1.

0 DYNAMIC SYSTEM INTRODUCTION

1.1 System Introduction

The theory of the automatic gate is very simple, when we press the open button, a signal
is sent to the main circuitry board which then allows the current to pass through to the gates
motor causing the motor to run and the gate open. Once the gate is fully open (depending on
where the resistant beam is located) the motor stops running causing the gate to stop moving.
And when the close button is pressed the same thing happens but this time the motor run in the
opposite direction, therefore causing the gate close.

Figure 1: This is the structure of the slider automatic gate

An automatic control system is a preset closed-loop control system that requires

no operator action. This assumes the process remains in the normal range for the
control system. An automatic control system has two process variables associated with it: a
controlled variable and a manipulated variable. A controlled variable is the process variable
that is maintained at a specified value or within a specified range. In the previous example, the
storage tank level is the controlled variable. A manipulated variable is the process variable that
is acted on by the control system to maintain the controlled variable at the specified value
or within the specified range. In the previous example, the flow rate of the water supplied to
the tank is the manipulated variable.
1.1.1 Functions of Automatic Control

In any automatic control system, the four basic functions that occur are:

 Measurement
 Comparison
 Computation
 Correction

In the water tank level control system in the example above, the level transmitter
measures the level within the tank. The level transmitter sends a signal representing the tank
level to the level control device, where it is compared to a desired tank level. The level
control device then computes how far to open the supply valve to correct any difference
between actual and desired tank levels.

1.1.2 Elements of Automatic Control

The three functional elements needed to perform the functions of an automatic control
system are:

 A measurement element
 An error detection element
 A final control element
1.2 System’s block diagram that shows component / process involved

Switch Power Window Timing Chain

(Input device) Amplifie motor (12V & 1A) Gear
r

Gate Timing Chain

(Open / Close Processes)

1.3 Function of each component

Figure 2: power window motor

The power window motor used to rotate the rotating member such as shaft and gear. This
power window had to modify the motor in order to fit to the gate. The modifications were fixing
an extra gear to the motor which will fit the timing chain and an extra socket to hold the motor to
the base.
 Figure 3: Timing Chain

Timing chain used to transfer the rotating energy to linear energy. It will move the gate when the
gear will rotate.

Figure 4: Timing Chain gear

Timing chain gear is used to transfer the power from power window motor to timing chain.
Gear is a rotating machine part having cut teeth, or cogs, which mesh with another toothed part
in order to transmit torque. Two or more gears working in tandem are called a transmission and
can produce a mechanical advantage through a gear ratio and thus may be considered a simple
machine.

Note: electrical device such as remote control will not discuss in this project. We will treat as a
switch.
2.0 YSTEM MODELING OF SYSTEM

2.1 Mathematical model of each component including the disturbance/noise

1
1. Power window motor, Vi =
Rf  LfS
1
2. Rotational Movement, Ө = 2
JS  FS
3. Disturbance (Friction), fr = 1 (constant value but already assume as a induction)

2.2 Input and output states

Input = Voltage (Vi)

Output = Angular displacement (Ө)

2.3 Transferring the model into block diagram

Vf(S)
Input Switch 1
(S) (Input device) 1
Rf  LfS
Ia
Disturbance
Amplifi (Friction)
er
Ө(S)
Output (S) 1
(Gate Open / Close Processes) JS  FS
2

Diagram 1: Modeling of System including the disturbance/noise

2.4 Transferring the model in simulink environment. How does the disturbance/noise fit
into your simulink model?

Diagram 2: simulink environment

Diagram 3: setting up the parameter/ constant into simulink

3.0 BLOCK DIAGRAM MANIPULATION TO OBTAIN TRANSFER FUNCTION OF THE
SYSTEM

 We convert above block diagram into electrical diagram before we transform in to block
diagram

Diagram 3: system converts in to electrical function

‘Ra’ = Resistance of armature in Ω’s.

‘La’ = Inductance of armature in H’s.
‘ia’ = Armature current. & ‘if’= Field current.
‘Vi’ = Applied armature voltage.
‘Tm’ = Torque developed by the motor in N-m.
Ө = Angular displacement of motor shaft in radians
J = Equivalent moment of inertia of motor & load referred to the motor shaft.
F = Equivalent Viscous friction co-efficient of motor & load referred to the motor shaft.

For power window motor, the TF (Transform Function) we calculate by taking from
voltage (V) to Armature current

TmIa              (1)
Tm  KT Ia            (2) Where, KT is Motor – torque constant. KT =1
Vi  RaIa(S )  LaSIa(S )      (3)

Vi ( S )
Ia( S )           (4)
Ra  LaS

Tm(S )  JS 2  FS (S )      (5)

(5) (6)

KT Ia(S )  JS 2  FS (S )      (6)

[ JS 2  FS ] ( S )
Ia( S )         (7 )
KT

IaK T
 (S )             (8)
JS 2 FS

Substituting the values of, Ia(s) into equation (3)

 JS 2  FS 
Vi  [ Ra  LaS ]  ( S )    (9)
 KT 

Final output Transform Function (TF) is:

 (S ) KT

Vi ( S ) [ Ra  LaS ][ JS 2  FS ]
3.1 Transferring the model into the block diagram

The block diagram representation of armature controlled power window Motor can be
obtained as follows,

 The complete block diagram is as shown below,

Disturbance

Vf(S)
Input Switch 1
(S) (Input device) 1
Rf  LfS
Ia
Disturbance
Amplifi (Friction)
er
Ө(S)
Output (S) 1
Diagram 1: full System Modeling with disturbance (friction) of System
(Gate Open / Close Processes) JS  FS
2

Diagram 4: full System modeling with disturbance (friction) of System

4.0 TIME RESPONSE ANALYSIS

Figure 5: Time response analysis with unit step input

Figure 6: Time response analysis with sine wave

The output of above two graphs is nothing much different because of using same transform
function and same time response value. When using the sine wave, we can notice that the
grape found in sinus style grape and have much damping if we adding less value in variable.
4.1 Changing the parameter to investigate the output.

Diagram 5: transform function in simulink

Figure 7: Output from the simulink

When we change the some parameter such as Ia, Ra, J and F, we found that the system is may
be facing bigger error according to the grape shown in above.
When we adding bigger value in the variable, we found that the grape shown is occur much
error in the system.

Diagram 5: transform function in simulink after we add bigger value

Figure 8: Output from the simulink

4.2 Changing the parameter of disturbance/noise

Now we are going to investigate the output response by changing the parameter of
disturbance. Previously we were setting the disturbance as a constant value which is 1. Now we
are going to increase the value by 20.

Diagram 6: The Transform function simulink after we increase the value.

Figure 9: Output from the simulink after increase the disturbance value.

After increase the value in disturbance, we found that the grape occur more percentage of error
when compare with the output of figure 5 and 6.
CONCLUSION

After we doing the time response testing in the system we create from an
automatic gate system situation, based on the result from previous step we strongly
agree and decide that we unable control the system without controller. This is because
there is certain time period we found the percentage of error getting bigger and bigger.
So, to reduce the presentence of error, we recommended using controller such as PID.

Reference:
The web sites that provide the information’s:

 www.autogates.com.my
 www.usautomatic.com
 www.amazinggates.com
 http://en.wikipedia.org/wiki/Control_system

 Kuphaldt, Tony R.. "Chapter 6 LADDER LOGIC". Lessons In Electric Circuits -- Volume
IV. http://openbookproject.net//electricCircuits/Digital/DIGI_6.html.