CONTROL SYSTEM FOR ADJUSTABLE HEIGHT ROSTRUM

KOK CHEN LIONG SHARIFF MOHAMAD FAIRUZ PARISA AKHTARI ZAVAREH IBRAHIM MOHD GHAZALI MOHD SABREE ABDULLAH

KEM 090019 KEM 090051 KEM 080706 KEM 0 KEM 0

Introduction
A rostrum [noun] is; 1. any platform, stage, or dais on which public speakers stand to address an audience 2. a platform or dais in front of an orchestra on which the conductor stands. It has been used by speakers to convey messages and to address to a crowd. It is still used and continuously upgraded to keep up with the need of the market.

Introduction
The rostrum currently in the market the need to adjust the size of the rostrum every time there is speaker change. adjustable - manual, not user friendly, time consuming to adjust

Objective
To design a controller that meets the desired performance Ts, Tp, %OS. Require the usage of: a. MATLAB b. Simulink and; c. Control System Toolbox

Literature Review

To explain the block diagram, each block contains:

Potentiometer, as to control the voltage difference and work as a switch Voltage amplifier, work to increase the difference of the voltage Motor, in this case we use DC motor Sensors, linear displacement. Gear (rack and pinion)

Modelling

Schematic Diagram

Generate Formula

+ + = ()
() = () + +

 = 2 + 2 +

= 2 + 2 +

Thus, we substitute to the main equation () = 1 () + +

where,
= 2 + 2 + (

1 2 ) 2

1 = 2 + 2 + ( )2 2

Constant Value
Constant Constant value for angular displacement potentiometer, Constant value for linear displacement potentiometer, Constant value for the voltage amplifier, Inertia Load (kg/m3) Radius Gear and Pinion, r (m) Damping constant load, Da Damping constant rostrum, DL Number of teeth for the first gear, N1 Number of teeth for the second gear,N2 Value

2.549 V/rad
2.549 V/cm

15 500 0.02 200 30 16 15

Motor
The motor that we use is RH 14D 6002 DC Servo Motor. Below is the constant value of the motor. Item Rated Voltage, Ea (V) Rated Output Torque,Tm (Nm) Torque Constant, Kt (Nm/A) BEMF Constant, Kb (V.s/rad) Armature Inertia (kgm2) Armature Damping (Nms/rad) Armature Resistance () Value 38 3.2 2.92 0.3 21.6 x 10-3 0.3342

2.7

Thus, we get the equation for the motor,

4.1762 = ( + 3.1261)

. + . + .

ANALYSIS
The open loop transfer function of system import to LTI viewer to find parameters of systems Settling time Overshoot Rise time Steady state error

Step response

%OS=0.7% TS=2.24S

Bode diagram

Pole/Zero Map
Presents the zero and poles Find the stability

Design of compensator
Compensator design by SISOTool Compensator design manually

SISOTool

Desired specification: %OS = 0.5% Settling time = 1s

choosing lead compensator: C(s) = A(s+z/s+p) , p>z C(s)=1.34[(1+0.43s)/(1+0.15s)]

Simulink

SISO Design

Manually

Simulation with Compensator 1 (from SISOTool) The simulation result is shown in the step input is applied at t=1s and steady state is achieved at about t=4s, which the settling time = 2.5s (nearer to our desired settling time). The percent overshoot is negligible. Simulation with Compensator 2 (from manual calculation) The simulation result is shown in the step input is applied at t=1s and steady state is achieved at about t=7s, which the settling time = 5.5s and percent overshoot is negligible.

Chapter 4 Design

Natural frequency and damping ratio are acquired from the system Acquired root is -1.5630+0.989j and -1.56300.989j -Settling time =2.24s

-%OS

=0.699%

Compared with desired performance

Root is -3.9298j+20.576j and -3.929820.576j %OS =0.5%

Settling time =1 second For every increment of 6cm in height

Root Locus Testing

Desired root is being tested whether it is on the root locus. Results show that the desired root is not on the root locus , angles formed are not (2k+1)180 degree . Thus a compensator has to be used.

Root Locus testing

Lead Compensator

Lead compensator to reduce the settling time and %OS Arbitrarily set compensated zero=-2.5 Find the angle of deficiency=angle of compensated pole Lead compensator with compensated zero and pole located at -2.5 and -7.2161 Since p>z, the compensation is accepted and verified in Simulink

Compensated system

Conclusion
We choose compensator design by SISO tools: Ts = 2.5s Overshoot (%) Negligible.

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