Control term proj3012
- 1. ME 3012 Systems Analysis & Control and Vibrational Responses Dr. Bob Capstone Term Project Spring 2016 Due Thurs, 4/14/16 start of class NO LATE ASSIGNMENTS WILL BE ACCEPTED! You may work in pairs or singly (pairs turn in one report and earn the same grade). The goal of the project is to design a feedback controller GC(s) in the frequency domain to improve the performance of a chosen real-world single-input, single-output (SISO) linear system. Your results will be evaluated in MATLAB and/or Simulink simulation. Each group will choose their own real-world open-loop system for controller design. For real-world project ideas, see Dr. Bob’s Atlas of Models and Transfer Functions, controls textbooks, and Internet sites. Each group’s project topic must be different; therefore, you must register your intended project with Dr. Bob. If your name doesn’t appear on my list, your grade is ZERO for the project. The deadline for registering is given on the next page. Specific steps to complete: 0) Find an open-loop system to control, with real-world application that you can explain in your presentation. Approve with Dr. Bob (first-come, first-approved, starting immediately!). Guidelines: SISO, linear (or linearized), real-world system with a clear actuator and sensor. It should not be too simple nor too complex. Be sure you can get the dynamic equation(s); this is required to start the project. It is entirely acceptable to find the equations and/or transfer functions from Dr. Bob’s Atlas of Models and Transfer Functions or another valid source, as long as you reference that source. 1) Perform system modeling and determine the open-loop characteristics. Plot impulse, unit step, unit ramp, and ramped-step responses. Perform the first three response plots using both MATLAB and Simulink to compare. The fourth (ramped-step) is easiest using Simulink. 2) Design a linear feedback controller GC(s) to achieve desired performance according to stated specifications (you determine the specifications). Depending on your system, the important considerations are transient response, steady-state error, stability, sensitivity, and disturbance- rejection. You must try at least three different forms/methods for GC(s) – report them all with one selected as the “best”. Include an output attenuation correction factor and a pre-filter if necessary in each case. Follow the steps for controller design from the ME 3012 NotesBook for each controller – organize your report according to these steps too. 3) Compare the closed-loop output performance to the original open-loop results (only for the most important input function to your real-world project, e.g. unit step). In addition to output response plots, also plot input effort vs. time, with and without the pre-filter; comment on real-world feasibility regarding required input. Also, subject your controllers to a disturbance in simulation and discuss the results. Input efforts and disturbance responses generally help in choosing the “best” controller. 4) Discussion – comment on tradeoffs, difficulties, real-world considerations, etc. Each group will present their results orally to the class as scheduled in the syllabus. ALL final reports are due in class on the deadline noted above. You will present in the order you sign up; it is a big advantage to sign up and thus present early so you can have feedback from me before turning in the final written report. We will treat these in-class presentations as a learning experience. You all can cover a broad range of practical applications that the entire class can see (attendance is required on both presentation days). Presentations are very important and will form a part of your project grade. Be sure to plan ahead; use a professional PowerPoint presentation with plenty of graphical results. Each member of a pair must be heard from.
- 2. ME 3012 Systems Analysis & Control and Vibrational Responses Dr. Bob Capstone Term Project Schedule Register real-world system with Dr. Bob before class Tuesday 2/2/16, NO EXCEPTIONS! Turn in interim status report in class on Tuesday 2/23/16 at the start of class: complete system modeling and open-loop analysis (#1 on previous page; also see the first page of the checklist). This must be a technical report – turn in a photocopy so you can keep the original for your final report. NO LATE REPORTS WILL BE ACCEPTED! See the following Checklist – material for the first Checklist page is due, plus clear, concise technical writing, references, appendix – MATLAB/Simulink code/diagram. If you skip this interim report (or it is late) your maximum final project grade is 70%. Present results orally to the class either Tuesday 4/12/16 or Thursday 4/14/16, in the order you sign up. ATTENDANCE IS REQUIRED FOR ALL IN-CLASS PRESENTATION SESSIONS! Submit final written technical report in class on Thursday, 4/14/16, NO EXCEPTIONS! Suggested Capstone Term Project Written Report Format (Include lots of images, photos, plots, etc.) MEMO (serves as abstract) – first page, no cover sheet necessary 1. Objectives 2. Physical System Description and Linear Model 3. Open-Loop Behavior 4. Performance Specifications for Design 5. Controller Designs 6. Open- vs. Closed-Loop Results and Discussion 7. Conclusion Appendices Verification of Results MATLAB code References Other, if necessary Your report must be clear and readable. Brief yet complete. Unlike that last sentence fragment, you must use professional technical writing skills. Make liberal use of figures and plots – pay attention to time scale, square axes (for root-locus). Combine plots where it makes sense to facilitate comparisons and to save paper. Remember, you are welcome to hand-annotate MATLAB graphs to emphasize the different variables plotted.
- 3. ME 3012 Capstone Term Project Report Checklist Dr. Bob Name(s): Final report grade: Memo – Abstract with details and summary; briefly discuss project. real-world system, and open- and closed-loop results. Open-Loop Real-World System Photograph Physical/functional diagram System description Modeling Assumptions FBDs ODEs Laplace Transforms Input/Output – identify explicitly in text and on diagrams. Table of parameter values Open-Loop Block Diagram Distributed blocks with variables and parameters Simplified G(s) block with variables and parameters Simplified block with numerical G(s) Identify the Type of your system (0, I, II, etc.) Open-Loop Poles and Zeros Stability – determine the stability condition for your system. Open-loop performance specifications Plots – unit impulse, unit step, and unit ramp responses (arranged logically); all plots must have a title and axis labels with units. Also include the ramped-step response plot. Perform the first three response plots using both MATLAB and Simulink to compare (the results must be the same in each case). The ramped-step response is easiest using Simulink. Open-Loop System Discussion Connect the open-loop poles to the plotted transient responses. Do simulated results agree with what you expect for your system? Real-world issues for your system.
- 4. Closed-Loop Performance Specifications for Controller Design Rational method for determination. Justify relative to real-world system. Clearly state desired poles and desired characteristic polynomial. Plot transient response(s) to demonstrate desired performance. Closed-Loop Block Diagram Distributed blocks with variables Identify all blocks and variables. Identify sensor and sensor assumptions. Controller Design – at least 3 different GC(s); for each: Derive T(s) for each controller as a function of the unknown gains. Parameter matching or other rational means to design controller Clear table of resulting controller gain values; also display in each GC(s). Closed-Loop Poles and Zeros Stability Closed-loop performance specifications – as-achieved vs. desired. Pre-filter Transfer Function – if required; if not, explain why not. Plots – choose the one input function (possibly unit step) that makes the most sense for your system. All plots must have a title and axis labels with units. On one plot, show open-, closed-, and closed-loop with pre-filter responses, for each controller considered. Clearly identify which curve is which. Plot the input effort required vs. time for each controller and compare; discuss. . Open- vs. Closed-Loop Disturbance Responses – plot and discuss. Closed-Loop Feedback Controller Discussion Connect the closed-loop poles to the transient response. Do simulated results agree with what you expect for your system? Discuss input effort required vs. real-world limits. Discuss disturbance rejection. Other real-world issues for your system. Professional oral presentation Clear, concise technical writing References Appendix – MATLAB/Simulink code/diagram
- 5. Tips and hints for the Professional Oral Presentation, Dr. Bob ME 3012 Term Project There is a 5 minute time limit, absolutely enforced. This is a short time so you must practice and time yourselves. We must hear equally from both team members, unless you are flying solo. Since there is a short time limit, you cannot possibly present everything – there is no limit on the written report, so that can be complete. Your oral presentation can only cover the Important Highlights. Important Highlights for the ME 3012 Term Project: Introduction – real-world application of your control system, with plenty of photos and diagrams, with terms identified. State your Assumptions for analysis and controller design. Results – present the main MATLAB/Simulink graphs and leave time for discussion of each. All graphs can be given and discussed in the written report, but in general there is not time to cover all in the presentation. You must spend time to connect your plot results with the behavior of your control system in the real-world. Do not run MATLAB/Simulink during your presentation. If you ignore my advice and run your MATLAB/Simulink program anyway, be sure to have everything hard-coded so you do not have to type in data to get it running, wasting precious time. Practice in the classroom during off-hours to ensure everything works as you expect it to. Leave time for a question or two. Remember it is better to present less and have your audience grasp more (i.e. do not talk fast to beat the time limit). As an audience member behave as politely as you wish the audience to do when you present.