MINI PROJECT EEE 453 CONTROL SYSTEM DESIGN MODELLING AND STATEFEEDBACK CONTROLLER DESIGN FOR PRINTER BELT

DRIVE
MUHAMMAD NASIRUDDIN MAHYUDDIN Mechatronic Programme School of Electrical and Electronic Engineering USM Engineering Campus Week 5 Semester 1 Academic Session 2008/2009

EEE 453:

CONTROL SYSTEM DESIGN

MINI PROJECT

Sem 1 2008/2009

Review back

Design Process

The rst step is to determine tha control. The purpose of the control law is to allow us to assign a set of pole locations for the closed-loop system that will correspond to satisfactory dynamic response in terms of rise time and other measure of transient response. Then, secondly, we show how to introduce the reference input with full-state feedback. We describe the process of nding the poles for good design. In the second step, If the full state feedback is not available, an estimator or observer will be designed to compute an estimate of the entire state vector when provided with the measurements of the system. The estimator design will be investigated. In the third step, the control law and the estimator will be combined. At this stage, the control law calculation are based on the estimated rather than the actual state. In the fourth step, the reference input is introduced in such a way that the plant output will track external commands with acceptable rise-time, overshoot, and settling-time values. At this point, all the closed loop poles have been selected, and the designer is concerned with the zeros of the overall transfer function.
Establish the control goals

Identify the variables to be controlled

Write the specifications

Establish the system configurations

Obtain a model of the process, the actuator, and the sensor

Describe a controller and select key parameters to be adjusted

Optimize the parameters and analyze the performance

Figure 1: design process in control design

USM: SCHOOL OF ELECTRICAL AND ELECTRONIC ENGINEERING

LECTURER: MUHAMMAD NASIRUDDIN MAHYUDDIN

EEE 453:

CONTROL SYSTEM DESIGN

MINI PROJECT

Sem 1 2008/2009

Printer Belt Drive

3.1

Printing device parameter

m = 0.2 kg k1 = 1V /m r = 0.15m Motor L0 b = 0.25N ms/rad R = 2 Km = 2N m/A J = Jmotor + Jpulley = J = 0.01 kg m2

A commonly used low-cost printer for computer uses a belt drive to move the printer head laterally across the printed page. The printing device may be a laser printer, a print ball, or thermal printhead. An example of a belt drive printer with a DC motor actuator is shown in Figure 2

Mass Light Sensor Radius Inductance Friction Resistance Constant Inertia

3.2

How it functions?

In this model, a light sensor is used to measure the position of the printing device and the belt tension adjusts the spring exibility of the belt. The model assumes that the spring constant of the belt is k , the radius of the pulley is r, the angular rotation of the motor shaft is , and the angular position of the right-hand pulley is p . The mass of the printing device is m, and it position is y (t).

3.3

Useful relation and formula

A light sensor is used to measure y , and the output of the sensor is a voltage v1 , where v1 = k1 y . The controller provides an output voltage v2 , where v2 is a function of v1 . The voltage v2 is connected to the eld of the motor. You may use the relationship, dv1 + k3 v1 dt

v2 = k2 Figure 2: Printer Belt Drive System

(1)

and elect to use k2 = 0.1 and k3 = 0 (velocity feedback).

USM: SCHOOL OF ELECTRICAL AND ELECTRONIC ENGINEERING

LECTURER: MUHAMMAD NASIRUDDIN MAHYUDDIN

EEE 453:

CONTROL SYSTEM DESIGN

MINI PROJECT

Sem 1 2008/2009

Mini project Objective

Things to help you

Modern Control Systems by Richard C. Dorf Control Systems Engineering by Norman Nise

The following objectives should be met in this mini-project: To derive equations of motion for the system for its dynamics To design a statefeedback controller for the system to meet the control objectives

You may use the following reference book to help you:

Feedback control of Dynamic systems by Gene Franklin

4.1

Control Objectives: design specications

The designed controller should meet the following design specications: steady-state tracking error less than 2% to a unit step input. Percent overshoot of o less than 10% to a unit step input r (s) = 1/s Settling time less than 1 second to a unit step input

Task

Refer to the design process owchart to help you in this mini-project. To fulll the above objectives, you need to accomplish the following tasks: Model the system using free body diagram techniques (show how do you choose statevariable) Express the derived system model in statespace Express statespace form in the following forms phase variable, control cannonical, parallel, observer cannonical form. For your controller design use controller cannonical form Using Matlab and Simulink as a tool to help you in this miniproject Design control law for the system to meet the design specications USM: SCHOOL OF ELECTRICAL AND ELECTRONIC ENGINEERING 3 LECTURER: MUHAMMAD NASIRUDDIN MAHYUDDIN