq*2*%pi,db,'ro');
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Bode plot for","$G(s)=1/[s(s+1)^2]$"],'fontsize',3)
+//zoom_rect([[0.1 0] -70 [12 -180] 20])
+xset("font size", 3);
+
+xstring(1,0,"$C\,\, (\omega=1)$",0,0);
+xstring(2,-75,"$E\,\, (\omega=10)$",0,0);
+f=gca();
+
+//------------------------------------------------------------------
+//The nyquist plot of the system
+figure;
+nyquist(g,0.8/2/%pi,10/2/%pi,0.02)
+
+exec .\fig_settings.sci; //custom script for setting figure properties
+title(["Nyquist plot for","$G(s)=1/[s(s+1)]^2$"],'fontsize',3)
+f=gca();
+f.x_location = "origin";
+f.y_location = "origin";
+zoom_rect([-1 -0.2 0.5 0.2]);
+xset("clipping", -1.2, 0.2, 1.4,0.4);
+xset("font size", 3);
+xset("color",2);
+xstring(-0.6,0.1,"${\fgcolor{blue}{\omega<0}}$",0,0);
+xstring(-0.6,-0.1,"${\fgcolor{blue}{\omega>0}}$",0,0);
+xstring(-0.7,0.005,"${\fgcolor{blue}{\omega=\pm 1}}$",0,0);
+xstring(-1,-0.2,...
+"${\fgcolor{blue}{\text{From \infty at \omega=0^+}}$",0,0);
+ xstring(-0.7,0.15,"${\fgcolor{blue}...
+ {\text{Towards \infty at \omega=0^-}}$",0,0);
+xstring(-0.525,-0.04,"C",0,0);
+xstring(-0.075,0,"E",0,0);
+//------------------------------------------------------------------
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