l = 1. 00 m, M = 10 kg, m = 1. 00 kg and g = 9. 81 m/ s 2
A controller is required to suppress the sway angle in the gantry crane, which is controlled through external force. The transfer function from sway angle to input is given as
0(s) F(s) = -u.1 (s 2 + 1u7.91) s 2
Things to Do
Deadline 26 th August 2011 for presentation of detail work
1. Make a model equations specifying input, states and output 2. Write state space model a. Controllable canonical form b. Observable canonical form 3. Finds its roots a. Check it should be [ 0 0 10. 388j ] 4. Write Difference Equations with variable names a. Simulate this difference equation in MATLAB/Simulink b. Solve the difference equation with MATLAB for i. Impulse response ii. Step response iii. Exponential response 5. Plot Frequency responses using MATLAB from Chapter 7. |E(])| E(]) 6. Change your system within 10 % like A=10*r and( 1) *A, B=10*r and( 1) *B, C=10*r and( 1) *C 7. Repeat step 5 & 6 8. Implement a discrete PID controller in MATLAB with PID tuner. 9. Find Discrete time state space model for your changed model 10. Find Forward, Backward and Trapezoidal Equivalent for Discrete System in 10. 11. Find Zero Order Hold, Triangular Hold, and Zero-pole matched Equivalent Discrete System, (manually and compare with MATLAB) 12. Place poles at s = -o _b], -c, -J for Discrete control law design to system in step 10. 13. Find full order estimator by using Prediction and Current Estimator for poles at s = -c _ ], -g, -b 14. Design a reduced order estimator 15. Write Combined Regulator Equations (Controller plus Estimator) for prediction, current and reduced order estimation 16. Write compensator transfer functions for prediction, current and reduced order estimation 17. Plot step and impulse responses from compensator transfer function 18. Add input delays as in Chapter 3 19. Add a noise vector (disturbance) _ u.1 u.u2 u.S u.4 _ w(k) 20. Repeat Step 9-16 for 3 different sampling times T, {Hint: Section 11.2 for choosing different sampling time.} 21. Explain which sampling time is better and why? Compare your controller with tuned PID controller in step 9 for these sampling time? Discuss your results in combined plots.
Recommendation for a, b, c, d, e, f or chose your own values a=r ound( 1+( 15) *r and( 1) ) b=r ound( 1+( 10) *r and( 1) ) c=r ound( 2+( 20) *r and( 1) ) d=r ound( 10+( 10) *r and( 1) ) e=r ound( 10+( 35) *r and( 1) ) f =r ound( 3+( 30) *r and( 1) ) g=r ound( 10+( 30) *r and( 1) ) h=r ound( 3+( 30) *r and( 1) )
NOTE : I ex pec t al l t he pr oj ec t st eps i n MATLAB / SI MULI NK Pr oj ec t = 30% of t he c our se Pr oj ec t pr esent at i on and vi va i s ver y i mpor t ant . Any c l ue about c heat i ng l ead t o zer o i n pr oj ec t gr ade Due Dat e : 24-Aug-2013 (No Ex t ensi on i n Deadl i ne)