CONTROL AND GUIDANCE SYSTEMS LAB

(Lab session 7)
NAME: M.DHANYA RAO
(SC11B095)
ROLL NO:52
Sub: Nonlinear model simulation of an aircraft elevon surface
actuation system

Paramater Calculation:
Ap=20.44*10^-4
Bcs=31.37
Ba=20000
CE=1320
Cr=0.5*10^-6
Iv_max=10
Jcs=1.3
KA=1
Kc=3.92*10^-12
Kfn=2.386*10^-4
Kf=6.63
Ki=4
Kl=10*10^6
Kp=17.629
Kq=0.8207
Kv=4*10^-5
Lm=0.087
Ls=52*10^-3
Ps=2.11*10^7
thcs_max=32.5*pi/180
Vo=1.063*10^-4
betae=9.81*10^8
delta=0.5*10^-6

sigma=0.5*10^-6
wdl=2*pi*100
wff=2*pi*100
wn=2*pi*36.12
wv=2*pi*150
zetadl=0.707
zetad=0.75
zetan=0.05
zetav=1
taud=1650
w1=2*pi*150
zeta1=0.3
s=(32.5*pi/180)*0.087

Linear compensated closed loop transfer function with

Gcf(s) gain 7.823:

Step response for 5% command input

Observation
command
amplitude(degree)
1.5

rise time (ms)

45.37

Step Response of Non Linear model

Peak over shoot

(%)
12.67

Settling time 2%
(ms)
69.52

5% command

10%command

50% command

100% command

Observation:
Step command
ampltude in %
5
10
50
100

Rise time (ms)

49..36
50.07
108.1
24.24

Peak overshoot
(%)
12..71
12.78
25.02
8.35

Settling time (2%)

(ms)
74.78
5453
113
272

Frequency Response of Non Linear model

Parameters Calculation for sweep signal generation

%sweep.m
Ts=0.001;tc(1)=0;l=1;ph(1)=0;
freq1=[0.1:0.1:0.9];
freq2=[1:1:9];
freq3=[10:5:100];
freq=[freq1freq2freq3];
A=Kp*1.5*pi/180;
for j=1:length(freq)
tp=1/freq(j);Nj=tp/Ts;if freq(j)<=.9,Nc(j)=1;
elseif freq(j)<=9,Nc(j)=3;
else
Nc(j)=5;
end
lst(j)=l;
for i=l:fix(Nc(j)*Nj)+l
% Tst(j)=(l-1+fix((Nc(j)-4)*Nj))*Ts;% For skipping first cycle
Tst(j)=lst(j)*Ts; % For integrating full cycle
F(j)=freq(j);
rc(i)=A*sin(2*pi*freq(j)*tc(i)-ph(j));tc(i+1)=tc(i)+Ts;
end

l=i+1;
if j<length(freq),
ph(j+1)=freq(j+1)*tc(i+1)*2*pi;
end
end
R=rc(1:i);T=tc(1:i);
save com_par F TstNc T R

Non linear frequency evaluation commands

Y=y;T=t;
load com_par;
Ts=T(5)-T(4);
for i=1:length(F)
% Tend(i)=Tst(i)/4F(i);
Tend(i)=Tst(i)+Nc(i)/F(i);
Ns(i)=fix(Tst(i)/Ts);
Ne(i)=fix(Tend(i)/Ts);Ne(i)=min(Ne(i),max( length(T))-1);
A=max(R(Ns(i):Ne(i)));P=0;Q=0;
ph(i)=2*pi*F(i)*Ns(i)*Ts;
for k=Ns(i):Ne(i)
q(k)=A*cos(2*pi*F(i)*k*Ts-ph(i));
r(k)=A*sin(2*pi*F(i)*k*Ts-ph(i));
P=P+r(k)*Y(k)*Ts/A;
Q=Q+q(k)*Y(k)*Ts/A;
end
P=P/Nc(i);Q=Q/Nc(i);
%P=P/4;Q=Q/4;
gain(i)=10*log10((P^2+Q^2)*(2*F(i)/A)^2);
phase(i)=180/pi*atan2(Q,P);
if phase(i)>0,phase(i)=phase(i)-360;end,end

subplot(2,1,1)
semilogx(F,gain);xlabel('Frequency(Hz)');ylabel('Mag(dB)');
title('Frequency response extracted from data')
grid on
subplot(2,1,2)
semilogx(F,phase);xlabel('Frequency(Hz)');ylabel('Phase(deg)');
grid on
Frequency Response of Non Linear model

5% command

10% command

50% command

100 % command

Observation
Sinusoidal
command
amplitude (%)
5
10
50
100
Result:

-3db band width

(hz)

-90degree band
width

6.11
6.04
2.109
1.039

6.325
6.268
3.066
1.161

Evaluation of Step response of compensated closed loop transfer function

of Linear model and Step and Frequency Response Non Linear Model of an
aircraft elevon surface actuation system using Matlab/Simulink has been
done and output has been shown in table placed above. The graph of the
above responses has also obtained.
Inference

Here the comparison of step responses of linear and non linear model
gives an idea of their behaviour for 5% command input .
We see that the rise time , settling time and peak overshoot of linear
system is less than that of non linear system.
We see that in case of non linear system the rise time , settling time and
peak overshoot increases as command input increases from 5% to 50%,
but the rise time and peak overshoot is less in case of 100% command
amplitude.
From the frequency response of non linear system we see that the -3dB
bandwidth and-90 degree bandwidth goes on decreasing as we increases
the sinusoidal command amplitude from 5% to 100 %.