Project - Position control of mass spring damper system

%spring mass damper parameters

m=36;% mass in kg

k=400;% spring constant in N/m

c=100;%damping element in N/m

fn=1;%the natural frequency of spring-mass damper is 1Hz

zeta=0.5% under-damped system

wn=2*pi*fn;

wn

p1=-zeta*wn+wn*sqrt(zeta^2-1);

p2=-zeta*wn-wn*sqrt(zeta^2-1);

p=[p1;p2];

1/m

wn=2*pi*fn;
wn

zeta =

0.5000

wn =

6.2832

>> wn^2

ans =

39.4784

>> m

m =

36

>> 1/m

ans =

0.0278

zeta =

0.5000

wn =

6.2832

zeta =

0.5000

wn =

6.2832

ans =

0.0278

zeta =

0.5000

wn =

6.2832

ans =

0.0278

zeta =

0.5000

wn =

6.2832

ans =

0.0278

k/m

ans =

11.1111

>> 1/m

ans =

0.0278

>> out.input

ans =

27.5000

>> out.velocity

ans =

1.0e+248 *

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
1.4249

>> out.acc

ans =

1.0e+248 *

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
1.0122

>> out.displacement

ans =

1.0e+243 *

0
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
1.4006

>> subplot(211);plot(out.time,out.input,'bo');grid;hold;
Current plot held
>> subplot(211);plot(out.time,out.input,'bo');grid;hold;
>> subplot(211);plot(out.time,out.input,'m--');grid;hold;title('refrence signal');
Current plot held
>
>> subplot(212);plot(out.time,out.acc,'b--');grid;hold;title('acceleration');

>> subplot(313);plot(out.time,out.velocity,'y--');grid;hold;title('velocity');
Current plot held

Ki=2000;
>> subplot(313);plot(out.time,out.displacement,'m--');grid;hold;title('displacement');

conclusion:~ i have build a model having step as an input response usein kp,ki,kd and integrator blocks with different initial conditions.