MAE 4421 CONTROLS

Design Project

Abstract
Given a system that performs grain distribution, design controller that will satisfy all
constraints. The system found to be most productive for this task was a form of PD
controller.

Hampton Ray
Table of Contents
Introduction ................................................................................................................................................................1
Purpose ...................................................................................................................................................................1
Constraints..............................................................................................................................................................2
Nomenclature .........................................................................................................................................................2
Initial System Analysis ................................................................................................................................................2
Transfer Functions ..................................................................................................................................................2
Initial system Behavior ...............................................................................................................................................4
Displacement ..........................................................................................................................................................4
Force .......................................................................................................................................................................4
Acceleration............................................................................................................................................................5
Controller Design ........................................................................................................................................................5

Introduction
Purpose
The objective of this project is design a controller to fit the constraints of the system below in Figure 1.
The system is operated by a single hydraulic velocity- controlled piston which move the system at a speed Vin.
The variables of the system m1 and m2 are the mass of the respective masses. K1 K2 and B1 represent the
relative damping and spring constants for the below labeled springs and dampers. The system will be pushed at
a velocity of Vin and accelerates the system over the second grain collector.

Figure 1: Mechanical gain distribution system and associated values.

MAE 3005 Measurements Lab Page 1 Lab 10

Constraints

1) Grain can only be deposited over the belt. This prevents grain from spilling into locations where it should
not belong. The Ideal location for grain to be deposited is x2(t)=1.75 m
2) The actuator must not produce excessive force: Fin(t)<500 N
3) The actuator must not produce excessive acceleration: A2<4m/s2.

Constraints 2 and 3 prevent damage to the whole apparatus. The Funnel is heavy and excessive jolting in the
apparatus could lead to increased fatigue and eventual failure.

Nomenclature

Initial System Analysis

Transfer Functions
The following state space equations were determined using the methods taught in Model/Simulations of
dynamic systems. For full process including bond graph and derivation of the state space equations see the
appendix. Matrixes [1] and [2] build up the A, B, C, and D matrix that build the transfer functions in MATLAB.
Equation [2] is built to spit out 𝜕2 and Fin.

−1
0 0 0
𝑚1 𝛿1 1
−𝑏
𝑘1 −𝑘2 0 𝑝1 𝑏
𝑥̇ = 𝑚1 [ ] + [ ] 𝑉𝑖𝑛 [1]
1 −1 𝛿2 0
0 0
𝑚1 𝑚2 𝑝2 0
[0 0 𝑘2 0]

𝛿1
0 0 0 1 𝑝1 0
𝑦 = [𝑘1 −𝑏
0 0] [𝛿2 ] + [𝑏] 𝑉𝑖𝑛 [2]
𝑚1
𝑝2
The following equations finished building the Transfer functions for, X2, and A2 using 𝜕2 .
2𝜕
𝐺1 = (𝑠×𝑚2) [3]

(𝑠×𝜕2 )
𝐺3 = [4]
𝑚2

No equations were needed to find the transfer function for Fin because of the way the y matrix was set up. This
was done to reduce the amount of unnecessary math that had to be performed.

MAE 3005 Measurements Lab Page 2 Lab 10

 Figure 3: Feedback control system, and the obtaining the actuator velocity

The Block diagram above was used to find the transfer functions in terms of the desired variables (Fin, A2 and X2).
The reference signal can be represented by the equation below.
2
𝑅(𝑠) = 𝑠 [5]

The following equation represents the transfer function for the actuator velocity.
𝐷
𝑇(𝑢) = [6]
1+𝐺(1)×𝐷

𝑈(𝑠) = 𝑅(𝑠) × 𝑇(𝑢) [7]

The following template was used to find the individual transfer functions for G1, G2, and G3 with the controller
D.
𝐺(𝑥)×𝐷
𝑇(𝑥) = [8]
1+𝐺(𝑥)×𝐷

The Transfer function below represents the position of mass two with respect to time.
240(𝑠+1.667)
𝐺1 = 𝑠(𝑠2 +8𝑠+20)(𝑠2 +4𝑠+20) [9]

The Transfer function below represents the force exerted by the actuator with respect to time.

1200𝑠(𝑠+1.667)(𝑠2 +52)
𝐺2 = (𝑠2 +8𝑠+20)(𝑠2 +4𝑠+20) [10]

The Transfer function below represents the acceleration of mass two with respect to time.

240𝑠(𝑠+1.66)
𝐺3 = (𝑠2 +8𝑠+20)(𝑠2 +4𝑠+20) [11]

MAE 3005 Measurements Lab Page 3 Lab 10

Initial system Behavior

Displacement

Figure 3: Shows the uncompensated Displacement of Mass 2

The Figure above is the displacement of mass two before the addition of a controller. It shows that there
are no constraints on the displacement of the mass. The Displacement linearly increases as a function of time
y=x. For the given system we need the mass to reach 2m and then stop. The controller will be used to achieve
this goal.

Force

Figure 4: Shows the uncompensated force on Mass 2

MAE 3005 Measurements Lab Page 4 Lab 10

Figure 4 shows the force on mass 2 under the initial conditions. The constraints for the project are not met
initially with respects to force. The max allowable force from the actuator allowed is 500N and the system as is
reaches 1200 N. The controller design will have to limit the force coming from the actuator while still providing
enough force to displace mass 2 to position x=1.75 m in a reasonable amount of time.

Acceleration

Figure 5: the Uncompensated Acceleration on Mass 2

Figure 4 shows the acceleration of mass 2. The initial acceleration meets the constraints of the final system
which is promising. When designing the controller, the acceleration must remain at levels below 4 m/s2. The
acceleration will affect the amount of overshoot in the system. The perfect balance must be found in the
acceleration to achieve the smallest settling time, and the smallest overshoot. When designing the controller,
the settling time and overshoot will be idealized and give the appropriate function for acceleration.

Controller Design

Testing

Final Controller

Conclusion

Critique

MAE 3005 Measurements Lab Page 5 Lab 10