PROJECTS

1. A HelpMate transport robot, shown in Figure is uses to deliver goods in a hospital setting. The robot can deliver food, drugs, laboratory materials, and patients records. Given the simplified block diagram of the robots bearing angle control system, as shown in Figure

Part I: a. b. c. d. e. f. g. Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Routh-Hurwitz Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design PID to meet the 10% overshoot, twofold reduction in settling time, and improvement in steady-state error to be zero for a unit step input by using root locus h. Plot the unit step response of the compensated system i. Implement PID compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using root locus d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design lead-lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement lead-lag compensator

2. Automatically controlled load testers can be used to test product reliability under real-life conditions. The tester consists of a load frame and specimen as shown in Figure. The desired load is input via a voltage, ei ( t ) , to a current amplifier. The output load is measured via a voltage, ec ( t ) , from a load cell measuring the load on the specimen. Figure shown an approximate model of a load testing system without compensation.

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Nyquist diagram Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design PID to meet the 10% overshoot, twofold reduction in settling time, and improvement in steady-state error to be zero for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement PID compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using Bode plot d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design lead-lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement lead-lag compensator 3. A common application of control system is in regulating the temperature of a chemical process. The flow of chemical reactant to a process is controlled by an actuator and valve. The reactant causes the temperature in the vat to change. This temperature is sensed and compared to a desired set-point temperature in a close loop, where the flow of reactant is adjusted to yield the desired temperature

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Routh-Hurwith Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design lead-lag to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement lead-lag compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using root locus d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design PID compensator to meet the 10% overshoot, twofold reduction in settling time, and improvement in steady-state error to be zero for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement PID compensator

4. A floppy disk drive is a position control system in which a read/write head is positioned over a magnetic disk. The system responses to a command from a computer to position itself at a particular track on the disk. A physical representation of the system and a block diagram are shown in Figure

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Nyquist diagram Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design lead-lag to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement lead-lag compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using Bode plot d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design PID compensator to meet the 10% overshoot, twofold reduction in settling time, and improvement in steady-state error to be zero for a unit step input by using root locus method h. Plot the unit step response of the compensated system i. Implement PID compensator

5. Magnetic levitation systems are now used to elevate and propel trains along tracks. A diagram of a demonstration magnetic levitation system is shown in Figure. Action between a permanent magnet attached to the Ping-Pong ball, the object to be levitated, and an electromagnet as shown in Figure. The elevation is controlled by using a photodetector pair to detect the elevation of the Ping-Pong ball. Assume that elevation control system is represented by Figure

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Routh-hurwith method Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design lead compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lead compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using root locus d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lag compensator

6. An aircraft roll control system is shown in Figure. The torque on the aileron generates a roll rate. The resulting roll angle is then controlled through a feedback system as shown. Design a lead compensator for a 60o phase margin and Kv = 5.

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Nyquist diagram Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design lead compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lead compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using Bode plot d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot

g. Design lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lag compensator

7. Self-guided vehicles, such as that shown in Figure, are used in factories to transport produces from station to station. One method of construction is to embed a wire in the floor to provide guidance. Another method is to use an onboard computer and a laser scanning device. Bar-coded reflective devices at known locations allow the system to determine the vehicles angular position. This system allows the vehicle to travel anywhere, including between buildings. Figure shows a simplified block diagram of the vehicles bearing control system.

Part I: a. b. c. d. e. f.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Routh-Hurwith method Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot

g. Design lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lag compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using root locus d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design lead compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lead compensator

8. Figure shows a robot equipped to perform arc welding. A similar device can be configured as a six-degree-of-freedom industrial robot that can transfer objects according to a desired program. Assume the block diagram of the swing motion system shown in figure.

Part I: a. b. c. d. e. f. g.

Draw functional block diagram Find closed-loop transfer function Find range of K in order for the system to be stable by using Nyquist diagram Plot the unit step response with 0.1Kmax, 0.5Kmax, Kmax and 1.8Kmax Find settling time when the response has 10% overshoot Find steady-state error when input is unit step and the response has 10% overshoot Design lag compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lag compensator

Part II: a. Draw functional block diagram b. Find closed-loop transfer function c. Find range of K in order for the system to be stable by using Bode plot d. Plot the unit step response with 0.1Kmax, 0.6Kmax, Kmax, and 2Kmax e. Find settling time when the response has 10% overshoot f. Find steady-state error when input is unit step and the response has 10% overshoot g. Design lead compensator to meet the 10% overshoot, twofold reduction in settling time, and tenfold improvement in steady-state error for a unit step input by using frequency response method h. Plot the unit step response of the compensated system i. Implement lead compensator