TITLE: POSITION CONTROL (PV LINEAR MOTION)

INTRODUCTION
The IP01 or the IP02 linear motion servo plants serve as the base unit for Quanser's linear
family of products. Both plants are ideal platforms to introduce fundamental control concepts
and theories on an easy to use and intuitive platform. They consist of a cart driven by a DC
motor, via a rack and pinion mechanism to ensure consistent and continuous traction. The
cart is also equipped with a rotary joint to which a free turning rod (or pendulum) can be
attached. In the case of the IP01, both cart position and pendulum angle are sensed via
potentiometers. By contrast, the IP02 system has two encoders, which allow for multiple
turns. As a result, the IP02 pendulum can suspend in front of the cart to perform the self-
erecting and gantry experiments


OBJECTIVES:
1. To become familiar with fundamentals of control system design using PID-type of
compensators.
2. To get to know the effect of K
v
and K
p
toward the t
p,
and P
0
in linear motion control
system design.
3. To study the application of theory in the real life using control system design.
4. To run the simulation simultaneously, at every sampling period, in order to compare
the actual and simulated responses
5. To implement with WinCon the previously designed PV controller in order to
command your IP01 and IP02 servo plant
6. To simulate with a simulink diagram the IP01 or IP02 model and to close the servo
loop by implementing a proportional-plus-Velocity(PV) position controller
7. To tune PV controller gains and their effect on the closed-loop system dynamic
response
8. To design and simulate a Proportional-Velocity (PV) position controller to meet the
required design specifications

APPARATUS


Power Module : Quanser UPM 1503/2405
Data Acquisition Board : Quanser MultiQ PCI/MQ3
Linear Motion Servo Plant : Quanser IP01 and IP02
Real-Time Control Software : the WinCon-Simulink-RTX configuration, as detailed in
reference.



Figure above show the equipment

THEORY
The IP01 and 1P02 are fundamental modules for the linear motion experiment. They consist
of a precisely machined solid aluminium cart driven by a higher quality DC motor equipped
with a planetary gearbox. The cart slides along a stainless steel shaft using linear bearing. The
cart is driven via a rack and pinion mechanism as opposed to belts or wheels, in order to
eliminate slippage, belt stretching and other undesirable. This, therefore ensure consistent and
continuous traction.
IP01
In the case of the IP01, the cart position is sensed via a ten-turn potentiometer. The IP01 cart
is also equipped with a rotary joint with ball bearing to which a free turning erected rod can
be attached. This rod functions as an inverted pendulum in subsequent experiment. The
angle of the rod is sensed using a conductive plastic potentiometer.




IP02
The IP02 pendulum can suspend in front of the cart to perform self-erecting and gantry
experiment. Consistently, the IP02 system has encoder, as opposed to potentiometers as in the
IP01, to allow for multiple turns.
The IP02 cart position is sensed via a quadrature incremental encoder whose shaft meshes
with the track via an additional pinion. The IP02 is also equipped with a rotary joint to which
a free swinging rod can be attached and suspends in front of the cart. This rod functions, in
subsequent experiments, as an inverted pendulum, but more precisely as a self-erecting
inverted pendulum as well as a regular inverted pendulum. The angle of the rod inclination
about the vertical axis is also measured using a quadrature incremental encoder and is
therefore unlimited and continuous over the entire range of motion. The pendulum in itself is
a module and can be mounted on or moved from the cart

CONTROL DESIGN SPECIFICATION

i. The Percent Overshoot(i.e. PO) should be less than 10% i.e;
PO * 10%

ii. The time to first peak should be 150 ms, i.e.;
T = 0.15 s











EXPERIMENTAL PROCEDURE
Linear motion position control equipment was set and ready for trial and error simulation.
The software involved in simulating the plant was MATLAB-Simulink. We observed the
effects of varying the controllers proportional-plus-velocity (PV) gains.
1. MATLAB-Simulink software along with corresponding programming and functions
was loaded.
2. Set the value of K
p
in the block diagram of Simulink to be fixed. K
p
= 500
3. Insert any value of K
v
in the block diagram. Run the Simulink simulation.
4. Observe the graph pattern. Record the value of Y
TP
and Y
ss
.
5. Calculated the percentage of overshoot based on formula given and tabulate the result
in the table. Percentage of overshoot must be less than 10%.
Repeat the step 1 to 5 by change the value of K
v


PRE LAB ASSIGNMENT

OPEN-LOOP TRANSFER FUNCTI ON

Kirchhoffs voltage law, we obtain the following equation:
[B.3]
However, since L
m
R
m
we can disregard the motor inductance leaving us with:
[B.4]

Since we know that the back-emf voltage created by the motor, E
emf
is proportional to the
motor shaft velocity I
m
, we have:
[B.5]
Moreover, in order to account for the DC motor electrical losses, the motor efficiency is
introduced to calculated the torque generated by the DC motor:
[B.6]
Substituting Equation [B.5] and [B.6] into equation [B.2] leads to:
[B.7]
By considering the rack and pinion and the gearbox mechanisms, the motor angular
velocity can be written as a function of the cart linear velocity, as expressed by:
[B.8]
Therefore, substituting equation [B.8] into equation [B.7] and rearranging leads to :
[B.9]

Finally, substituting equation[B.9] into equation [B.1], applying the Laplace Transform
and rearranging yields the desired open-loop transfer function for the IP01 and
IP02system, such that:
[B.10]
[B.13]
Moreover, the mechanical configuration of the carts rack-pinion system gives the following
relationship:
[B.14]
Substituting equation [B.13] and [B.14] into equation [B.12] provide the following
expression for the armature inertial force:
[B.15]
Finally, substituting equation [B.9]and [B.15] into equation [B.11, and rearranging result
in the dynamic equation for the system:
[B.16]
Finally, applying the Laplace transform and rearranging yields the desired open-loop
transfer function for the IP01 and IP02 system, such that:
[B.17]


Assignment 2 : Open Loop Model Block Diagram
Following the obtaining of the IP01 or IP02 open-loop transfer function, G(s), in
Assignment 1, derive a block diagram to represent such a transfer function. In other
words, represent as individual blocks the basic mechanical and electrical equations
that you use to determine G(s).The resulting block diagram should have an overall
closed-loop transfer function identical to the one found in Assignment 1.

Finally, using the IP01 or IP02 model parameter values listed in Reference [2], evaluate the
IP01 or IP02 open-loop transfer function, G(s), that you previously found. Determine the
plant's pole(s), zero(s), and DC gain








Assignment 3 : PV Controller Design



In order to determine and calculate Kp and Kv, answer the following questions:
Perform block diagram reduction of the PV control scheme applied to G(s), as
presented in if Appendix C has been supplied with this handout. Obtain the overall
closed-loop transfer function of your IP01 or IP02 system by replace G(s) by its
expression, as found in Assignment 1.

Extract from the previously obtained closed-loop transfer function the system's
characteristic equation.

Fit the obtained characteristic equation to the standard form (seen in Equation [C.3], if
available), by identifying the parameters w
n
and . Thus, you should obtain 2
equations expressing w
n
and as functions of K
p
and K
v
as these are the only 2
variables (i.e. controller parameters) in your system.


Using your newly obtained formulae and referring to your in-class notes, what
changes to yourIP01 or IP02 response would you expect to see by varying the values
of K
p
and K
v
? Keep your answers simple (i.e. will w
n
and increase or decrease?).
How would this translate in terms of changes in t
p
and Percent Overshoot (PO)? Also
relate these changes to the physical behaviour of your closed-loop system. Hint: You
can use Equations [23] and [24], presented in the next subsection.
Specifically:
i) Assuming Kv constant, what happens to w
n
and when you
increase/decrease Kp?
ii) Assuming Kp constant, what happens to w
n
and when you
increase/decrease Kv?
Using the formulae previously obtained, determine the analytical expressions and
numerical values for Kp and Kv in order to meet the previously specified time
requirements.
The following hint formulae are provided.