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Assignment Details: 1.1 Coursework Objectives

1. Students are asked to design an IPD controller to control the position of a single-axis camera system. They must determine the system transfer function, design an IPD controller using analytical methods, and apply PID tuning rules in Simulink. 2. The assignment submission should include a report, MATLAB code with calculations, and a Simulink file. The report should include an introduction, results for each task, discussion, and conclusions. 3. The marking scheme allocates 50% of marks for calculations, and the remaining 50% across discussion, introduction/conclusions, report presentation, and MATLAB/Simulink programs. Students must meet response requirements for the camera system, which is modeled as a

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101 views

Assignment Details: 1.1 Coursework Objectives

1. Students are asked to design an IPD controller to control the position of a single-axis camera system. They must determine the system transfer function, design an IPD controller using analytical methods, and apply PID tuning rules in Simulink. 2. The assignment submission should include a report, MATLAB code with calculations, and a Simulink file. The report should include an introduction, results for each task, discussion, and conclusions. 3. The marking scheme allocates 50% of marks for calculations, and the remaining 50% across discussion, introduction/conclusions, report presentation, and MATLAB/Simulink programs. Students must meet response requirements for the camera system, which is modeled as a

Uploaded by

syedshan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment Details

1.1 Coursework Objectives


A classical control strategy (I-PD) is required for the control of a single axis camera: You are
expected to:

• Determine the system transfer function


• Design an IPD controller to meet/exceed response requirements from first principles.
• Apply PID tuning rules in SIMULINK to meet/exceed response requirements.

1.2 Submission
The assignment submission should include: the report, a MATLAB script file (.m file) containing
your calculation data (e.g. calculated gain values) and a SIMULINK file (.slx file) with your overall
system (including controller implementation).

All calculations must be presented within the report. The report should include an introduction,
results for each task, a discussion of findings, concluding statements and references. For each
task, a proper description of the methodology is expected. For example, during block
simplification, it is important to outline the process undertaken.

Page Limit 15 A4 Pages (single sided), with a minimum of 11 point font size. Appendices are not
allowed.

Submission deadline: 4/4/2018

1.3 Marking Scheme


Coursework marks distribution is presented below. Refer to Marking Scheme (last page) for the
overall mark scheme which will be used to grade discussion, introduction and conclusions
components of the report, report presentation and referencing, and programs. Additional marks
breakdown for calculations is provided in Section 2.

Report Marks Allocated


Calculations 50%
Discussion (mark scheme) 15%
Introduction and conclusions (mark scheme) 15%
Report presentation and referencing (mark scheme) 10% (total)
Programs 10%
2 Assignment Tasks

2.1 System Modelling


A gimballed surveillance camera is mounted to a fixed location with the ability to move in a single
axis. A video example of a single axis camera gimbal can be found here
https://vimeo.com/22670438

Your task is to develop the controller algorithms to enable the operator of the gimballed camera
to track an object of interest. That is, to control the angular position of the camera with certain
performance parameters.

The single axis gimbal mechanism is driven by a servomotor which provides a torque τ. The torque
is applied to the gimbal mechanism which comprises of:

An Inertia of the rotor and associated platform parts including the camera J
A viscous damping effect D arising from bearing friction etc.

Thus, the mechanism can be represented as a differential equation relating input Torque and
output angle θ representing the angular position of the gimballed camera.

d 2 d
 =J 2 +D
dt dt

Τ is the input torque provided by the servomotor (Nm)


J is the combined Inertia of the moving parts (Kg m2)
D is the combined viscous damping (Kg m2/s )
θ Camera directional angle (rad)
ω is the camera angular velocity (rad/s)

produce a Laplace transfer function for the system relating output speed ω to input Torque

(Calculations 5 marks)
2.2 Controller Design
An IPD Controller can be incorporated into the closed loop model (Figure 2.2) in order to meet a
set of time response related requirements (e.g. overshoot).

Figure 2.2: Overall System Block Diagram with IPD Control Configuration

2.2.1 System closed loop equivalent form


Determine the simplified closed loop equivalent form of the overall system block diagram
presented in Figure 2.2.
(Calculations - 10 marks)

2.3 Controller requirements


The I-PD controller is required to meet or exceed the following response characteristics for a step
change in demand position:

overshoot ≤ 10%
95% settling time ≤ 2:5 seconds
rise time ≤1 seconds

Given the system specification is:


J = 0.2 Kgm2
D =0.7 Kgm2/s
Kt = 1.6 V/rad

2.3.1 Determining gains


Use standard transfer functions or pole position methods to calculate the proportional (Kp),
integral (Ki) and derivative (Kd) IPD controller gains for the overall system presented in Figure 2.2.

Verify the gains calculated by implementing the system in Simulink.

Discuss any trade-offs for exceeding the response requirements presented in Section 2.3.
(Calculations - 20 marks)
2.4 Trial-error rules for PID tuning --- Ziegler-Nichols approaches
This section is used to demonstrate your ability to use the course knowledge to learn to use a new
technique. Assumingly you have got a job in a control engineering company, your manages have
asked to take the following work

Research the literature and find out about manual tuning rules such as the Ziegler-Nichols
technique. Tuning rules such as Ziegler-Nichols are difficult to implement on I-PD controller
configurations. Convert your system to a PID controller configuration and apply a suitable tuning
process (e.g. Ziegler-Nichols tuning rules) in order to meet/exceed the response characteristics
outlined in Section 2.3. You should give a concise overview of PID tuning methods in this section
and demonstrate the designed control system by Simulink.
(Calculations 15 marks)

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