25/07/45 Dr.
Adel Rawea
Analog Control Systems
ERROR
PROPORTIONAL
𝒙 𝒕 𝒐𝒓 𝐲(𝒕)
+
𝒖(𝒕)
𝒓(𝒕) INTEGRAL PLANT OUTPUT
_
DESIRED SIGNAL
DERIVATIVE
SIGNAL SENSOR
𝑷𝑰𝑫 CONTROLLER (FB)
ACS SANA’A UNIVERSITY DR. ADEL RAWEA
Stable and Unstable of
1st and 2nd Order Systems 7
ANALOG CONTROL SYSTEMS DR. ADEL RAWEA
1 Dr Adel Rawea
25/07/45 Dr. Adel Rawea
Stable Unstable of 1st and 2nd Order Systems
As we talk pervious about Model of 1st and 2nd O. S. as shown:
ANALOG CONTROL SYSTEMS 3
Stable Unstable of 1st and 2nd Order Systems
As we talk pervious about Model of 1st and 2nd O. S. as shown:
ANALOG CONTROL SYSTEMS 4
2 Dr Adel Rawea
25/07/45 Dr. Adel Rawea
Stable Unstable of 1st and 2nd Order Systems
As we talk pervious about Model of 1st and 2nd O. S. as shown:
ANALOG CONTROL SYSTEMS 5
Stable Unstable of 1st and 2nd Order Systems
As we talk pervious about Model of 1st and 2nd O. S. as shown:
ANALOG CONTROL SYSTEMS 6
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25/07/45 Dr. Adel Rawea
Stable Unstable of 1st and 2nd Order Systems
ANALOG CONTROL SYSTEMS 7
Stable Unstable of 1st and 2nd Order Systems
System is stable if and only
if all poles are located in the
left side of the s-plane System is unstable if one or
more poles are located in
the right side of the s-plane
ANALOG CONTROL SYSTEMS 8
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Stable Unstable of 1st and 2nd Order Systems
For the last Example:
Answer:
ANALOG CONTROL SYSTEMS 9
Stable Unstable of 1st and 2nd Order Systems
For the last Example:
Answer:
ANALOG CONTROL SYSTEMS 10
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Stable Unstable of 1st and 2nd Order Systems
For the last Example:
Answer:
ANALOG CONTROL SYSTEMS 11
Stable Unstable of 1st and 2nd Order Systems
For the last Example:
Answer:
ANALOG CONTROL SYSTEMS 12
6 Dr Adel Rawea
25/07/45 Dr. Adel Rawea
Stable Unstable of 1st and 2nd Order Systems
For the last Example:
Answer:
ANALOG CONTROL SYSTEMS 13
Transfer Function of DC Motor
This example shows the general
structure of the DC machines:
• If the input is electrical energy and the
output is mechanical energy then the
machine is working as (DC Motor)
• If the input is mechanical energy and the
output is electrical energy then the
machine is working as (DC Generator)
ANALOG CONTROL SYSTEMS 14
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25/07/45 Dr. Adel Rawea
Transfer Function of DC Motor
DC Machines: the next figure shows the different between the (Generator and Motor )
𝑰𝒇 : magnetic saturation
𝑻𝑫 : developed
electromagnetic torque
𝑻𝑺 : input torque
𝑻𝑳 : load torque
Schematic representation of a separately excited dc machine:
(a) generator and (b) motor.
ANALOG CONTROL SYSTEMS 15
Transfer Function of DC Motor
DC Machines: the next figure shows the different between the (Generator and Motor )
I/P O/P I/P O/P I/P O/P
ME DC EE EE DC ME EE EE
Transformers
Generator Motor
Port 1 Port 2 Port 1 Port 2 Port 1 Port 2
Potential 𝑇 𝐸 𝑜𝑟 𝑉 Potential 𝑉 𝑇 Potential 𝑉1 𝑉2
Kinetic Kinetic Kinetic
𝜔 𝒊 𝒊 𝜔 𝒊𝟏 𝒊𝟐
⇒ 𝒊 𝛼 𝑇 and ⇒ 𝜔 𝛼 𝑉 and ⇒ 𝜔 𝛼 𝑉 and
𝐸𝛼𝜔 𝑇𝛼𝒊 𝑇𝛼𝒊
ANALOG CONTROL SYSTEMS 16
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Transfer Function of DC Motor
Modeling of DC motor: time domain:
ANALOG CONTROL SYSTEMS 17
Transfer Function of DC Motor
Modeling of DC motor: time domain:
ANALOG CONTROL SYSTEMS 18
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25/07/45 Dr. Adel Rawea
Transfer Function of DC Motor
Modeling of DC motor: time domain:
ANALOG CONTROL SYSTEMS 19
Transfer Function of DC Motor
Modeling of DC motor: time domain:
ANALOG CONTROL SYSTEMS 20
10 Dr Adel Rawea
25/07/45 Dr. Adel Rawea
Transfer Function of DC Motor
Modeling of DC motor: time domain:
ANALOG CONTROL SYSTEMS 21
Transfer Function of DC Motor
Modeling of DC motor: time domain:
h1 h2
ANALOG CONTROL SYSTEMS 22
11 Dr Adel Rawea
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Transfer Function of DC Motor
Modeling of DC motor: time domain:
clc, clear all, close all
Ra = 2.0; % Ohms
La = 0.5; % Henrys
Km = 0.1; % torque constant
Kb = 0.1; % back emf constant
b = 0.2; % Nms
J = 0.02;
h1=tf(Km, [La Ra]);
h2=tf(1,[J b]);
wp=series(h1,h2);
Gs=feedback(wp,Kb,-1)
Gzpk=zpk(Gs)
step(Gs)
ANALOG CONTROL SYSTEMS 23
Significant and InSignificant Poles
ANALOG CONTROL SYSTEMS 24
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Significant and InSignificant Poles
ANALOG CONTROL SYSTEMS 25
Significant and InSignificant Poles
ANALOG CONTROL SYSTEMS 26
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Significant and InSignificant Poles
ANALOG CONTROL SYSTEMS 27
Significant and InSignificant Poles
ANALOG CONTROL SYSTEMS 28
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Proper & Improper Transfer Function
ANALOG CONTROL SYSTEMS 29
Characteristic Equation:
ANALOG CONTROL SYSTEMS 30
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Characteristic Equation:
ANALOG CONTROL SYSTEMS 31
Stability of Linear Systems
ANALOG CONTROL SYSTEMS 32
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Stability of Linear Systems
Routh-Hurwitz Criterion:
ANALOG CONTROL SYSTEMS 33
Stability of Linear Systems
Routh-Hurwitz Criterion:
ANALOG CONTROL SYSTEMS 34
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Stability of Linear Systems
Routh-Hurwitz Criterion:
Otherwise, the System is Unstable
ANALOG CONTROL SYSTEMS 35
Stability of Linear Systems (Examples)
❑ Example 1:
❑ Solution 1:
ANALOG CONTROL SYSTEMS 36
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Stability of Linear Systems (Examples)
❑ Solution 1:
ANALOG CONTROL SYSTEMS 37
Stability of Linear Systems (Examples)
❑ Solution 1:
Checking the roots by using MATLAB:
A=[2 1 3 5 10]
A=
2 1 3 5 10
S= roots(A)
S=
0.7555 + 1.4444i
0.7555 - 1.4444i
-1.0055 + 0.9331i
-1.0055 - 0.9331i
ANALOG CONTROL SYSTEMS 38
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Stability of Linear Systems (Examples)
❑ Example 2:
ANALOG CONTROL SYSTEMS 39
Stability of Linear Systems (Examples)
❑ Example 2:
ANALOG CONTROL SYSTEMS 40
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DC_ Motor Modelling by Simulink
ANALOG CONTROL SYSTEMS 41
DC_ Motor Modelling by Simulink (Subsystem)
ANALOG CONTROL SYSTEMS 42
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Mask Editor of DC_Motor
ANALOG CONTROL SYSTEMS 43
Preload Data of DC_Motor
ANALOG CONTROL SYSTEMS 44
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DC_ Motor Modelling by Simulink (Output)
Scope Output by using Simulink Data Output by using figure
ANALOG CONTROL SYSTEMS 45
ACS SANA’A UNIVERSITY DR. ADEL RAWEA
23 Dr Adel Rawea
