Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Sheilza Jain
using
system
INTRODUCTION
X
Body Mass (M)
W
Figure 1. Bus Suspension System model of Bus
(1)
94
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013
Special Issue: Proceedings of 2nd International Conference on Emerging Trends in Engineering and Management, ICETEM 2013
Y = [0
0
0
0
0
B b B b K B
Bb
0 + + X B
M M m m M MX&
MmU
M
b
B B b
+
W
+ +
0
1 Y 0
m
M m m
Y& 1 + 1
k
k K k
M
m
0
+ +
0
m
M m m
Ot = [C T M AT C T M ( AT ) 2 C T MLKK ( AT ) n 1 C T ]
(8)
A system is detectable if matrices A and C are observable.
For the system given, the rank of observability matrix is 4
which is equal to the order of system hence from the
observability test theorem the system is completely
observable.
X
X&
0 ]
Y
+ [0
U
0 ]
W
(3)
(4)
X& = AX + BU
Y = CX + DU
State equation
(5)
Output equation
(6)
where X is state vector of the system, U is control signal, Y is
output signal, A is nn state matrix (n is the number of states
or order of system), B is n1 input matrix, C is 1n output
matrix, D is direct transmission matrix (scalar).
1) Controllability
A system is said to be controllable if it is possible by means
of input vector U(t), to take a system from any initial state
X(ti) to any final state X(to) in a finite time (t0 - ti) where ti t
t0. For a completely controllable system every state must be
controllable [16].
Based on controllability matrix Ct, a system given by
equations (5) and (6) is said to be completely controllable if
and only if the rank of controllability matrix Ct is equals to the
order of system [15, 17].
Ct = [ B M AB MLKKK A n1 B ]
(7)
A system is said to be stabilizable if matrices A and B are
controllable. In the present paper, the rank of controllability
matrix is 4, the order of the system, and hence system is
completely state controllable.
2) Observability
An unforced system (input vector U(t) = 0) is said to be
completely observable if any initial state X(ti) can be
95
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013
Special Issue: Proceedings of 2nd International Conference on Emerging Trends in Engineering and Management, ICETEM 2013
A. Proportional-Integral Controller
The combination of proportional and integral terms is
important to increase the speed of the response and also to
eliminate the steady state error. C(s) the transfer function of
PI controller has the form of
C (s) = K P +
KI K ps + KI
=
s
s
(9)
CONTROLLER
A. Proportional-Integral-Derivative Controller
A proportional-integral-derivative controller (PID
controller) is a generic control loop feedback mechanism
96
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013
Special Issue: Proceedings of 2nd International Conference on Emerging Trends in Engineering and Management, ICETEM 2013
C ( s) = K P +
KDs2 + K ps + KI
KI
+ KDs =
s
s
(10)
The Simulink Model of PI Controller is shown in
Figure 9.
97
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013
Special Issue: Proceedings of 2nd International Conference on Emerging Trends in Engineering and Management, ICETEM 2013
V.
Figure 11. Simulink Model of Bus Suspension System using PID Controller
PI
PID
Settling time
Openloop
38 sec
5 sec
2 sec
Rise time
Overshoot
0.255
0.81
0.249
0.0067
0.09
0.0048
VI.
CONCLUSION
98
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013
Special Issue: Proceedings of 2nd International Conference on Emerging Trends in Engineering and Management, ICETEM 2013
[10] Zhuang, M. and D. P. Atherton, Automatic tuning of optimum PID
controllers, IEEE Proceeding Part D, vol. 140, pp. 216-224, 1993.
[11] Mathworks
Matlab. [Online] Available:
http://www.mathworks.com/products/matlab/
[12] Mathworks.
Simulink.[Online].Available:
http://www.mathworks.com/products/simulink/
[13] A. Tewari, Modern Control Design with Matlab and Simulink, John
Wiley & Sons, Ltd, 2002.
[14] Nurhan Gursel, Ismail Hakki Atlas and Levent Gumusel, Fuzzy
control of bus suspension system, proceedings of 5th International
Symopsium on Intelligent Manufacturing Systems, Sakarya University,
pp 1170-1177, May 29-31, 2006.
[15] S. Salapaka, A. Sebastian, J.P. Cleveland and M.V. Salapaka High
Bandwidth nanopositioner: A robust control approach Review
Scientific Instruments, vol. 73 no. 9, pp , 232-3241, 2002.
[16] Katsuhiko Ogata, Modern Control Engineering, fourth ed. Pearson
education Inc. 2002.
[17] G. F Franklin, J.D. Powel and N.E. naeini, Feedback Control of
Dynamic System Addison-Wesley M.A. 1986.
[18] CTMS Example: Bus suspension modeling in SIMULINK.
[19] Sheilza Aggarwal and Manisha Garg, Design and Simulation of PID
controller of nanopositioner for minimum integral of error,
International Journal of Engineering Sciences (ISSN) online-2277-9698,
pp. 127-132, 2012.
[20] Sharad Kumar Tiwari, Analysis of fuzzy PID and Immune PID
controller for three tank liquid level control, M.Tech Thesis, Thapar
University, Punjab, 2011.
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
99
International Journal of Advances in Engineering Sciences Vol.3 (3), July, 2013 e-ISSN: 2231-0347 Print-ISSN: 2231-2013