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Dynamics and Control Assignment Report Table of contents 1

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Dynamics and Control Assignment Report Table of contents 1. General assessment criteria............................................................................................................................ 1 2. Control design for the given system [55 marks].................................................................................... 1 2.1 Design PID-controller in Simulink [20 marks]................................................................................ 1 2.2 Design PID-controller in MATLAB [20 marks]................................................................................ 2 2.3 Design a Lead-controller using MATLAB Control Systems Designer [15 marks]............. 2 3. Wind turbine control simulation [45 marks].......................................................................................... 2 3.1 DC-motor for yaw and pitch control .................................................................................................... 3 3.2 PID control of pitch and yaw motors ................................................................................................... 4 3.3 Demonstrate in the report........................................................................................................................ 4 1. General assessment criteria Report should be concise (1400 words), but complete. Imagine handing work over to a competent colleague – you don’t need general exposition, but you need to explain what, why and how you carried out the tasks. Include graphical results to demonstrate that your models work correctly. You will need to justify any assumptions made within your models and identify any shortcomings. All sources of material must be referenced, figures captioned and cross-referenced. Marks will be reduced if submitted MATLAB codes and Simulink models do not run without modification. No mark will be given if the incorrect set of individual parameters is used. 2. Control design for the given system [55 marks] 2.1 Design PID-controller in Simulink [20 marks] Consider the plant-1 given in individual parameters spreadsheet. In Simulink: 1. Implement the open-loop system with the given plant. 2. Implement a negative feedback system including P, PI, or PID controller as appropriate. Justify the choice of the controller type and the gain values. For each task above, demonstrate the system response to the step input, and briefly describe the main properties of the response. Provide screenshots of the Simulink model. 2.2 Design PID-controller in MATLAB [20 marks] Consider the plant-2 given in individual parameters spreadsheet. In MATLAB: 1. Implement the open-loop system with the given plant. 2. Implement a negative feedback system with a P, PI, or PID controller as appropriate. Justify the choice of the controller type and the gain values. For each task above, demonstrate the system response to the step input, and briefly describe the main properties of the response. Provide the listings of MATLAB code implementing the model. 2.3 Design a Lead-controller using MATLAB Control Systems Designer [15 marks] Part of the control system of the motor has a brake actuator which operates in closed loop. The transfer function of the brake in open loop is given as: ?(?) = 1 (? + 10)(? + 3) Using the “Control System Designer” tool in MATLAB, design a controller of the type !"# !"$ , where ? < ?. Note, that the desired closed loop response is to achieve a transient settle time of % & of a second and damping of ? = 0.707. In the report, provide annotated screenshots, showing key interactions with “Control System Designer” to design the controller. Justify selected values and comment on improvements. 3. Wind turbine control simulation [45 marks] Build a model of a wind turbine in Simulink. This model is to control the rotation angle (yaw) of the turbine as response to wind direction as shown in Figure 1 and the pitch angle of turbine blades as a response to wind speed. Figure 1: Wind turbine yaw and blade pitch angle diagram. 3.1 DC-motor for yaw and pitch control Consider a brushless DC motor response to input voltage, approximated by a first order differential equation (ODE): ?? ?? = −?? + ?? where ? is the angular speed (in rad/s), ? is the input voltage (in V), ? and ? are properties of the motor. The transfer function for this ODE is: ?(?) ?(?) = ? ? + ? This transfer function can be written in the form ?(?) = ? ? 1 ? ? + 1 = ? ? ? + 1 where ? = ' # is the gain and ? = % # is the time constant. The gain and time constant values are unique as provided in the individual parameters. For the yaw control, use the given DC motor, assuming it only has 1/8 of the torque required for initial movement of the turbine tower. Use same motor for pitch control, assuming it only has 1/4 of the required torque to rotate the blades. 3.2 PID control of pitch and yaw motors Design a PID control system to both motor subsystems to achieve a pitch and yaw set points, which are calculated based on wind direction and speed. The yaw control subsystem should turn the turbine to face the wind direction as shown in Figure 1. The pitch control subsystem should change the turbine blades pitch as a response to wind speed as shown in Figure 2. Figure 2: Desired blade pitch angle as response to wind speed. Show the steps with the development of your simulation by using the following stages. 3.3 Demonstrate in the report 1. Develop the Simulink open-loop models for the yaw and pitch components of the turbine. [15 marks] – Provide graphs showing how your model reacts to the fixed position demands without PID control. – Briefly describe the parts of the model and what their function is. – Include screenshots of the Simulink models with clear labels of all “blocks” and signals, discuss and justify the values of all model parameters and graphs showing the response. 2. Introduce and tune a PID controller to achieve a desired output response (pitch and yaw) from a fixed input signal (wind speed and direction). [15 marks] – Demonstrate with annotated diagrams the system with fixed input conditions. – Briefly describe tuning of PID controllers. – Briefly describe the system behavior with relevant graphs. 3. Study response of the PID-controlled pitch and yaw subsystems to the variable inputs. [15 marks] – Select the wind direction and wind speed inputs representing realistic conditions to test the model. Justify your choice. – Discuss and justify desired response for selected inputs.