ee/cs 480 fall 2007 1march, 2008 university of portland school of engineering project blue heron...
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EE/CS 480 Fall 2007
1March, 2008University of Portland School of Engineering
Project Blue HeronEducational Ball and Beam Feedback
Control System
TeamBryan Weber
David Kim
Thomas Neveu
AdvisorsDr. Osterberg, Dr. Albright
Industry RepresentativeMr. Mike DeSmith
Intel
EE/CS 480 Fall 2007
2March, 2008University of Portland School of Engineering
Overview
• Introduction– Recognition/Sponsor
• Scorecard
• Additional Accomplishments
• Plans
• Issues/Concerns
• Conclusions
EE/CS 480 Fall 2007
3March, 2008University of Portland School of Engineering
Introduction
• Blue Heron: An example of an analog control system using a ball and beam feedback control system
Power Supply
Analog Control Circuit
DC Motor
DC Motor Power Drive
Steel Ball
Beam Movement
Ball Position Sensor (Linear POT)
Base/Stand
Desired PositionPOT
+-
PID(Control Circuit)
DC Motor
PlantDesired Position
Ball Position on Beam
EE/CS 480 Fall 2007
4March, 2008University of Portland School of Engineering
Scorecard• Significant progress on transfer function
mathematics and closed loop feedback analysis
• Built Mini Beam Prototype and completed testing
• Finished the Mechanical Build of the Plant!!!
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Scorecard Continued
• Updated MATLAB step response for a more critically damped response
• Used MATLAB results to determine some resistor and capacitor values for our circuit
• Circuit updated with new resistor and capacitor values and tested for 3 hours with final system
University of Portland School of Engineering
March, 2008
EE/CS 480 Fall 2007
6March, 2008University of Portland School of Engineering
Additional Accomplishments
• Decided to add a Kill Switch to the system
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Diagrams
+-
PID(Control Circuit)
DC Motor
PlantDesired Position
Ball Position on Beam
Power Supply
Analog Control Circuit
DC Motor
DC Motor Power Drive
Steel Ball
Beam Movement
Ball Position Sensor (Linear POT)
Base/Stand
Desired PositionPOT
University of Portland School of Engineering
March, 2008
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Diagrams Cont.)1( 121 ssKK
1Kp
2Kp
)1( ss
K
m
m
2s
Kp+
-
refxoutx
PID Motor Plant
University of Portland School of Engineering
March, 2008
EE/CS 480 Fall 2007
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MATLAB Old Step
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8Step Response
Time (sec)
Am
plitu
de
EDU>> s=tf('s')
Transfer function:
s
EDU>> p=.2/s^2
Transfer function:
0.2
---
s^2
EDU>> m=20/(s*(1+.125*s))
Transfer function:
20
-------------
0.125 s^2 + s
EDU>> pid=10+10*s*(1+.4*s)
Transfer function:
4 s^2 + 10 s + 10
EDU>> a=p*m*pid
Transfer function:
16 s^2 + 40 s + 40
------------------
0.125 s^4 + s^3
EDU>> t=a/(1+a*1)
Transfer function:
2 s^6 + 21 s^5 + 45 s^4 + 40 s^3
---------------------------------------------------------
0.01563 s^8 + 0.25 s^7 + 3 s^6 + 21 s^5 + 45 s^4 + 40 s^3
EDU>> step(t,0:.001:5)University of Portland School of Engineering
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MATLAB New Step
Transfer Function:0.84 s^6 + 7.77 s^5 + 8.662 s^4 + 2.1 s^3
------------------------------------------------------------------------------------------0.01563 s^8 + 0.25 s^7 + 1.84 s^6 + 7.77 s^5 + 8.662 s^4 + 2.1 s^3
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
University of Portland School of Engineering
March, 2008
EE/CS 480 Fall 2007
11March, 2008University of Portland School of Engineering
Plans
• Overall Goal: Get the system completed and working
• Prepare a great Founder’s Day presentation
• Move completion date for the Final Report up
EE/CS 480 Fall 2007
12March, 2008University of Portland School of Engineering
MilestonesNumber
Description OriginalDate
PreviousDate
PresentDate
1 Product Approval 10/05/07 10/05/07 10/05/07
2 Functional Specifications Approval 10/05/07 10/05/07 10/05/07
3 Plan Approval 11/09/07 11/09/07 11/09/07
4 Circuit Design 11/25/07 11/25/07 01/21/08
5 Design Review Approval 12/07/07 12/07/07 12/07/07
6 Order Electronics 12/08/07 12/08/07 12/08/07
7 Plant Built 12/14/07 03/9/08 03/9/08
8 Motor Received 01/26/08 02/29/08 02/20/08
9 Test Circuit for Frequency Response 02/15/08 2/15/08 3/9/08
10 System Integration 02/15/08 2/15/08 3/9/08
11 TOP Approval 02/22/08 02/22/08 02/22/08
12 Build and Testing Completed 03/10/08 3/10/08 3/28/08
13 Prototype Approval 04/04/08 4/04/08 4/04/08
14 Founder’s Day 04/08/08 4/08/08 4/08/08
15 Post Mortem 04/23/08 4/23/08 4/23/08
16 Final Report 04/25/08 4/25/08 4/25/08
EE/CS 480 Fall 2007
13March, 2008University of Portland School of Engineering
Concerns/Issues
• Will be updating the circuit with an OPA547 Op Amp for LM741 Op Amp to drive the motor with higher voltage
EE/CS 480 Fall 2007
14March, 2008University of Portland School of Engineering
Conclusions
• Made significant progress and debugging is what we are focused on now
• We are on schedule
EE/CS 480 Fall 2007
15March, 2008University of Portland School of Engineering
Questions?