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Position Rotary Encoder-Control Systems-Project Report, Study Guides, Projects, Research of Control Systems

Birla Institute of Technology and ScienceControl Systems

This project report was submitted to Dr. Anbu Manghirmalani at Birla Institute of Technology and Science. this project helped students to learn concepts of Control Systems in Electrical Engineering. It includes: Operate, Constant, Velocity, Encoder, Controller, Trailor, Handyboard, Adjustable, Rotational, Torque

Typology: Study Guides, Projects, Research

2011/2012

Uploaded on 07/30/2012

badsha
badsha 🇮🇳

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Objectives
Objectives
Truck will operate at constant velocity
Truck will operate at constant velocity
Use encoder subprogram
Use encoder subprogram
PID controller
PID controller
Track will be adjustable
Track will be adjustable
3% hill grade
3% hill grade
6% hill grade
6% hill grade
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pf3
pf4
pf5
pf8
pf9
pfa
pfd
pfe
pff

Partial preview of the text

Download Position Rotary Encoder-Control Systems-Project Report and more Study Guides, Projects, Research Control Systems in PDF only on Docsity!

ObjectivesObjectives

ƒ^ ƒ

Truck will operate at constant velocityTruck will operate at constant velocity

ƒ^ ƒ

Use encoder subprogramUse encoder subprogram

ƒ^ ƒ

PID controllerPID controller

ƒ^ ƒ

Track will be adjustableTrack will be adjustable

ƒ^ ƒ

3% hill grade3% hill grade

ƒ^ ƒ

6% hill grade6% hill grade

Required HardwareRequired Hardware

ƒ^ ƒ

MiniMini

TruckTruck

ƒ^ ƒ

TrailerTrailer

ƒ^ ƒ

Carries Handy BoardCarries Handy Board

ƒ^ ƒ

Holds encoderHolds encoder

ƒ^ ƒ

Adjustable trackAdjustable track

ƒ^ ƒ

3% hill grade3% hill grade

ƒ^ ƒ

6% hill grade6% hill grade

ƒ^ ƒ

ElectronicElectronicconnections^ connections

ƒ^ ƒ

Handy BoardHandy Board

ƒ^ ƒ

EncoderEncoder

ƒ^ ƒ

MotorMotor

Wiring LayoutWiring Layout

Handy Board TrailerHandy Board Trailer

Handy Board

Encoder

Trailer

Previous ProblemPrevious Problem

& Corrective Action Taken^ & Corrective Action Taken

ƒ^ ƒ

Original motorOriginal motorproduced excess^ produced excessamperage^ amperage

ƒ^ ƒ

New Handy BoardNew Handy Board

ƒ^ ƒ

New batteryNew battery

ƒ^ ƒ

Changed motor inChanged motor intruck^ truck

Previous ProblemPrevious Problem

& Corrective Action Taken^ & Corrective Action Taken

ƒ^ ƒ

Trailer tires slippedTrailer tires slippedon track surface^ on track surface

ƒ^ ƒ

Small rubber bandsSmall rubber bands

ƒ^ ƒ

Large oLarge o

ringsrings

ƒ^ ƒ

Friction tapeFriction tape

Feedback SystemFeedback System

DesiredVelocity

PID

Motor

Car

Sensor

ActualVelocity

Tracking Error

Layout of CodeLayout of Code

MAIN^ MAINSTART^ START

Declare variables^ Declare variablesStart press function^ Start press functionWHILE stop button not pressed^ WHILE stop button not pressed

Begin encoder program^ Begin encoder programSend encoder value to PID program^ Send encoder value to PID programSend PID value to run motor^ Send PID value to run motor

Capture data (velocity)^ Capture data (velocity)

Feedback loop^ Feedback loop

END WHILE stop button not pressed^ END WHILE stop button not pressedBreak programs^ Break programsStop motors^ Stop motors

END^ END

Control InputControl Input

Control Input Plot

U_ControlKp=1.

Ti=80 Td=0.

U_ControlKp=1.

Ti=80 Td=0.

U_ControlKp=1.

Ti=50 Td=0.

Poly. (U_ControlKp=1.

Ti=80 Td=0.02)

Poly. (U_ControlKp=1.

Ti=80 Td=0.015)

Poly. (U_ControlKp=1.

Ti=50 Td=0.05)

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Real Time HistogramReal Time Histogram

Real Time Histogram

Tim e (seconds)

Frequency

Avg.

StdDev