emoto speed control presentation
TRANSCRIPT
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Eric Gilbertson, [email protected]
Kavya K.Manyapu, [email protected]
Lennon Rodgers, [email protected]
2.14/2.140 Analysis and Design of Feedback Control
Systems
(Spring 2009 Term Project)
May 14th, 2009
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Objective & Motivation Problem Definition Technical Approach Theoretical Plant Model Controller Design Simulation Results Experimental Design Results Conclusions
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Electric Vehicles (EVs) could soon become atransportation option in the U.S.
EVs can be modeled and controlled using thetools learned in this class
SISO system The speed is controlled via asingle 0-5V signal (throttle)
www.electricmotion.org
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Accurate model of the motorcycle Add speed control to the electric motorcycle
Rise Time (~4 seconds) for step input of 13 m/s (~30 MPH) Zero Steady State Error
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Theoretical Motorcycle (Plant) Model Controller Choice PID
P = Good disturbance rejection I = Zero steady state error D = Faster response
SISO tools/Matlab ROM of gains Simulink to model and tune gains Validated the model using experimentation
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Equations of Motion
Vin = iR +Vemf + Ldi
dt
J= z Fwrw
mx = FwC( x + 2 xw + w
2) (+ Sin)mg
X=Vin
Ls+R
Ktz
J
rw
+mrw
s+Crw(1+ 2w)
+
Ktz
rw
(+ sin)mgr
w+Cw
2rw
J
rw+mr
w
s+C(1+ 2w)rw +
Kt2z
2
Ls+R( )rw
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Constant Description Method ValueL Inductance of the motor
Measured with inductance
meter50*106 Hen.
R Resistance of motor Measured with Ohm meter 0.12 Ohm
Kt Torque constantDetermined from
manufacturers data
0.187 Nm/Amp and Volt/
rad
mTotal mass of motorcycle
and driverCalculated/Estimated 295 kg
JCombined Moment of
Inertia for both front andrear wheels
Calculated/Estimated 1.4 kgm2
z Sprocket Ratio Fixed 6
rw Radius of the wheel Measured/Estimated 0.32 m
Cd Drag Coefficient Estimated 0.6
A Frontal Area of motorcycle Estimated 0.41 m2
Pw = Fw x =1
2ACd(20+ 2)
2+ mg
20
Pwmeter
= (Pmeter Plights) 0.88
Efficiency of motor
Tuned values of , A and Cd
(within uncertainty) to obtain:
Pw
meter= P
w
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PID gains estimated using SISOtools
Finalized using Simulink:KP = 3, KI = 1/2, Kd = 1/5
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Step Input, 13 m/s
13 m/s
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Analog Input: Throttle (05V)
Note: voltage divider was usedDigital Input: Speedometer pulses
Analog Output: Command signal (05V)
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Step Input, Open Loop
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Comm
and/PIDMotorVoltage
(V)
Step Input, Closed Loop
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Step Input, Closed Loop, Beacon HillStep Input, Open vs. Closed Exp., Flat
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Design and implementation of a PIDcontroller
Validation of the design through experiment Future work
Use plant model to predict power consumption andcompare to the experimental (power meter)
Lessons learned EM noise is a serious issue with power electronics Arduino microcontroller was a good final choice
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Gene F. Franklin, 2006, Feedback Control ofDynamic Systems, 5th Edition, Prentice Hall
Vittore Cossalter, Motorcycle Dynamics, 2ndEdition
Electric motorcycle design:www.electricmotion.org
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?
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