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Experiment-2 ELP-225: Control Engineering Lab: Bution of Each Group Member Exactly

This document describes an experiment on temperature control of a heating system with input and output temperatures separated by a distance, introducing a delay. The goals are to: 1. Approximate the delay transfer function using Pade approximation. 2. Analyze and simulate the open and closed loop responses of the actual and approximated systems. 3. Investigate the effect of proportional gain K on stability, steady state error and transient response.

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pritesh patel
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80 views2 pages

Experiment-2 ELP-225: Control Engineering Lab: Bution of Each Group Member Exactly

This document describes an experiment on temperature control of a heating system with input and output temperatures separated by a distance, introducing a delay. The goals are to: 1. Approximate the delay transfer function using Pade approximation. 2. Analyze and simulate the open and closed loop responses of the actual and approximated systems. 3. Investigate the effect of proportional gain K on stability, steady state error and transient response.

Uploaded by

pritesh patel
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Experiment-2

ELP-225: Control Engineering Lab

Max Mark: 10 Session: Semester-I (2021-22) Due Date: Oct 03, 2021

Note:

• Provide your simulation code in Appendix.

• Submit a single pdf file on moodle and name it as your group no.

• Write a ‘Contribution’ section at the end of the report which specifies the contri-
bution of each group member exactly.

• If this section is not available then your report will NOT be evaluated.

• Copying of code or report is not allowed.

System description:
A simple heating element based temperature control system consist of a heating element
attached at left end of a long air-filled duct. The temperature at the right end of this
duct is to be controlled. The mechanism of control involves adjusting the heating ele-
ment temperature and due to convective heat transfer the temperature at the right end
gets affected. Convection introduces a delay in transferring the effect of control action
from one end to the other end. Finally a thermometer measures the temperature at the
right end and feeds that information back to control the heating element.

Delayed Control Action:


Assume that the temperature at the right end follows a first order process with transfer
function,
10
G0 (s) = (1)
τ1 s + 1
Also, assume that a pure delay of seconds arises due to transfer of heat taking place
from left end to right end. As a result the open loop transfer function becomes,

10e−sτ2
G(s) = (2)
τ1 s + 1
In the above transfer function, input is temperature of the heating element placed at
the left end and the output is temperature measured at the right end.

Approximation of Delay:
A standard technique to handle delays is to make an approximation of delay transfer
function for a reasonable range of frequency variation. A useful approximation to delay
transfer function is the so-called Pade approximation.

1 − ( sτ2 )
e−sτ = (3)
1 + ( sτ2 )
Pick any value for τ1 ∈ (0.5, 1) and τ2 ∈ (0.3, 0.8) and do the following,

1. Make an approximation of the pure delay by using the above Pade approximation,
0
yielding a transfer function G (s).

2. Draw a block diagram of this control system clearly showing the controller block,
process/plant block and a unity feedback loop.

3. Obtain the step responses of both the actual and approximate open loop systems
and plot them on the same scale, also Comment on the transient responses of the
closed loop systems when excited by a unit step input, for different values of gain
K.

4. Comment on the variation of steady state error for unit step reference input to the
closed loop system with gain K.

5. Suppose we are allowed to use only proportional control. Find gain-margin, phase-
margin and bandwidth when the proportional gain is set to 1.
0
6. Comment on the closed loop stability as gain K is varied. Use G(s) or G (s),
whichever you find suitable and using root locus find the range of K for which close
loop system is stable and unstable. Plot the step response for both values of K.
0
7. Obtain a Bode plot of the approximate transfer function G (s) and compare it with
the Bode plot of G(s), the pure delay based transfer function. Comment on the
range of frequency for which the Pade approximation is valid.

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