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Malak

MA

Malak Ali

Transcript

University of Tripoli

Faculty of Engineering

Department of Mechanical and Industrial Engineering

Development of Motion Control System Experiment Apparatus

Prepared by:

Malak Salem Mohamed Ali

Supervised by:

Dr.Azeddien Kinsheel

Spring 2022

PROJECT OUTLINE

  • Introduction
  • Motivation
  • Objectives
  • Overview of the Motion Control Syetem Experiment Apparatus
  • System Model Identification
  • PID Control System Design
  • Experimentaion and Disscution of Results
  • Conclusion
  • Future Work and Recomendations

INTRODUCTION

A comprehensive Motion Control System laboratory experiment apparatus is fabricated and tested to practically demonstrate and present the essential fundamentals and principles of control system engineering in order to provide a hand-on learning tool for students enrolled in Automatic Control courses.

The portable, light weight control system prepared is easy to interface, implement and can be used beyond the characteristics of a conventional control systems, as well as integrated with various MATLAB Toolboxes via serial communication interface.

INTRODUCTION

MOTIVATION

"Purely Educational"

MOTIVATION

  • Students struggle with understanding relevant theory without accessing a control system physically.

  • Students will improve learning outcomes in control engineering field.

  • Experiment participation adds a valuable learning experience and leaves a positive influence on a students’ performance.

OBJECTIVES

1

Select the configuration of a motion control system experiment suitable for class demonstration.

2

Design a layout, connections and essential components to represent the control system and develop a firmware for the motion control system that ensures best functionality.

3

To deal with unexpected issues namely a noisy signal and how to filter them.

OBJECTIVES

4

To derive a mathematical model based on input output data from the system using MATLAB system identification toolbox.

5

To provide an example on how a derived mathematical model could be used to design and implement a PID controller, and gain insight on how different parameter values effect the systems response.

MOTION CONTROL SYSTEM APPARATUS

The designed prototype demonstrates an open architecture motion control system to provide the ability for undergrad students to be able to access any control design systems' signal experimentally in real time.

The system is composed of two parts:

  • Hardware.
  • Software.

APPARATUS

SYSTEM COMPONENTS

AND FINAL ASSEMBLY

SYSTEM COMPONENTS

AND FINAL ASSEMBLY

XD-3420 ELECTROMECHANICAL

DC MOTOR

1.

  • Backbone of the System.
  • Rated speed and voltage: 3500 RPM, 12V.
  • Pulse Width Modulation (PWM) Technique is used to control the motor.
  • Supplies reduced electrical power to a motor via a microcontroller by sending constant pulse amplitude at a certain frequency and width).

The static friction has shown about 25% of the duty cycle used to actuate the motor.

Inconsistent encoder data readings due to high speeds, DC motor set to operate at 30% - 50% of its maximum speed.

INCREMENTAL ROTARY ENCODER

(ROTAPLUS I58-H-1024ZCU46RL2)

2.

  • Provides feedback measurment (motion and direction) when its shaft is rotated by converting mechanical movements to electronic pulses (signals).
  • Pules (signal) is translated into counts then to speed and sent bsck to a controller.
  • Encoder Resolution = 1024 PPR

ARDUINO UNO MICROCONTROLLER

3.

  • Open-source tool.
  • Useful for demonstrating and prototyping.
  • Used as a controller and serial communication device between PC and the system at once.

L298N H-BRIDGE MOTOR DRIVER MODULE

4.

  • Easiest way to control a motor with a low-power microcontroller.
  • Generally used to reverse the polarity/direction of any motor and the operation mode (break or run).

TWO SYNCHRONOUS ALUMINUM WHEEL TIMING PULLEYS AND A BELT DRIVE

5.

N1= 60

  • Transfers energy from DC motor shaft to encoder shaft mechanically.
  • Large and small pulleys are mounted on motor and encoder shafts respectively.
  • Transmission ratio = 60/20 = 3.
  • Encoder resolution =1024 x 3 = 3072 PPR.

N2= 20

SWITCHING POWER SUPPLY

(An S-120-12 120W - DC 12V 10A OUTPUT AC 110V/220V INPUT)

6.

  • Alternating Current (220v) to Direct Current (12v).

  • Makes system small compact, easily carried and plugged in a laboratory or a classroom.

TECHNICAL CONNECTIONS AND INTERNAL

CIRCUIT DIAGRAM OF THE SYSTEM

7.

OPERATING THE SYSTEM AND COLLECTING DATA

8.

SIGNAL

FILTERING

IDENTIFICATION

To obtain valid mathematical model for control design implementation, signal filtering should be employed to reduce high-frequency noise associated with the sensor measurements.

A second-order low pass filter is designed within the arduino firmware and used to smooth out the measured signal.

MATLAB SYSTEM IDENTIFICATION TOOLBOX -

TRANSFER FUNCTION ESTIMATION PROCEDURE

Input: Num. Duty Cycles

Output: Num. of Counts

Sample time in seconds

1. Data Collection During Experiment

2. Determination of Model Structure

3. Model Estimation and Validation

4. Model Evaluation

PID CONTROL SYSTEM DESIGN

Proportional–Integral–

Derivative Controller

CONTROL DESIGN

PID controller general form:

PID

Requirements are defined by:

  • OpenLoop response.
  • Accuracy of control.
  • Stability and performance of the system over time.

Depending on requirements, one or more controller gains can be utilized. No need to implement all three controller gains at once into a single system, if not necessary.

Always better to keep the controller as simple as possible to avoid unexpected control complications.

FLOWCHART USED AS A GUIDELINE

IN CONTROL DESIGN PROCESS

EXPERIMENTAL MODEL

IDENTIFICATION

EXPERIMENTAION

By following the identification procedure, an approximate speed response is obtained. The poor quality of speed response is a result of the discrete encoder measurements and disturbances from the friction within the motor.

For simplicity of design and analysis, the transfer function model obtained is considered theoretically without friction.

ESTIMATED TRANSFER FUNCTION

Match degree = 38.83%

VALIDATED TRANSFER FUNCTION

Match degree = 80.91%

THEORETICAL PD

CONTROL DESIGN

Suppose we are designing for a controller system output with the following design requirements:

  • 5% maximum overshoot
  • 0.2 seconds settling time.

THEORETICAL PD CONTROL DESIGN

To design a controller, we need to find suitable gain values to satisfy our performance requirements.

PD controller known as a proportional-derivative controller is implemented.

1.19%

EXPERIMENTAL PD CONTROL DESIGN

Test 1: KP = 0.9, KD = 0.12

Test 2: KP = 1.8, KD = 0.24

Test 3: KP = 3.6, KD = 0.48

0.9085%

9.647 %

11.026 %

CONCLUSION

The system is primarily developed to maximize undergrad students’ involvement in experimenting with control systems and allow them to gain insight on the essential fundamentals of control system engineering.

CONCLUSION

The apparatus can be extended at a larger scale to be used to demonstrate more advanced systems in a single experiment:

  • check for linearity
  • Test for friction identification.
  • Stability, etc.

Recommendations include:

  • Identifying friction.
  • Replace encoder with a potentiometer, and Arduino with a highly precise microcontroller.
  • Automatic tunning for PID controller.
  • Different model identification method.

FUTURE WORK

AND RECOMENDATIONS

I Sincerely Appreciate Your Attention!