Control Systems & Simulation Lab Manual 2019-2020

Experiment -2
Modeling of Physical Systems using MATLAB
2.1 AIM:

Calculate the transfer function for the given control system using D’Alembert principle.
Obtain the step response for the physical system MATLAB (program /Simulink) Software.
2.2 APPARATUS REQUIRED

Sl.No Equipment Quantity

Personal Computer with Windows or Linux
1. 01
operating system
MATLAB Software.
2. 01

2.3 THEORETICAL CALCULATION

Figure 2.1: Basic Mechanical Translational System

Elements of the mechanical system :Basic elements of mechanical translational system shown in
Figure 2.1
Mass: mass is the element symbolizing the inertia.
i. A force applied to the mass produces an acceleration of the mass.
ii. The reaction force fm is equal to the product of mass and acceleration and is opposite in
direction to the applied force in terms of displacement (x), a velocity v, and acceleration a
𝑓𝑚 (𝑡) = 𝑚𝑎

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ⅆ𝑣
𝑓𝑚 (𝑡) = 𝑚 ⅆ𝑡

ⅆ2 𝑥(𝑡)
𝑓𝑚 = 𝑚 ⅆ𝑡 2

Spring:

𝑓𝑘 (𝑡) = 𝑘𝑥(𝑡)
Spring is connected between fixed end and free end.
When a force is applied,based on hooke’s law
Spring force α displacement
𝑓𝑘 = 𝑘𝑥(𝑡)
The reaction force (fk) developed due to compression and elongation of the spring is equal to the
product of the stiffness (k) and amount of deformation of the spring.
Damping force (fb/fd):

𝐹𝐵 𝛼 𝑣ⅇ𝑙𝑜𝑐𝑖𝑡𝑦
ⅆ
𝐹𝐵 = 𝐵 𝑥(𝑡)
ⅆ𝑡
𝐹𝐵 = 𝐵𝑣(𝑡)

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Viscous friction: it is experience when a body is in motion and the force is directly proportional to
the velocity of the body.

Fig: Basic Translational Mechanical System

Given System:
ⅆ2 ⅆ
F(t)= M ⅆ𝑡 2 𝑥(𝑡)+Bⅆ𝑡 𝑥(𝑡)+k x(t)

Taking Laplace Transform & Considering all initial conditions are zero
ⅆ2 ⅆ
F(s)=M L[ⅆ𝑡 2 𝑥(𝑡)]+B L[ⅆ𝑡 𝑥(𝑡)]+K L[x(t)]

F(s)=Ms2 x(s)+Bs x(s)+k x(s)

F(s)=x(s) [Ms2+Bs+k]
𝒙(𝒔) 𝟏
=
𝑭(𝒔) 𝑴𝒔𝟐 +𝑩𝒔+𝒌

f(s)
F(s) 𝟏 x(s)
𝟐
𝑴𝒔 + 𝑩𝒔 + 𝒌

2.4 PROCEDURE
1. Open MATLAB
2. Type the program in Editor Window / Draw Simulink diagram.
3. Save the program and Run the program.
4. If error occurs troubleshoot it

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2.5(i) MATLAB PROGRAM TO SIMULATE PHYSICAL SYSTEM

𝑚 = 10;
b=2;
k=5;
num=[1];
den=[m b k];
step(num,den)

(ii)Using Simulink to Simulate Physical System:

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2.6 MATLAB OUTPUTS [PROGRAM&SIMULINK]

2.7 Result
For the given values step response of mechanical translational system simulated in
MATLAB environment.

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