The depth below sea level of a submarine can be maintained by the system shown i
ID: 2989790 • Letter: T
Question
The depth below sea level of a submarine can be maintained by the system shown in the figure. The transfer function from the stern plane angle Theta to the actual depth y of the submarine can be modeled as G(s). The depth of the submarine is measured by a pressure transducer, which is assumed to have a transfer function of 1. Construct Bode plots for this system using MATLAB with K = 1 , 10, 100 ,and 1000. For each of this case obtain Gain Margin and Phase Margin and using these data comment about the stability of the system in each case. Suppose the transducer introduces a delay of 0.1 sec., then evaluate the effect of it on the margins and the stability in each case. Also, obtain Nyquist plot for each of these cases without delay and with delay. Actuator and Submarine Dynamics G(s)=10(s+2)^2/(s+10)(s^2+0.1)Explanation / Answer
for k=[1,10,100,1000]
x=['value of k: ',num2str(k)];
disp(x)
g=10*k*tf([1 4 4],[1 10 -.1 1]);
%transfer function
tf1=feedback(g,1);
bode(tf1)
figure(2)
nyquist(tf1)
[gm pm]=margin(tf1)
disp('enter any digit to proceed for next value of k')
end