# Mechanical Controls Fall

Project 2 for EML 4312: Mechanical Controls, Fall 2020
Due November 10th by 11:00am. To be done individually. (updated October 30, 2020)
Part A – Modeling based on Frequency Response
1. Using the data in the Project02.zip associated with this project, create a Bode plot and
model the system. The file names state the frequency in radians/second. This involves
determining the amplitude of the response and phase lag for each input frequency.
2. Note that the damping may be difficult to accurately measure using this method. If you are
not confident in the damping ratio determined, you can iterate based on how well the model
matches the data in Part B.
3. For this part, turn in the following as part of the PDF:
(a) An example of how you found the magnitude and phase lag at one of the frequencies.
Include the plot and describe how you determined these values.
(b) Your Bode plot (x-axis {log} in rads sec ; y-axis magnitude in db and phase in degrees).
(c) The resulting transfer function for the modeled system. Show work deriving the TF.
Part B – Verification of Model
1. Simulate the system model from Part A in the following two ways:
(b) Using your code from Part 1 of Project 1
2. Using both Simulink and your Matlab code, apply as an input one of the sinusoidal inputs
from Part A. Compare and contrast the real system and the modeled system.
3. For this part, turn in:
(a) Simulink model (lastname-PartB.mdl) and a screenshot of your model in the PDF.
(b) Matlab code modeling the system (lastname-PartB.m).
(c) A comparison of the modeled system response compared to the given data. This
should include labeled graphs as well as a short description of how well it matches.
Include plots from both Matlab and Simulink (a screenshot of the plot simulink is fine
Part C – Controller Design With Saturation
1. Program a PID controller into Simulink. (Do not use the PID block; rather, use the gain,
integral, and derivative blocks to implement the PID.) The controller should drive the
system to a value of 5 ± 1% within two seconds.
2. Add saturation to the Simulink model so the input to the system cannot exceed ±0.14 N.
3. Add saturation to the Matlab model so the input to the system cannot exceed ±0.14 N.
4. Compare the performance of the Simulink and Matlab models with and without saturation.
The comparison should include a constant input and following a sinusoidal input of 100 rad sec .
5. For this part, turn in:
(a) Simulink model (lastname-PartC.mdl) and a screenshot of your model in the PDF.
(b) Matlab code modeling the system (lastname-PartC.m).
(c) A comparison of the modeled system response with and without saturation. This
should include labeled graphs as well as a short description of how well it matches.
Include plots from both Matlab and Simulink (a screenshot of the plot window is fine
1
EML 4312: Mechanical Controls Format and Point Allocation for Project 2
Use the bolded text in the outline below for the titles in your report. Your report should be
uploaded to Canvas as one PDF file that includes all the graphs (from Matlab publisher) and
solutions. Submit the four files (two Matlab and two Simulink) online in the correct format as
described above.
When turning in a Matlab-generated plot, please include the Matlab publisher output in the PDF.
10 Points for correct formatting and following instructions (more than ten points may be taken off
if the format and instructions are not followed).
10 Points for each of the nine subsections (a-c of each part).
1. Part A – Modeling based on Frequency Response
(a) Bode plot of modeled system (x-axis is frequency in rads/sec, and y-axis is magnitude in db)
(b) Example of how you found the magnitude and phase lag at one of the frequencies
(c) Derivation and resulting Transfer Function for the modeled system.
2. Part B – Verification of Model
(a) Simulink Model: screenshot of your model in the PDF and lastname-PartB.mdl
(b) Matlab Code modeling the system (named lastname-PartB.m).
(c) Comparison of the modeled system response compared to the given data. Include
plots from both Matlab and Simulink.
3. Part C – Controller Design With Saturation
(a) Simulink Model: screenshot of your model in the PDF and lastname-PartC.mdl
(b) Matlab Code modeling the system (named lastname-PartC.m).
(c) Comparison of the modeled system response with and without saturation. Include
plots from both Matlab and Simulink.
2

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