COURSE OUTCOMES

After studying this course, students will be able to:

CO 1 Do the stability analysis using Root locus, Bode plot, Nyquist plot and Polar plot techniques.

CO 2 Simulate the Hoffmann transfer and orbit maneuvering

CO 3 Simulate the trajectory of the rocket or missile

LIST OF EXPERIMENTS

Exp.No. Title Bloom’s Level PageNo.

Plot root locus with variable in transfer function through
1 MATLAB.
L1, L2, L3 1

2 Plot root locus for a dynamics system throughMATLAB. L1, L2, L3 5

Draw Bode plot from a transfer function in MATLABand
3 L1, L2, L3 9
explain the gain and phase margin.
Simulate a servo mechanism motion with feedback inthe
4 following domains 1. Time Domain 2. Laplace Domain
L1, L2, L3, L4 16

5 Simulate a space shuttle landing with parachutedeployed. L1, L2, L3 23

6 Simulate Hohmann transfer orbit. L1, L2, L3 27

7 Perform a planetary orbit simulation. L1, L2, L3 31

Simulate the Position of a moving object using GNSS
8 L1, L2, L3 35
simulator/Given position vectors
Model a satellite motion and determine time period forits
9 orbital motion.
L1, L2, L3 38
Perform trajectory simulation of a small atmospheric re-
10 entry module.
L1, L2, L3 41
Perform and validate with an experimental setup for a
11 simple feedback servo experiment.
L1, L2, L3 43
Perform 3-DOF Gyroscope experiment for System
12 L1, L2, L3 46
Identification.
Perform 2- DOF Rotor System experiment for Coupled
13 L1, L2, L3 48
Dynamic Analysis
Model and simulate a simple Magnetic Levitationsystem
14 L1, L2, L3 51
and validate with the experimental setup.
 Department of Aerospace Engineering SJC Institute of Technology

EXPERIMENT 1
Plot root locus with variable in transfer function through MATLAB.
AIM:
To plot root locus with variable in transfer function through MATLAB.
THEORY:
A typical closed-loop feedback control system is shown in the figure below. The open-loop
transfer function is defined as KG(s)H(s). Ordinarily, we can determine the poles of
KG(s)H(s), since these poles arise from simple cascaded first- or second-order subsystems.
Further, variations in K do not affect the location of any pole of this function. On the other
hand, we cannot determine the poles of T(s) = KG(s)/[1+KG(S)H(s)] unless we factor the
denominator. Also, the poles of T(s) change with K. Letting:

The zeros of T(s) consist of the zeros of G(s) and the poles of H(s). The poles of T(s) are not
immediately known without factoring the denominator, and they are a function of K. Since
the system‘s transient response and stability are dependent upon the poles of T(s), we have no
knowledge of the system‘s performance unless we factor the denominator for specific values
of K. The root locus will be used to give us a vivid picture of the poles of T(s) as K varies.
The root locus technique can be used to analyze and design the effect of loop gain upon the
system‘s transient response and stability. IT is the representation of the paths of the closed-
loop poles as the gain is varied. For most of our work, the discussion will be limited to
positive gain, or K >= 0. The root locus shows the changes in the transient response as the
gain, K, varies.
Basic Rules for Sketching the Root Locus:
1. Number of branches: The number of branches of the root locus equals the number of
closed-loop poles.
2. Symmetry: The root locus is symmetrical about the real axis.

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3. Real-axis segments: On the real axis, for K > 0 the root locus exists to the left of an odd
number of real-axis, finite open-loop poles and/or finite open-loop zeros.
4. Starting and ending points: The root locus begins at the finite and infinite poles of
G(s)H(s) and ends at the finite and infinite zeros of G(s)H(s).
5. Behavior at infinity: The root locus approaches straight lines as asymptotes as the locus
approaches infinity. Further, the equations of the asymptotes are given by the real-axis
intercept and angle in radians as follows:

6. Real-axis break away and break-in points: The root locus breaks away from the real axis
at a point where the gain is maximum and breaks into the real axis at a point where the
gain is minimum.
7. Calculation of jw-axis crossings: The root locus crosses the jw-axis at the point where —
<G(s)H(s) = (2k+1)180 degrees. Routh-Hurwitz or a search of the jw-axis for (2k+1)
degrees can be used to find the jw-axis crossing.
8. Angles of departure and arrival: The root locus departs from complex, open-loop poles
and arrives at complex, open-loop zeros at angles that can be calculated as follows.
Assume a point e close to the complex pole or zero. Add all angles drawn from all open-
loop poles and zeros to this point. The sum equals (2k+1)180. The only unknown angle
is that drawn from the ε close pole or zero, since the vectors drawn from all other poles
and zeros can be considered drawn to the complex pole or zero that is ε close to the point.
Solving for the unknown angle yields the angle of departure or arrival.
9. Plotting and calibrating the root locus: All points on the root locus satisfy the relationship
<G(s)H(s) = (2k+1)180. The gain, K, at any point on the root locus is given by

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Here, in this experiment variables are introduced in the transfer function and are declared at
the beginning, hence the numerator and denominator polynomials of the transfer function is
not necessarily to be modified in every case.

FLOW CHART:

Start

Declare the gain and its range

Define the system parameters/

variables in the transfer function

Define the transfer function

using the variables declared

Se the function ‗rlocus‘ to create the root

locus plot and customize it appropriately

End

MATLAB CODE:
clear;
clc;
k = 0:1:20; % defining the gain range
a = 2;
b = 3;
c = 4;
A = 1;
B = 12;
C = 3;
D = 1;
h1 = tf([a b c],[A B C D]) % Definition of TF
rlocus(h1,'r',k) % Plotting the Root Locus of the TF h1

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RESULT:
Root Locus of a dynamics system with variables in the Transfer Function.

VIVA QUESTIONS:
1) What do you mean by dynamic system?

2) What do you mean by characteristic equation?

3) What do you understand by frequency response?

4) What do you understand by the Root Locus?

5) What are the steps involved in construction of Root Locus?

6) How Root Locus is utilized to determine the local stability of a dynamic system?

7) What are Poles and Zeros?

8) What do you understand by Angle of Departure and Angle of Arrival?

9) How do you estimate the total number of branches in a Root Locus plot?
10) How do you estimate the number of asymptotes in a Root Locus plot?

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EXPERIMENT 2
Plot root locus for a dynamic system through MATLAB.
AIM:
To plot root locus of a dynamics system through MATLAB.
THEORY:
A typical closed-loop feedback control system is shown in the figure below. The open-loop
transfer function is defined as KG(s)H(s). Ordinarily, we can determine the poles of
KG(s)H(s), since these poles arise from simple cascaded first- or second-order subsystems.
Further, variations in K do not affect the location of any pole of this function. On the other
hand, we cannot determine the poles of T(s) = KG(s)/[1+KG(S)H(s)] unless we factor the
denominator. Also, the poles of T(s) change with K. Letting:

The zeros of T(s) consist of the zeros of G(s) and the poles of H(s). The poles of T(s) are not
immediately known without factoring the denominator, and they are a function of K. Since
the system‘s transient response and stability are dependent upon the poles of T(s), we have no
knowledge of the system‘s performance unless we factor the denominator for specific values
of K. The root locus will be used to give us a vivid picture of the poles of T(s) as K varies.
The root locus technique can be used to analyze and design the effect of loop gain upon the
system‘s transient response and stability. IT is the representation of the paths of the closed-
loop poles as the gain is varied. For most of our work, the discussion will be limited to
positive gain, or K >= 0. The root locus shows the changes in the transient response as the
gain, K, varies.
Basic Rules for Sketching the Root Locus:
1. Number of branches: The number of branches of the root locus equals the number of
closed-loop poles.
2. Symmetry: The root locus is symmetrical about the real axis.
3. Real-axis segments: On the real axis, for K > 0 the root locus exists to the left of an odd
number of real-axis, finite open-loop poles and/or finite open-loop zeros.

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4. Starting and ending points: The root locus begins at the finite and infinite poles of
G(s)H(s) and ends at the finite and infinite zeros of G(s)H(s).
5. Behavior at infinity: The root locus approaches straight lines as asymptotes as the locus
approaches infinity. Further, the equations of the asymptotes are given by the real-axis
intercept and angle in radians as follows:

6. Real-axis break away and break-in points: The root locus breaks away from the real axis
at a point where the gain is maximum and breaks into the real axis at a point where the
gain is minimum.
7. Calculation of jw-axis crossings: The root locus crosses the jw-axis at the point where —
<G(s)H(s) = (2k+1)180 degrees. Routh-Hurwitz or a search of the jw-axis for (2k+1)
degrees can be used to find the jw-axis crossing.
8. Angles of departure and arrival: The root locus departs from complex, open-loop poles
and arrives at complex, open-loop zeros at angles that can be calculated as follows.
Assume a point e close to the complex pole or zero. Add all angles drawn from all open-
loop poles and zeros to this point. The sum equals (2k+1)180. The only unknown angle
is that drawn from the ε close pole or zero, since the vectors drawn from all other poles
and zeros can be considered drawn to the complex pole or zero that is ε close to the point.
Solving for the unknown angle yields the angle of departure or arrival.
9. Plotting and calibrating the root locus: All points on the root locus satisfy the relationship
<G(s)H(s) = (2k+1)180. The gain, K, at any point on the root locus is given by

Note: Here, in this experiment the transfer function is directly defines with respect to the
coefficients of numerator and denominator polynomials in a single line of command. And the
gain is varied from 0 to 20 with as step size of 1.

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FLOW CHART:

Start

Declare the gain and its range

Define the transfer function using the

numerator and denominator polynomials‘
coefficients appropriately

Se the function ‗rlocus‘ to create the root

locus plot and customize it appropriately

End

MATLAB Code:
clear;
clc;
h1 = tf([2 3 4],[1 12 3 1])
rlocus(h1,'b')

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RESULT:
Root Locus of a dynamic system.

Viva Questions:
1) Differentiate Statics and Dynamics.

2) Differentiate Linear and Nonlinear systems.

3) What are the sources of nonlinearities in a complex engineering system?

4) What do understand by LTI system?

5) How important is Root Locus in predicting the stability characteristics of a dynamics

system?

6) What are the advantages and disadvantages of Root Locus technique?

7) Do the zeros of a system change with a change in gain?

8) What are real axis break – away points?

9) What are real axis break – in points?

10) Briefly describe how the zeros of the open-loop system affect the root locus and the
transient response.

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EXPERIMENT 3
Draw Bode plot from a transfer function in MATLAB and explain the gain
and phase margin
AIM:
To draw Bode plot from a transfer function in MATLAB and explain the gain and phase
margin.

THEORY:
Frequency Response:
The starting point for frequency-domain analysis of a linear system is its transfer function. It
is well known from linear system theory that when the input to a linear time-invariant system
is sinusoidal with amplitude R and frequency ω0.
r(t) = Rsin(ωt)
The steady-state output of the system, y(t), will be a sinusoid with the same frequency ω0. But
possibly with different amplitude and phase; that is,
y(t) = Ysin(ωt + ϕ)
Where Y is the amplitude of the output sine wave and ϕ is the phase shift in degrees or
radians. Let the transfer function of a linear SISO system be M(s); then the Laplace
transforms of the input and the output are related through
Y(s)=M(s)R(s)
For sinusoidal steady-state analysis, we replace s by jco, and the last equation becomes:
Y(jω) = M(jω)R(jω)
By writing the function Y(jω) as Y(jω) = abs(Y(jω)) <Y(jω) with similar definitions for M(jω)
and R(jω).The above equation leads to the magnitude relation between the input and the
output:
abs(Y(jω)) = abs(M(jω))*abs(R(jω))
and the phase relation:
<Y(jω) = <M(jω) + <R(jω)
Thus, for the input and output signals described the amplitude of the output sinusoid is
Y = R*abs(M(jω))
and the phase of the output is
ϕ = <M(jω)
Thus, by knowing the transfer function M(s) of a linear system, the magnitude characteristic,
abs(M(jω)), and the phase characteristic, <M(jω), completely describe the steady-state
performance when the input is a sinusoid. The crux of frequency-domain analysis is that the

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amplitude and phase characteristics of a closed-loop system can be used to predict both time-
domain transient and steady-state system performances.
Frequency Response of Closed Loop System:
For the single-loop control-system configuration studied, the closed-loop transfer function is:

Under the sinusoidal steady state, s = jω, the above equation becomes:

The sinusoidal steady-state transfer function M(jω) may be expressed in terms of its
magnitude and phase; that is:

Or M(jω) can be expressed in terms of its real and imaginary parts:

The magnitude of M(jω) is:

and the phase of M(jω) is:

The following figure illustrates typical gain and phase characteristics of a control system. As
shown by previous two equations, the gain and phase of a closed-loop system can be
determined from the forward-path and loop transfer functions. In practice, the frequency
responses of G(s) and H(s) can often be determined by applying sine-wave inputs to the
system and sweeping the frequency from 0 to a value beyond the frequency range of the
system.

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Bode Plot:
The Bode plot of the function G(jω) is composed of two plots, one with the amplitude of
G(jω) in decibels (dB) versus log10ω or ω and the other with the phase of G(jω) in degrees as
a function of log10ω or ω. A Bode plot is also known as a corner plot or an asymptotic plot of
G(jω). These names stem from the fact that the Bode plot can be constructed by using
straight-line approximations that are asymptotic to the actual plot. In simple terms, the Bode
plot has the following features:
1. Because the magnitude of G(jω) in the Bode plot is expressed in dB, product and division
factors in G(jω) became additions and subtractions, respectively. The phase relations are also
added and subtracted from each other algebraically.
2. The magnitude plot of the Bode plot of G(jω) can be approximated by straight-line
segments, which allow the simple sketching of the plot without detailed computation.
Because the straight-line approximation of the Bode plot is relatively easy to construct, the
data necessary for the other frequency-domain plots, such as the polar plot and the
magnitude-versus-phase plot, can be easily generated from the Bode plot.
Frequency Response Specifications:
1. Resonant Peak (Mr):
The resonant peak Mr is the maximum value of abs(M()). In general, the magnitude of Mr
gives indication on the relative stability of a stable closed-loop system. Normally, a large Mr
corresponds to a large maximum overshoot of the step jω response. For most control systems,
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it is generally accepted in practice that the desirable value of Mr should be between 1.1 and
1.5.
2. Resonant Frequency (ωr)
The resonant frequency ωr, is the frequency at which the peak resonance Mr occurs.
3. Bandwidth (BW):
The bandwidth BW is the frequency at which abs(M(jω)) drops to 70.7% of, or 3 dB down
from, its zero-frequency value.
4. Gain Crossover Frequency (ωgc):
This is the point on the frequency reponse of the system aat which the magnitude
abs(G(jω)H(jω)) = 1or 0 dB. Frequency corresponding to this point is known as Gain
Crossover Frequency (ωgc).
5. Phase Crossover Frequency (ωpc)
This is the point on the frequency response of the system at which the phase of G(jω)H(jω)
system is equals to 1800. Frequency corresponding to this point is known as Phase Crossover
Frequency (ωpc).
6. Gain Margin (GM)
It is defined as the reciprocal of the open loop transfer function evaluated at the frequency at
which the phase shift is 1800. Gain margin is the amount of gain in decibels that can be
allowed to increase in loop before the closed loop system reached instability when G(jω)H(jω)
plot goes through the (-1, j0) point. The gain margin is 0 dD which implies that the loop gain
can no longer be increased as the system is already on the margin of instability.
Gain margin is the number of decibels that is measured below (taken as positive) or above
(taken as negative) the 0dB line at the phase crossover frequency.
Gain margin must be positive (i.e measured below the 0dB line) for the system to be stable.
7. Phase Margin (PM)
It is defines as the angle through which G(jω)H(jω) is rotated about the origin in order that
unity magnitude on the locus passes through the critical point (-1,j0).
In other words, the phase margin is -1800 plus the phase angle at the unity gain.

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Note: In this experiment two systems‘, two distinct transfer functions, frequency responses
are plotted via Bode plot and compared on the same plot.
The system transfer functions are:
System 1, T(s)1 = ([300s2+600s+1200]/[s3+30s2+200s)
System 2, T(s)2 = ([10.5]/[s3+11s2+10.16s+1.6)

FLOW CHART:

Start

Define the transfer functions upon entering

the coefficients on numerator and
denominator polynomials of both systems.

Use the command ‗bode‘ to plot the

frequency response of the systems via Bode

End

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MATLAB CODE:
clc
H1 = tf([300 600 1200],[1 30 200 0]) % Transfer Function 01
H2 = tf([10.5],[1 11 10.16 1.6]) % Transfer Function 02
bode(H1,'r', H2,'b--')
grid on

RESULT:
Bode plot comparison of two systems is as follows:

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Viva Questions:
1) What do understand by Frequency response?

2) -What are the major differences between frequency response and time response
approaches?

3) Name few frequency response specifications and its importance.

4) Name two ways to plot frequency response of a dynamics system.

5) Each pole of a system contributes how much of a slope to the Bode magnitude plot?

6) Briefly state the Nyquist criterion.

7) Define Gain margin.

8) Define Phase margin.

9) Name two different frequency response characteristics that can be used to determine a
system‘s transient response.

10) What is the major difference between Bode magnitude plots for first-order systems
and for second-order systems?

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EXPERIMENT 4
Simulate a simple servo – mechanism with feedback in the time domain
and in‘s’ domain.
AIM:

To simulate a simple servo – mechanism with feedback in the time domain and in‗s‘ domain.

THEORY:

1. Servomechanism Simulation in time domain:

For Armatire Circuit,

Where eb = kb Ɵ/

Where eb= Back emf, kb= Back emf constant.

For servo mechanism: T(t) = kTia
For Mechanical System (Rotational)

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Procedure for simulation:

Step 1: Open MATLAB, Type ―Simulink‖ in command window or Click Simulink library
from the top menu.
Step 2: Go to File, Open a New Model.
Step 3: Drag and place the corresponding blocks from the corresponding library.
Select BLOCK set Location in Simulink library Step Source Sum Math Operation Gain
Math Operation Integrator Continuous Scope Sinks Workspace Sinks Transfer Function
Continuous
Step 4: Rename the Blocks names with the corresponding spring mass component names and
initialise Step time in Step source to ―0‖ .
Step 5: DoubleClick Workspace and change ―save format‖ to array
Step 6: Go to File, Click Model Properties, Select Model Properties; Go to Call backs and
select InitFcn and Insert the valves of J,R,LB

Step 7: Save the model and simulate the model for 60 sec.
Step 8: Plot the graph in MATLAB command window and analyse the graph.

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SIMULINK MODEL:

RESULTS:

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2. Simulation of Servomechanism in‘s’ domain:

THEORY:
For Armature Circuit,

Where eb = kb Ɵ/
Taking Laplace Transform on both sides, we have
Ea(s) = Ia(s) [Ra + La s] + kb s. (s)

Where eb= Back emf, kb= Back emf constant

For D.C Motor: T(t) = kTia (1)
For Mechanical System (Rotational)

From above equation, J + B = kTia

Taking Laplace Transform,
Js2 (s) + Bs (s) = kTIa(s)

Substituting the value of Ia(s) in Ea(s). We get:

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Thus, transfer function of system is:

Procedure for simulation:

Step 1: Open MATLAB, Type ―Simulink‖ in command window or Click Simulink library
from the top menu.
Step 2: Go to File, Open a New Model.
Step 3: Drag and place the corresponding blocks from the corresponding library.
Select Block set Location in Simulink library
Step Source
Sum Math Operation
Gain Math Operation
Integrator Continuous
Scope Sinks
Workspace Sinks
Transfer Function Continuous

Step 4: Rename the Blocks names with the corresponding spring mass component names and
initialize Step time in Step source to ―0‖.
Step 5: DoubleClick Workspace and change ―save format‖ to array
Step 6: Go to File, Click Model Properties, Select Model Properties; Go to Call backs and
select InitFcn and Insert the valves of J, R, L, B.

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Step 7: Save the model and simulate the model for 60 sec.
Step 8: Plot the graph in MATLAB command window and analyze the graph

SIMULINK MODEL:

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RESULT:

Viva Questions:
1) What is the function of scope in simulation?

2) What is time response?

3) What is damping ratio?

4) What is servo mechanism?

5) What is meant by feedback?

6) Explain PID controller?

7) What is control system?

8) State the effects of feedback in a control system.

9) What are the major differences between MATLAB and Simulinl.

10) State few time response and frequency response specifications.

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EXPERIMENT 5

Simulate a space shuttle landing with parachute deployed

AIM:

To simulate a space shuttle landing with parachute deployed

THEORY:

For a successful return to earth and landing, dozens of things have to go just right.

First, the orbiter must be maneuvered into the proper position. This is crucial to a safe landing.

When a mission is finished and the shuttle is halfway around the world from the landing site,
mission control gives the command to come home, which prompts the crew to:

1. Close the cargo bay doors. In most cases, they have been flying nose-first and upside
down, so they then fire the RCS thrusters to turn the orbiter tail first.
2. Once the orbiter is tail first, the crew fires the OMS engines to slow the orbiter down
and fall back to Earth; it will take about 25 minutes before the shuttle reaches the
upper atmosphere.
3. During that time, the crew fires the RCS thrusters to pitch the orbiter over so that the
bottom of the orbiter faces the atmosphere (about 40 degrees) and they are moving
nose first again.
4. Finally, they burn leftover fuel from the forward RCS as a safety precaution because
this area encounters the highest heat of re-entry.

Because it is moving at about 17,000 mph (28,000 km/h), the orbiter hits air molecules and
builds up heat from friction (approximately 3000 degrees F, or 1650 degrees C). The orbiter
is covered with ceramic insulating materials designed to protect it from this heat. The
materials include:

 Reinforced carbon-carbon (RCC) on the wing surfaces and underside

 High-temperature black surface insulation tiles on the upper forward fuselage and
around the windows
 White Nomex blankets on the upper payload bay doors, portions of the upper wing
and mid/aft fuselage
 Low-temperature white surface tiles on the remaining areas

Maneuvering of the orbiter for re-entry

These materials are designed to absorb large quantities of heat without increasing their
temperature very much. In other words, they have a high heat capacity. During re-entry, the
aft steering jets help to keep the orbiter at its 40 degree attitude. The hot ionized gases of the
atmosphere that surround the orbiter prevent radio communication with the ground for about
12 minutes (i.e., ionization blackout).

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When re-entry is successful, the orbiter encounters the main air of the atmosphere and is able
to fly like an airplane. The orbiter is designed from a lifting body design with swept back
"delta" wings. With this design, the orbiter can generate lift with a small wing area. At this
point, flight computers fly the orbiter. The orbiter makes a series of S-shaped, banking turns
to slow its descent speed as it begins its final approach to the runway. The commander picks
up a radio beacon from the runway (Tactical Air Navigation System) when the orbiter is
about 140 miles (225 km) away from the landing site and 150,000 feet (45,700 m) high. At
25 miles (40 km) out, the shuttle's landing computers give up control to the commander. The
commander flies the shuttle around an imaginary cylinder (18,000 feet or 5,500 m in diameter)
to line the orbiter up with the runway and drop the altitude. During the final approach, the
commander steepens the angle of descent to minus 20 degrees (almost seven times steeper
than the descent of a commercial airliner).

Shuttle flight path for landing

When the orbiter is 2,000 ft (610 m) above the ground, the commander pulls up the nose to
slow the rate of descent. The pilot deploys the landing gear and the orbiter touches down. The
commander brakes the orbiter and the speed brake on the vertical tail opens up. A parachute
is deployed from the back to help stop the orbiter. The parachute and the speed brake on the
tail increase the drag on the orbiter. The orbiter stops about midway to three-quarters of the
way down the runway.

After landing, the crew goes through the shutdown procedures to power down the spacecraft.
This process takes about 20 minutes. During this time, the orbiter is cooling and noxious
gases, which were made during the heat of re-entry, blow away. Once the orbiter is powered
down, the crew exits the vehicle. Ground crews are on-hand to begin servicing the orbiter.

Matlab Code:

clear;
clc;
G=6.67*(10^(-11));
R_mars=3.39*(10^(6));
M_mars=6.39*(10^(23));
m=5;
s=2;
Cd=1.05;
del_t=0.1;
y(1)=10000;
y_vel(1)=-300;
n=1;
time(1)=0;
while (y(n)>0)
g=G*M_mars*m/((y(n)+R_mars)^2);
pres=0.699*exp(-0.0009*y(n));
if (y>7000)
temp=-23.4-(0.0022*y(n));
else
temp=-31-(0.00098*y(n));
end
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rho=pres/(0.1921*(temp+273.1));
drag=0.5*rho*s*(y_vel(n)^2)*Cd;
n=n+1;
y_acc(n)=(drag-(m*g))/m;
y_vel(n)=y_vel(n-1)+(y_acc(n-1)*del_t);
y(n)=y(n-1)+(y_vel(n)*del_t);
time(n)=time(n-1)+1;
end;
size=length(y);
x=linspace(1,1,size);
figure (1)
plot(time,y);
figure (2)
plot(x,y);
figure (3)
plot(time,y_vel);
figure (4)
plot(time,y_acc);

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EXPERIMENT 6

Simulate Hohmann transfer orbit

AIM:

To simulate Hohmann transfer orbit

Theory:

In orbital mechanics, the Hohmann transfer orbit (/ˈhoʊmən/) is an elliptical orbit used to
transfer between two circular orbits of different radii around a central body in the same plane.
The Hohmann transfer often uses the lowest possible amount of propellant in traveling
between these orbits, but bi-elliptic transfers can use less in some cases.

The orbital maneuver to perform the Hohmann transfer uses two engine impulses, one to
move a spacecraft onto the transfer orbit and a second to move off it. This maneuver was
named after Walter Hohmann, the German scientist who published a description of it in his
1925 book Die Erreichbarkeit der Himmelskörper (The Attainability of Celestial Bodies).[1]
Hohmann was influenced in part by the German science fiction author Kurd Laseswitz and
his 1897 book Two Planets.

The elliptic transfer orbits between different bodies (planets, moons etc.) are often referred to
as Hohmann transfer orbits. When used for traveling between
celestial bodies, a Hohmann transfer orbit requires that the
starting and destination points be at particular locations in their
orbits relative to each other. Space missions using a Hohmann
transfer must wait for this required alignment to occur, which
opens a so-called launch window. For a space mission between
Earth and Mars, for example, these launch windows occur
every 26 months. A Hohmann transfer orbit also determines a
fixed time required to travel between the starting and
destination points; for an Earth-Mars journey this travel time is
about 9 months. When transfer is performed between orbits
close to celestial bodies with significant gravitation, much less
delta-v is usually required, as the Oberth effect may be
employed for the burns.

They are also often used for these situations, but low-energy transfers which take into
account the thrust limitations of real engines, and take advantage of the gravity wells of both
planets can be more fuel efficient.

The diagram shows a Hohmann transfer orbit to bring a spacecraft from a lower circular orbit
into a higher one. It is one half of an elliptic orbit that touches both the lower circular orbit
the spacecraft wishes to leave (green and labeled 1 on diagram) and the higher circular orbit
that it wishes to reach (red and labeled 3 on diagram). The transfer (yellow and labeled 2 on
diagram) is initiated by firing the spacecraft's engine to accelerate it so that it will follow the
elliptical orbit. This adds energy to the spacecraft's orbit. When the spacecraft has reached its

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destination orbit, its orbital speed (and hence its orbital energy) must be increased again to
change the elliptic orbit to the larger circular one.

Due to the reversibility of orbits, Hohmann transfer orbits also work to bring a spacecraft
from a higher orbit into a lower one; in this case, the spacecraft's engine is fired in the
opposite direction to its current path, slowing the spacecraft and causing it to drop into the
lower-energy elliptical transfer orbit. The engine is then fired again at the lower distance to
slow the spacecraft into the lower circular orbit.

The Hohmann transfer orbit is based on two instantaneous velocity changes. Extra fuel is
required to compensate for the fact that the bursts take time; this is minimized by using high-
thrust engines to minimize the duration of the bursts. For transfers in Earth orbit, the two
burns are labelled the perigee burn and the apogee burn (or ''apogee kick[5]); more generally,
they are labelled periapsis and apoapsis burns. Alternately, the second burn to circularize the
orbit may be referred to as a circularization burn.

Type I and Type II

An ideal Hohmann transfer orbit transfers between two circular orbits in the same plane and
traverses exactly 180° around the primary. In the real world, the destination orbit may not be
circular, and may not be coplanar with the initial orbit. Real world transfer orbits may
traverse slightly more, or slightly less, than 180° around the primary. An orbit which
traverses less than 180° around the primary is called a "Type I" Hohmann transfer, while an
orbit which traverses more than 180° is called a "Type II" Hohmann transfer.

Transfer orbits can go more than 360° around the sun. These multiple-revolution transfers are
sometimes referred to as Type III and Type IV, where a Type III is a Type I plus 360°, and a
Type IV is a Type II plus 360°.

Uses

A Hohmann transfer orbit can be used to transfer any object's orbit towards another object, as
long as they share a common larger body which they orbit around. In the context of Earth and
the Solar System, this includes any object which orbits the Sun. An example of where a
Hohmann transfer orbit could be used is to bring an asteroid, orbiting the Sun, into contact
with the Earth.

Matlab Code:
clear;
clc;
R1=input('enter the radius of orbit1: ');
R2=input('enter the radius of orbit2: ');
M=input('enter the mass of the object: ');
G=input('enter the gravitation force ACTING ON OBJECT: ');
Semimajoraxis=(R1+R2)/2
U=M*G
V1=(U/R1)^0.5
V2=(U/R2)^0.5
VP=((2*U*R2)/R1*(R1+R2))^0.5

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VA=((2*U*R1)/R2*(R1+R2))^0.5
DV1=VP-V1
DV2=V2-VA
TDV=DV1+DV2

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Experiment 7

Perform a planetary orbit simulation

AIM:

Perform a planetary orbit simulation

Theory:

Within a planetary system, planets, dwarf planets, asteroids and other minor planets, comets,
and space debris orbit the system's barycenter in elliptical orbits. A comet in a parabolic or
hyperbolic orbit about a barycenter is not gravitationally bound to the star and therefore is not
considered part of the star's planetary system. Bodies that are gravitationally bound to one of
the planets in a planetary system, either natural or artificial satellites, follow orbits about a
barycenter near or within that planet.

Owing to mutual gravitational perturbations, the eccentricities of the planetary orbits vary
over time. Mercury, the smallest planet in the Solar System, has the most eccentric orbit. At
the present epoch, Mars has the next largest eccentricity while the smallest orbital
eccentricities are seen with Venus and Neptune.

As two objects orbit each other, the periapsis is that point at which the two objects are closest
to each other and the apoapsis is that point at which they are the farthest. (More specific
terms are used for specific bodies. For example, perigee and apogee are the lowest and
highest parts of an orbit around Earth, while perihelion and aphelion are the closest and
farthest points of an orbit around the Sun.)

In the case of planets orbiting a star, the mass of the star and all its satellites are calculated to
be at a single point called the barycenter. The paths of all the star's satellites are elliptical
orbits about that barycenter. Each satellite in that system will have its own elliptical orbit
with the barycenter at one focal point of that ellipse. At any point along its orbit, any satellite
will have a certain value of kinetic and potential energy with respect to the barycenter, and
that energy is a constant value at every point along its orbit. As a result, as a planet
approaches periapsis, the planet will increase in speed as its potential energy decreases; as a
planet approaches apoapsis, its velocity will decrease as its potential energy increases.

Understanding orbits

There are a few common ways of understanding orbits:

A force, such as gravity, pulls an object into a curved path as it attempts to fly off in a straight
line.

As the object is pulled toward the massive body, it falls toward that body. However, if it has
enough tangential velocity it will not fall into the body but will instead continue to follow the
curved trajectory caused by that body indefinitely. The object is then said to be orbiting the
body.

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As an illustration of an orbit around a planet, the Newton's cannonball model may prove
useful (see image below). This is a 'thought experiment', in which a cannon on top of a tall
mountain is able to fire a cannonball horizontally at any chosen muzzle speed. The effects of
air friction on the cannonball are ignored (or perhaps the mountain is high enough that the
cannon is above the Earth's atmosphere, which is the same thing).

Newton's cannonball, an illustration of how objects can "fall" in a curve

Conic sections describe the possible orbits (yellow) of small objects around the Earth. A
projection of these orbits onto the gravitational potential (blue) of the Earth makes it possible
to determine the orbital energy at each point in space.

If the cannon fires its ball with a low initial speed, the trajectory of the ball curves downward
and hits the ground (A). As the firing speed is increased, the cannonball hits the ground
farther (B) away from the cannon, because while the ball is still falling towards the ground,
the ground is increasingly curving away from it (see first point, above). All these motions are
actually "orbits" in a technical sense—they are describing a portion of an elliptical path
around the center of gravity—but the orbits are interrupted by striking the Earth.

If the cannonball is fired with sufficient speed, the ground curves away from the ball at least
as much as the ball falls—so the ball never strikes the ground. It is now in what could be
called a non-interrupted or circumnavigating, orbit. For any specific combination of height
above the center of gravity and mass of the planet, there is one specific firing speed
(unaffected by the mass of the ball, which is assumed to be very small relative to the Earth's
mass) that produces a circular orbit, as shown in (C).

As the firing speed is increased beyond this, non-interrupted elliptic orbits are produced; one
is shown in (D). If the initial firing is above the surface of the Earth as shown, there will also
be non-interrupted elliptical orbits at slower firing speed; these will come closest to the Earth
at the point half an orbit beyond, and directly opposite the firing point, below the circular
orbit.

At a specific horizontal firing speed called escape velocity, dependent on the mass of the
planet and the distance of the object from the barycenter, an open orbit (E) is achieved that
has a parabolic path. At even greater speeds the object will follow a range of hyperbolic
trajectories. In a practical sense, both of these trajectory types mean the object is "breaking
free" of the planet's gravity, and "going off into space" never to return.

The velocity relationship of two moving objects with mass can thus be considered in four
practical classes, with subtypes:

No orbit

Suborbital trajectories

Range of interrupted elliptical paths

Orbital trajectories (or simply, orbits)

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 Range of elliptical paths with closest point opposite firing point

 Circular path

 Range of elliptical paths with closest point at firing point

Open (or escape) trajectories

 Parabolic paths

 Hyperbolic paths

It is worth noting that orbital rockets are launched vertically at first to lift the rocket above
the atmosphere (which causes frictional drag), and then slowly pitch over and finish firing the
rocket engine parallel to the atmosphere to achieve orbit speed.

Once in orbit, their speed keeps them in orbit above the atmosphere. If e.g., an elliptical orbit
dips into dense air, the object will lose speed and re-enter (i.e. fall). Occasionally a space
craft will intentionally intercept the atmosphere, in an act commonly referred to as an
aerobraking maneuver.

Matlab code:

clear;
clc;
%Earth orbit
at=149.5963995; % horizontal radius
bt=149.57552243; % vertical radius
x0t=0; % x0,y0 ellipse centre coordinates
y0t=0;
t=-4*pi:0.01:4*pi;
xt=x0t+at*cos(t);
yt=y0t+bt*sin(t);
n=length(xt)
%Translation of the moon over the earth
for i=1:1:n
xt2=xt(i); %position of the earth
yt2=yt(i); %center of the moon
al=38.1575; % horizontal radius *100
bl=38.0744275597; % vertical radius *100
%Orbit of the Moon
x0l=xt2-0.025165; % x0,y0 ellipse centre coordinates foco
y0l=yt2;
t=-111*pi:0.01:111*pi;
xl=x0l+al*cos(t);
yl=y0l+bl*sin(t);
m=length(xl);
xs=2.4991665;%sun position
ys=0;
xm=xl(m-14*i);
ym=yl(m-14*i);
pts=(yt(i)-ys)/(xt(i)-xs);
plt=(ym-yt(i))/(xm-xt(i));
plot(xl,yl,'m') %orbit of the moon
hold on

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plot(xl(m-14*i),yl(m-
14*i),'ok','MarkerSize',5,'MarkerFaceColor','w') %moon moving in its orbit
hold on
plot(xt,yt,'k') %earth orbit
hold on
plot(xt(i),yt(i),'ob','MarkerSize',10,'MarkerFaceColor','c') %earth
moving in its orbit
hold on
plot(xs,ys,'or','MarkerSize',20,'MarkerFaceColor','y') %fixed sun
porcentaje=(pts-plt)/((pts+plt)/2);
per=abs(porcentaje);
if per<0.1
line([xt(i) xs],[yt(i) ys])
line([xm xt(i)],[ym yt(i)])
hold off
vector(i)=i;
end
hold off
axis([-200 200 -200 200])
pause(.0000000001)
end

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Experiment 8
Simulate the Position of a moving object using GNSS simulator/Given position vectors

AIM:

Simulate the Position of a moving object using GNSS simulator/Given position vectors

Theory:

Real Time Kinematic (RTK) has been proven to be an efficient and reliable technology for
high-precision positioning over the past decades. By resolving integer ambiguity, centimeter-
level position estimation accuracy can be achieved in both real-time and post-processing
modes. Since the RTK outputs the relative position between the base station and the rover,
the accurate absolute position of the rover needs to use the coordinates of a stationary
reference station. Many applications require the relative position, such as the positioning of
cranes on ships, aerial docking of spacecraft, formation flying, relative positioning of
vehicles, fleet management, and deformation monitoring of large moving vehicles. In such
applications, it is difficult to establish a stationary reference station with accurately known
coordinates. The moving reference receiver cannot give its precise position as a priori, and
furthermore, as it is in motion, the measurements can be easily corrupted by, for example,
multipath. The traditional RTK technique cannot be applied directly to moving reference
receiver without precise position.
The research on moving reference receivers was started in the 1990s. Binning studied the
single difference positioning method for satellite to satellite navigation using simulated data.
Kawano used dynamic to dynamic technology based on pseudo difference for on-orbit
satellite docking. The idea of using multiple receivers to improve position estimation
accuracy or to determine attitude was explored by several research groups. Since carrier
phase integer ambiguity resolution plays an important role in the precise positioning and
attitude determination, there are many documented studies focusing on ambiguity resolution
in the ambiguity domain. These studies incorporate known baseline constraints in the
ambiguity search algorithms to get efficient integer search strategies. Another class of studies
mainly enhances the performance of float solutions of ambiguities in the positioning domain.
Since multiple receivers mounted on the platform in an array of known geometry increases
redundancy, these studies use multiple receiver configurations to strengthen the observational
model. In these studies, multiple receivers are utilized without considering the
communication burden, and the baseline constraints are used to strengthen the position
estimation model to improve the relative positioning performance using a stationary base
station. Since multiple receiver configuration improves positioning performance efficiently, it
can be also used in the base station. For fixed base stations, the technique using multiple
reference receivers is known as the Network RTK (NRTK). In the NRTK technique, multiple
reference receivers are stationary with precisely known coordinates, and the inter-station
baseline distances in the current NRTK implementations are typically restricted to around 50
km or less. Therefore, the high-precision network-derived atmospheric corrections in both
spatial and temporal domain can be computed to correct the rover measurement error when
ambiguity between reference stations is fixed. However, these technologies cannot be applied
in the RTK with multiple moving reference receivers. Most of the applications mentioned
above are practically implemented in air or sea. They encounter three problems. First, land-
based GPS stationary stations cannot be used directly, because the users are far
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away from land. Second, the reference receivers used are usually in motion. Third, the
accurately absolute coordinates of reference receivers are difficult to determine. Therefore,
modifications are required for moving RTK with multiple moving reference receivers. Luo
proposed the ‗Multi-Kin‘ method to process GPS observations from multiple (more than
three) moving platforms simultaneously, making full use of constraints through the
multiplicity of platforms to improve the ambiguity resolution. The ‗Multi-Kin‘ method is
only suitable for applications that have multiple moving platforms, each of which is equipped
with one receiver. Schrader used multiple GPS receivers and supporting electronic
components to improve the accuracy of GPS data. Trinklein employed truncated mean and
moving average filters of the latitudes and longitudes to post process multiple moving
inexpensive GPS receiver data, and yielded approximately one meter accuracy for the relative
position vector.

Matlab code:

Fs = 100;
duration = 10;
numSamples = Fs*duration;

motion = struct( ...

'Position',zeros(1,3), ...
'Velocity',zeros(1,3), ...
'Orientation',ones(1,1,'quaternion'));

INS = insSensor;

positionMeasurements = zeros(numSamples,3);
velocityMeasurements = zeros(numSamples,3);
orientationMeasurements = zeros(numSamples,1,'quaternion');
for i = 1:numSamples

measurements = INS(motion);

positionMeasurements(i,:) = measurements.Position;
velocityMeasurements(i,:) = measurements.Velocity;
orientationMeasurements(i) = measurements.Orientation;
end
orientationMeasurements = eulerd(orientationMeasurements,'ZYX','frame');

t = (0:(numSamples-1))/Fs;

subplot(3,1,1)
plot(t,positionMeasurements)
title('Position')
xlabel('Time (s)')
ylabel('Position (m)')
legend('North','East','Down')

subplot(3,1,2)
plot(t,velocityMeasurements)
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title('Velocity')
xlabel('Time (s)')
ylabel('Velocity (m/s)')
legend('North','East','Down')

subplot(3,1,3)
plot(t,orientationMeasurements)
title('Orientation')
xlabel('Time (s)')
ylabel('Rotation (degrees)')
legend('Roll', 'Pitch', 'Yaw')

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Experiment 9
Model a satellite motion and determine time period for its orbital motion.

AIM:

Model a satellite motion and determine time period for its orbital motion.

Theory:

Orbital Speed Equation

Consider a satellite with mass Msat orbiting a central body with a mass of mass MCentral.
The central body could be a planet, the sun or some other large mass capable of causing
sufficient acceleration on a less massive nearby object. If the satellite moves in circular
motion, then the net centripetal force acting upon this orbiting satellite is given by the
relationship
Fnet = ( Msat • v2 ) / R
This net centripetal force is the result of the gravitational force that attracts the satellite
towards the central body and can be represented as
Fgrav = ( G • Msat • MCentral ) / R2
Since Fgrav = Fnet, the above expressions for centripetal force and gravitational force can be
set equal to each other. Thus,
(Msat • v2) / R = (G • Msat • MCentral ) / R2
Observe that the mass of the satellite is present on both sides of the equation; thus it can be
canceled by dividing through by Msat. Then both sides of the equation can be multiplied
by R, leaving the following equation.
v2 = (G • MCentral ) / R
Taking the square root of each side, leaves the following equation for the velocity of a
satellite moving about a central body in circular motion

where G is 6.673 x 10-11 N•m2/kg2, Mcentral is the mass of the central body about which
the satellite orbits, and R is the radius of orbit for the satellite.
The Acceleration Equation
Similar reasoning can be used to determine an equation for the acceleration of our satellite
that is expressed in terms of masses and radius of orbit. The acceleration value of a satellite is
equal to the acceleration of gravity of the satellite at whatever location that it is orbiting. The
equation for the acceleration of gravity was given as
g = (G • Mcentral)/R2
Thus, the acceleration of a satellite in circular motion about some central body is given by the
following equation

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where G is 6.673 x 10-11 N•m2/kg2, Mcentral is the mass of the central body about which
the satellite orbits, and R is the average radius of orbit for the satellite.

Orbital Period Equation

The final equation that is useful in describing the motion of satellites is Newton's form of
Kepler's third law. Since the logic behind the development of the equation has been
presented elsewhere, only the equation will be presented here. The period of a satellite (T)
and the mean distance from the central body (R) are related by the following equation:

where T is the period of the satellite, R is the average radius of orbit for the satellite (distance
from center of central planet), and G is 6.673 x 10-11 N•m2/kg2.

There is an important concept evident in all three of these equations - the period, speed and
the acceleration of an orbiting satellite are not dependent upon the mass of the satellite.

None of these three equations has the variable Msatellite in them. The period, speed and
acceleration of a satellite are only dependent upon the radius of orbit and the mass of the
central body that the satellite is orbiting. Just as in the case of the motion of projectiles on
earth, the mass of the projectile has no effect upon the acceleration towards the earth and the
speed at any instant. When air resistance is negligible and only gravity is present, the mass of
the moving object becomes a non-factor. Such is the case of orbiting satellites.

Matlab Code:

clc;
clear all;
G = 6.673e-11; %Gravitational constant
M = 5.98e24; %mass of earth in (kg)
ra = 100000; %orbit distance in (m)
r = 6.37e6 + ra; %total radius of orbit in (m)
m = 500; % mass satelite (kg)
a = (G*M)/(r^2); % check for acceleration
v_orb = sqrt((G*M)/r); % orbital velocity (m/s)
T = sqrt(((4*(pi^2))*r^3)/(G*M)); % period (s)
%lets graph it for the period in steps of 150 to reduce the computation
simt = T;
for t = 1:150:simt
v_o(t) = sqrt((G*M)/r);% array of velocity corresponding to time in steps of 150 .. should not change and
be 1x34 - but ERROR
rn(t) = 6.37e6 + ra; % array of radius corresponding to time in steps of 150 .. should not change and be
1x34 - but ERROR

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disp(t) % goes from 1 to 5101 in steps of 150

%%% create array of the form 1x34 corresponding to t ???? %%%
end
figure
plot(t, v_o); xlabel('Simulation Time', 'FontSize', 12);
ylabel('Velocity', 'FontSize', 12);
grid; %%% expecting a graph of straight line %%%
figure
plot(t, rn); xlabel('Simulation Time', 'FontSize', 12);
ylabel('Radius', 'FontSize', 12);
grid; %%% expecting a graph of straight line %%%
%%% take the points of radius and time convert to polar coordinates and plot %%%
%%% expecting a circle as satellite moves around the orbit of constant radius in a sice of time of the
period%%%
%[theta,rho] = cart2pol(t,rn);
theta = atan2(rn,t);
rho = sqrt((t.^2)+(rn.^2));
theta= theta*(180/pi); % to degrees
figure
polarplot(theta,rho)
title('Orbit')

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Experiment 10
Perform trajectory simulation of a small atmospheric re-entry module.

AIM:

Perform trajectory simulation of a small atmospheric re-entry module.

Theory:

The development of re-entry vehicles began in the late 1950's for reconnaissance purpose,
and NASA has been involved in the use of re-entry vehicle since the early 1960's for manned
space programs. Recently, the United State is successfully operating the space shuttles and
developing the next generation model. Other countries such as Soviet Union, China, Japan,
Italy, France, Germany follow the development of their re-entry vehicles and succeed to
recover the vehicles. However, there has been little researches for re-entry vehicle
development in the Korean space development programs, even though Earth Observation
satellites, Science satellites, and the Korean Astronaut Program are actively studied. The
techniques and experiences on the reentry vehicles (or modules/capsules) will be one of the
most important research and development areas in the space application. Stanford University
researchers have identified reentry capsule services as one of the the fastest growing
international aerospace markets in the 1990's. Therefore, it is necessary to begin researches
for the Korean re-entry vehicle development. A small re-entry module, which can be
integrated on the Science and Technology Satellite (STSAT) series, will be a reasonable
starting model for the Korean re-entry vehicle development. This paper is a conceptual design
of the small re-entry module and its flight trajectory. The mission of the module is the
technical evaluation of the re-entry vehicle development and to acquire the flight data, such
as velocity, attitude, forces, temperature. Since the design approach for the small re-entry
module is that it shall be integrated on the STSAT series spacecraft and be launched at low
cost, all the configuration and interfaces will be dependant on the STSAT spacecraft
mechanical and electrical characteristics and the module will not have any guidance and
control. Therefore, its flight characteristics are dependent on the shape and the initial
conditions. This module has a blunted body shape and the hypersonic aerodynamic property
is constant by assuming the module flies with 0 degree of angle of attack. The estimation of
the target landing position is very important for the reentry module due to the safety and
recovery reason. The target landing position is chosen near Koheung launch site and the
separation position of the re-entry module is obtained by iterative trajectory simulations.

Matlab Code:

clear
close all
delta_t = 1;
%this is the time step for the code. As this code executes quickly, it is
%left as 1 second
SCENARIO_RUNNING_TIME = 20000;
scenario_run_time = SCENARIO_RUNNING_TIME /delta_t;
%scenario running time is defined.
radius = 6371000;%metres
G = 6.67e-11;
M= 5.975e24;
% mass of Earth and Gravitational constant

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vel_diff(1) = 0;
deflection_angle = 1
%alt(1) = radius;
vel.theta(1) = pi +( deflection_angle /180 * pi);
%the starting velocity angle is set
vel.mag(1) = 5655%
vel.phi(1) = 0;
% initial values are set for craft velocity
[vel.x(1),vel.y(1),vel.z(1)] = sph2cart(vel.theta(1),vel.phi(1),vel.mag(1));
%initial cartesian values for velocity are set.
pos.x(1) = radius + 8000000; % distance from planet
pos.y(1) = 6371000 + 6000000 % skim value
pos.z(1) = 0
% the initial position of the craft with respect to the Earth is set.
[pos.theta(1),pos.phi(1),pos.mag(1)] = cart2sph(pos.x(1),pos.y(1),pos.z(1));
%initial cartesian values for position are set.
test_mass = 5806;
%craft mass is set. The phrase 'test' is a habbit from earlier versions of
%the ascent code.
%Force is redundant as the descent is unpowered
force.x = 0;
force.y = 0;
force.z = 0;
% determine initial value of gravity. Normally gravity is not stored, but
% it is for this application in order to graph it
grav.theta = pos.theta(1);
grav.phi = pos.phi(1);
grav.mag = - test_mass * G * M /(pos.mag(1)^2);
[grav.x(1),grav.y(1),grav.z(1)] = sph2cart(grav.theta,grav.phi,grav.mag)

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EXPERIMENT 11
Simulate a simple servo – mechanism with feedback

AIM:

To simulate a simple servo – mechanism with feedback in the time domain.

THEORY:

3. Servomechanism Simulation in time domain:

For Armatire Circuit,

Where eb= Back emf, kb= Back emf constant.

For servo mechanism: T(t) = kTia
For Mechanical System (Rotational)

Procedure for simulation:

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Step 1: Open MATLAB, Type ―Simulink‖ in command window or Click Simulink library
from the top menu.
Step 2: Go to File, Open a New Model.
Step 3: Drag and place the corresponding blocks from the corresponding library.
Select BLOCK set Location in Simulink library Step Source Sum Math Operation Gain
Math Operation Integrator Continuous Scope Sinks Workspace Sinks Transfer Function
Continuous
Step 4: Rename the Blocks names with the corresponding spring mass component names and
initialise Step time in Step source to ―0‖ .
Step 5: DoubleClick Workspace and change ―save format‖ to array
Step 6: Go to File, Click Model Properties, Select Model Properties; Go to Call backs and
select InitFcn and Insert the valves of J,R,LB

Step 7: Save the model and simulate the model for 60 sec.
Step 8: Plot the graph in MATLAB command window and analyse the graph.

SIMULINK MODEL:

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RESULTS:

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Experiment 12
Perform 3-DOF Gyroscope experiment for System Identification

AIM:

Perform 3-DOF Gyroscope experiment for System Identification

Theory:

The 3 DOF Gyroscope is a dynamically diverse experimental platform ideal for study of
rotational dynamics principles related to the real-life applications including altitude control,
momentum wheel control, navigation, satellite orientation, auto-pilot systems and technical
devices with gyroscopic sensors, such as smart phones, tablets or video game controllers.

 obtain a state-space representation of the open-loop system

 design a state-feedback gain for the closed-loop system using Linear Quadratic
Regulator (LQR) optimization
 simulate the system using the designed controller and ensure stability of the system
 implement the state-feedback controller on the system and evaluate its performance

the 3 DOF Gyroscope can be also used for research in various areas, including nonlinear
control and system identification.

Result:

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Experiment 13
Perform 2- DOF Rotor System experiment for Coupled Dynamic Analysis

AIM:

Perform 2- DOF Rotor System experiment for Coupled Dynamic Analysis

Theory:

Rolling bearing rotor system is the core of large rotating machinery, and it is widely used in
electricity, chemicals, aviation and ships, and other important industries. The stiffness of the
rolling bearing has strong time-varying characteristics and nonlinear characteristics under
complex operating conditions such as variable load, which is usually the main source of
nonlinearity of rolling bearing rotor system. Deep groove ball bearing is one of the most
widely used traditional shaft support parts, so it is of great significance to study its influence
on the shaft system‘s dynamic characteristics.
In recent years, the research on the dynamic behavior of the rotor system supported by rolling
bearing has been an important subject of many scholars. In the bearing rotor model of a
rotating machine, the bearing seat that supports the circular motion of the rotor is always
simplified to a rigid body, and the bearing can be simplified as a parallel combination of
spring and damper. Then, the dynamic behavior of the rotor system is studied by solving the
differential equations of the system. Fukata et al. and Mevel and Guyader studied the
dynamic behavior of the rotor system under parametric excitation caused by the change of
bearing stiffness. Cong et al. established a two-degree-of-freedom bearing rotor system and
studied the fault response of rolling bearings based on the assumptions of Jeffcott‘s rotor.
Kim and Noah studied the nonlinear characteristics of bearing clearance but did not involve
the research on varying compliance vibration of system. Zhou and Chen established a
dynamic model of 2-DOF aero-engine double rotor rolling bearing casing coupling system
based on the study of Cong. Although the study of Tiwari et al. has taken into account the
bearing clearance and the variable stiffness of the system, the analysis of the influence of the
bearing structure parameters on the system dynamics is not sufficient. Moreover, due to the
existence of the fault, the analysis of the vibration characteristics of rolling bearings can be
affected to a certain extent. El-Saeidy established a stiffness matrix model of 5-DOF rigid
spindle rotor angular contact ball bearing to study the time-varying stiffness. The results
show that the time-varying stiffness of the bearing cannot be neglected when the bearing
rotor model is established. In the past, few literatures have studied the factors affecting the
change of bearing stiffness, or the influence of different bearing stiffness on the rotor
system‘s dynamic characteristics.
Based on the structural characteristics of deep groove ball bearings, considering the factors
such as centrifugal force, gyro moment, bearing ball count, and bearing clearance, a nonlinear
model of deep groove ball bearings was established. The finite element model of deep groove
ball bearing double-disk rotor system is established by integrating the subcomponent model
of bearing rotor system. Then, the Newmark-β numerical solution method and Newton–
Raphson iteration are used to solve the excitation response results of the rotor system‘s nodes.
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The model can simulate the dynamic behavior of the rotor when it is under the load. The
dynamic characteristics of the rotor system are analyzed by using the spectrogram, the
Poincaré section, the time domain chart, and so on. The time domain and frequency domain
characteristics with the variable stiffness and different rotational speeds are studied. The
effects of bearing clearance, bearing inner ring acceleration, and other parameters on the
dynamic behavior of the rotor system are discussed.

2. Rotor System Dynamics Model

The double-disk rotor system supported by deep groove ball bearings has 16 nodes, divided
into 15 shaft segments. As presented in Figure 1, the points in the figure is the shaft
segment‘s key nodes, and the number indicates the corresponding node number. The coupling
position is on the shaft section 1. Two disks with diameters of 60 mm are located at shaft
section 12 and shaft section 7, respectively, and two deep groove ball bearings are located on
the nodes 4 and 15, respectively. The specific parameters of the shaft sections are shown in
Table 1.

Figure 1

Rotor system dynamics mode.

Rotor system shaft section is simulated by Timoshenko beam element. To highlight the main
problem, only the two end nodes (A and B) in the beam element are applied. In addition, the
radial deformation of the nodes in the model is much larger than the axial deformation, and
the magnitude difference is huge, so the axial deformation and torsional deformation are
ignored. The axis segment diagram is shown in Figure 2.

Figure 2 Timoshenko beam unit.

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The node A and node B in the Timoshenko beam element have 4 degrees of
freedom. xA, yA, θxA, and θyA are the displacements and rotation angles of node A in
the X and Y directions, respectively. xB, yB, θxB, and θyB are the displacement and corner of
node B in X and Y directions, respectively. The x-axis and the y-axis are horizontal and
vertical, respectively. The displacement vector of the Timoshenko beam element
is u = [xA, yA, θxA, θyA, xB, yB, θxB, θyB]T.

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Experiment 14
Model and simulate a simple Magnetic Levitation system and validate with
the experimental setup.

AIM:

Model and simulate a simple Magnetic Levitation system and validate with the experimental
setup.

Theory:

Magnetic levitation technology is a perfect solution to achieve better performance for many
motion systems, e.g., precision positioning, manipulation, suspension, and haptic interaction
due to its non-contact, non-contamination, multi-Degrees-Of-Freedom (DOF), and long-
stroke characteristics. One of the features of maglev systems is reduction of imagination,
which makes them enjoyable in the field of real-life applications, which are transportation
systems, wind tunnel levitation, magnetic bearing systems and anti-vibration table. These
systems are inherently nonlinear and unstable as well. Therefore, the maglev system is also
an interesting issue to confirm the performance of control schemes. However, many
techniques were used to control these systems. In a real maglev system is controlled using
PID.
In, a feed forward multilayer neural network was used to model the system, in which learning
and control is done simultaneously. As well as some works were done based on neural
networks. Active neural networks for the pattern recognition are designed and implemented
in. Also, efficient techniques of adaptive controllers are investigated in stable neural
controllers of nonlinear systems are designed. In new iterative adaptive dynamic
programming based optimum controllers are suggested and tested. Various methods for PI
controller are design and have been tested. However, the magnetic levitation system has
unstable nonlinear dynamics which should be taken in count. Most of the contributions
require measurements of position, velocity and electric current, and thus state observers
should be synthesized to estimate the unavailable signals of the nonlinear dynamical system.
Furthermore, it needs to design complex systems and some of these systems are costly.
Considering the mention study, a controller to stabilize this system should be of great interest.
In this study, a model and a controller are introduced foran active method to control the
maglev system based on MATLAB platform. The maglev system used was verified
experimentally and with simulations as well .The control systems were compared under
various parameters. The findings showed an agreement for both simulation and experiment
results.

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Result:

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