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Practical - Experiment 3 (Car Cruise Control Model)

The document describes a cruise control system model for a vehicle. It provides the mathematical modeling of the system using Newton's second law of motion. It then describes building an open-loop response model and closed-loop response model using a PI controller in Simulink. The closed-loop transfer function for the system with a PI controller is also given.

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7 views12 pages

Practical - Experiment 3 (Car Cruise Control Model)

The document describes a cruise control system model for a vehicle. It provides the mathematical modeling of the system using Newton's second law of motion. It then describes building an open-loop response model and closed-loop response model using a PI controller in Simulink. The closed-loop transfer function for the system with a PI controller is also given.

Uploaded by

hanahalmat12
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Experiment No.

Car Cruise Control Model


Automatic cruise control is an excellent example of a feedback control system found
in many modern vehicles. The purpose of the cruise control system is to maintain a
constant vehicle speed despite external disturbances, such as changes in wind or road
grade. This is accomplished by measuring the vehicle speed, comparing it to the
desired or reference speed, and automatically adjusting the throttle according to a
control law.

By applying Newton’s second law of motion


The mathematical modelling for this system is (Second order differential equation)
as below:
𝑚𝑥̈ + 𝑏𝑥̇ = 𝐹

General principle to build block diagram


 Place the highest order of derivative on one side of the equation.

𝑚𝑥̈ = 𝐹 − 𝑏𝑥̇

 The terms on the other side will be sum up via a sum block.
1
𝑥̈ = (𝐹 − 𝑏𝑥̇ )
𝑚

1|Prepared by Mr. Darawan Bazyan Dhahir


Open-loop response

Example
Mass = 1000 kg
Damping constant (b) = 50 N-s/m
Force = 500 N

2|Prepared by Mr. Darawan Bazyan Dhahir


Finally, to show the rise time, settling time, peak time, overshoot, and undershoot,
you should use two simout blocks and a clock block, then connect them as shown in
the figure below. After that, use the following code in the Matlab command:
stepinfo(out.Data, out.Time)

3|Prepared by Mr. Darawan Bazyan Dhahir


Closed-loop response
To make a closed-loop system, you should implement a PI controller for the system
or a PI controller with a transfer function.

Example
Mass = 1000 kg
Damping constant (b) = 50 N-s/m
Reference speed (R) = 10 m/s
Kp = 800
Ki = 40

Implementing PI control
A PI controller is designed with (Kp = 800 and Ki = 40) to give the desired
response. For this particular example, no implementation of a Kd was needed to
obtain the required output. We will implement this in Simulink by first containing
the open-loop system from earlier in this document in a Subsystem block.
Kp is a proportional component used to improve transient response rise time and
setlling time of course.
Ki is an integral component works to improve steady state response.
Kd is a derivative component used to improve the transient response by way of
predicting error will occur in the future.
4|Prepared by Mr. Darawan Bazyan Dhahir
 Create a new model window.
 Drag a Subsystem block from the Ports & Subsystems library into your new
model window.

 Double-click on this block. You will see a blank window representing the
contents of the subsystem (which is currently empty).
 Open your previously saved model of the cruise control system.
 Select All from the Edit menu (or Ctrl-A), and select Copy from the Edit menu
(or Ctrl-C).
 Select the blank subsystem window from your new model and select Paste from
the Edit menu (or Ctrl-V). You should see your original system in this new
subsystem window. Close this window.
 You should now see input and output terminals on the Subsystem block. Name
this block "plant model".

5|Prepared by Mr. Darawan Bazyan Dhahir


Now, we will build a PI controller around the plant model. First, we will feed back
the plant output.
 Draw a line extending from the plant output.
 Insert a Sum block and assign "+-" to it's inputs.
 Tap a line of the output line and draw it to the negative input of the Sum block.

6|Prepared by Mr. Darawan Bazyan Dhahir


The output of the Sum block will provide the error signal. From this, we will generate
proportional and integral components.
 Insert an Integrator block after the Sum block and connect them with a line.
 Insert and connect a Gain block after the Integrator block to provide the integral
gain.
 Label this Integrator "Ki" and assign it a value of "Ki".
 Insert a new Gain block and connect it with a line tapped off the output of the
Sum block.
 Label this gain "Kp" and assign it a value of "Kp".

Now we will add the proportional and integral components and apply the sum to the
plant.
 Insert a Sum block between the Ki block and the plant model and connect the
outputs of the two Gain blocks to the Sum block inputs.
 Connect the Sum block output to the input of the plant block.

7|Prepared by Mr. Darawan Bazyan Dhahir


Finally, we will apply a step input and view the output with a Scope block.
 Attach a Step block to the free input of the feedback Sum block.
 Attach a Scope block to the plant output.
 Double-click the Step block and set the Step Time to "0" and the Final Value to
"R". This allows the input magnitude to be changed outside of Simulink.

8|Prepared by Mr. Darawan Bazyan Dhahir


9|Prepared by Mr. Darawan Bazyan Dhahir
Implementing Transfer Function with PI control
For this particular example, no implementation of a derivative controller (Kd) is
needed to obtain the required output. Therefore, the closed-loop transfer function for
this cruise control system with a PI controller is

1
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 =
𝑚𝑠 + 𝑏

10 | P r e p a r e d b y M r . D a r a w a n B a z y a n D h a h i r
11 | P r e p a r e d b y M r . D a r a w a n B a z y a n D h a h i r
12 | P r e p a r e d b y M r . D a r a w a n B a z y a n D h a h i r

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