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    EX-04

    Uploaded by

    Rohan singh suryavanshi

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    EX-04

    Uploaded by

    Rohan singh suryavanshi
    4 views3 pages

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    © © All Rights Reserved

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    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    4 views3 pages

    EX-04

    Uploaded by

    Rohan singh suryavanshi

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    You are on page 1of 3

    EXPERIMENT NO.

    04

    AIM: To analyze the frequency response of a small-motion, linearized model of an industrial


    robot using first-order and second-order system approximations in MATLAB, we can follow
    these steps:

    Step 1: Modeling the Industrial Robot

    For small-motion linearization, we approximate the robot's dynamics using either first-order or
    second-order models. This can be represented by simple transfer functions.

     First-Order System:

    Where:

     K: System gain.
     τ: Time constant.

     Second-Order System:

     Where:
    o ωn: Natural frequency.
    o ζ: Damping ratio.
    o K: System gain.

    Step 2: Defining the Transfer Functions in MATLAB

    Let's define the transfer functions for both the first-order and second-order systems in MATLAB.

    % Parameters for the first-order system

    K1 = 1; % Gain

    tau = 0.5; % Time constant


    % Transfer function for the first-order system

    G1 = tf(K1, [tau 1]);

    % Parameters for the second-order system

    K2 = 1; % Gain

    omega_n = 2*pi*1; % Natural frequency (rad/s)

    zeta = 0.7; % Damping ratio

    % Transfer function for the second-order system

    G2 = tf(K2*omega_n^2, [1 2*zeta*omega_n omega_n^2]);

    % Display the transfer functions

    disp('First-Order System Transfer Function:');

    G1

    disp('Second-Order System Transfer Function:');

    G2

    Step 3: Frequency Response Analysis

    The frequency response of the system can be analyzed using Bode plots. Bode plots show the
    magnitude and phase of the system’s response across a range of frequencies.

    % Frequency response (Bode plot) for the first-order and second-order systems

    figure;

    bode(G1);

    hold on;

    bode(G2);

    title('Frequency Response (Bode Plot) of First-Order and Second-Order Systems');

    legend('First-Order System', 'Second-Order System');

    grid on;
    Step 4: Nyquist Plot

    We can also plot the Nyquist diagram to analyze the frequency response.

    % Nyquist plot for the first-order and second-order systems

    figure;

    nyquist(G1);

    hold on;

    nyquist(G2);

    title('Nyquist Plot of First-Order and Second-Order Systems');

    legend('First-Order System', 'Second-Order System');

    grid on;

    Step 5: Interpretation

    1. First-Order System:
    o The Bode plot for the first-order system will show a single pole at τ −1, with a -20
    dB/decade slope in the magnitude plot after the cutoff frequency.
    o The phase plot will transition from 0 degrees to -90 degrees as frequency
    increases.
    2. Second-Order System:
    o The Bode plot for the second-order system will show a peak in magnitude near
    the natural frequency ωn if the system is underdamped (ζ<1).
    o The phase plot will transition from 0 degrees to -180 degrees.
    o The Nyquist plot will show how the system behaves in terms of stability and
    gain/phase margins.

    Conclusion

    This approach allows us to analyze the frequency response of a small-motion, linearized model
    of an industrial robot using both first-order and second-order system approximations. The
    MATLAB code helps visualize the system's behavior across different frequencies, which is
    crucial for control system design and stability analysis.

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