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Aim: To simulate the transfer function excited with a step signal in matlab and calculates
i. Damping ratio
ii. Natural frequency
iii. Peak overshoot
iv. Rise time and
v. Settling time
100
For the given transfer function: 𝑠2 +10s+100
Theory:
Open loop:
R Y
K H
Closed loop:
R H Y
K
-1
The need for controller is to perform the numerical transformation. In case of the heated
vessel, the controller input will be a temperature value, but the input to the heating
element will be itself a voltage, so if nothing else use need to transform units and
numerical values.
Automotive Electronics Laboratory Journal
2. PID controller
Formulas:
P-controller
𝐺𝑐 (𝑠) = 𝐾𝑃
𝐾𝑃 = 0.5𝐾𝑐𝑢
PI – controller
𝐾𝑖
𝐺𝑐 (𝑠) = 𝐾𝑃 +
𝑆
𝐾𝑝 = 0.45𝐾𝑐𝑢
𝐾𝑐𝑢
𝐾𝑖 = 0.5
𝑇𝑢
PID- controller
𝐾𝑖
𝐺𝑐 (𝑠) = 𝐾𝑝 + + 𝑆𝐾𝑑
𝑆
𝐾𝑐𝑢
𝐾𝑝 = 1.2
𝑇𝑢
𝐾𝑑 = 0.075𝐾𝑐𝑢 𝑇𝑢
𝜋
𝑇𝑝 =
𝜔𝑑
−𝜉𝜋
⁄
Peek overshoot 𝑀𝑝 = 𝑒 √1−𝜉 2
𝑀𝑝 = (𝑐(𝑡𝑝 ) − 1) ∗ 100
Automotive Electronics Laboratory Journal
Settling time
4
𝑇𝑠 =
𝜉𝜔𝑛
Rise time
𝜋−𝜃
𝑇𝑟 =
𝜔𝑑
Damping Ratio
𝑅 𝐶
𝜉= √
2 𝐿
Procedure:
1. Consider a closed loop feedback system consisting of a controller (PID), plant and
apply a step input signal of 5 u(t).
2. Run the simulation.
3. Tune the values of Kp, Ki, and Kd such that
i. 𝑀𝑝 = 20%
ii. 𝑇𝑝 = 0.25 𝑠𝑒𝑐 and note down the values of rise time tr, settling time ts, peak
overshoot.
4. Dump the tunes values into response update blocks.
Observation:
100
= (6 − 5) ∗
5
= 20%
Automotive Electronics Laboratory Journal
Calculation:
𝜔 2
Transfer Function: 𝑇𝐹 = 𝑆2 +2𝜉𝜔𝑛 𝑆+𝜔 2
𝑛 𝑛
100
=
𝑆2 + 10𝑆 + 100
𝜔𝑛 2 = 100
𝜔𝑛 = 10 𝑟𝑎𝑑/𝑠𝑒𝑐
10 = 2𝜉𝜔𝑛
𝜉 = 0.5
−𝜉𝜋
⁄
Maximum Peak overshoot: 𝑀𝑝 = 𝑒 √1−𝜉 2
−(0.5∗𝜋)
⁄
=𝑒 √1−0.52
𝑀𝑝 = 0.1630
4
Settling time: 𝑇𝑠 = 𝜉𝜔
𝑛
4
𝑇𝑠 = 0.5∗10 = 0.8 𝑠𝑒𝑐
Ruth Array:
Automotive Electronics Laboratory Journal
𝑆2 1 100 + 100𝐾𝑝
𝑆1 10 -
𝑆0 10(100 + 100𝐾𝑝 ) -
10
100 + 100𝐾𝑝= 0
𝐾𝑝= 𝐾𝑐𝑢= − 1
𝜔𝑛 = 2𝝅𝒇𝒏
𝜔𝑛 = 10 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑇𝑐𝑢 = 0.6214
𝐾𝑝 = 0.75𝐾𝑐𝑢
𝐾𝑝 = −0.75
𝐾𝑐𝑢
𝐾𝑖 = 1.2
𝑇𝑐𝑢
(−1)
𝐾𝑖 = 1.2 ∗ 0.6284
𝐾𝑖 = −1.9096
𝐾𝑑 = 0.015𝐾𝑐𝑢 𝑇𝑐𝑢
𝐾𝑑 = −0.0471
Conclusion:
Q2. AIM: To build and simulate Simulink models for automotive subsystem.
Automotive Electronics Laboratory Journal
Throttle controls the amount of air entering the intake, depending on the mass of air,
fuel, injected. When gears are changed, throttle is released.
Signal Profiles:
1. Passing Maneur: In this mode of operation, the throttle is decreases and increases and
then remains constant, and decreases again. No breaks are applied.
2. Gradual Acceleration: Throttle is increased, breaks are not applied.
3. Hard breaking: Breaks are applied.
4. Coasting: Throttle and breaks are zero.
Procedure:
Automotive Electronics Laboratory Journal
1. Keep the profile in passing Maneur and note down the value of throttle vehicle speed,
and observe the change of gear.
2. Repeat the same procedure for gradual acceleration, hard breaking and coasting.
3. Refer the look-up table for verifying the values.
Observation:
Table 1:
Table 2:
Table 3:
Table 4:
Calculation:
In this experiment we have considered slip value for tar road that is, slip =0.2.
2. Hydraulic log:
When the piston filled with fluid is pressed, first the fluid moves and then the fluid, it
is called as hydraulic log.
It is a ON-OFF controller
+1 indicates application of breaks
-1 indicates release of breaks
GRAPH
Automotive Electronics Laboratory Journal
It provides the controlling actions that are designed to follow safe breaking in emergency
stops.
1. Generally during hard breaking conditions, the wheels of the vehicle tend to lock.
2. The rotation of wheels stops and wheels losses the grip with the road and enters skid.
3. ABS provides a breakthrough for the unsafe breaking condition and enhancing
passenger safety.
4. Depressing the break pedal operates the breaks in the normal way.
5. If the ABS controller senses the difference in vehicle speed and proportional wheel
speed, the fluid pressure is modulated to release the wheels.
6. The wheel starts to spin. The fluid pressure is increased again and the wheels are
breaked.
7. This happens at a rate of 10 times a second and continues until the vehicle stops.
8. Octacore is a multicore processor which detects ABS.
9. There is a gradual slip between wheels and road surface.
10. During panic breaking, the wheels get locked and loose contact with roads, cannot
steer left or right. Hence, it hits the obstacles.
11. It is called as wheel lock condition.
12. ABS detects skid in a fraction of seconds, it releases the breaks partially, so wheels
are prevented from locking, and regains contact with road, this process continues until
driver releases the breaks.
Automotive Electronics Laboratory Journal
Procedure:
1. Take 3 knobs, label it as OFF, DOORS ,ON .
State labels:
OFF=0, DOORS=2, ON=1
2. Take 4 slider switches. Label them as D1,D2,D3,D4.
Open=1, close=0
3. Label first rotary switch as S1, second switch as S2, and third rotary switch as S3.
4. Switch S1 controls D1 and D2.
5. Switch S2 controls D3 and switch S3 controls D4.
6. Take 3 state flows having 7 inputs and 3 outputs.
7. Lamps are taken to indicate the output.
8. The first block indicates ON and OFF of the switch.