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Project 4 —Control Systems Deliverables – Team Report, simulink and matlab files, due Tuesday Week 11 Objectives This project relates to the unit learning outcomes 1–7. NOTE: It is preferred that each team member be involved in both Question 1 and Question 2. Failure to do so will mean some students may not have suitable evidence for all of the unit learning outcomes required to pass the portfolio and the unit. However the necessary evidence can be generated through individual tutorial work, demonstration questions and/or laboratory work. Question 1 – Stunt Control Your project is to develop a drive line control for the motorbike from Project 3. To reduce accidents and produce a reliable stunt, it is desired to have an automated control of a wheel stand sequence. Power is applied rapidly to just the rear axle until the front wheel lifts off the ground and the motorbike makes an angle of about 80 degrees. The control system must hold the angle for about 5 seconds then let the motorbike drop in a controlled way to the ground. The control must be robust and work with severe ground undulations and there is the possibility that it could be used during a jump initiated by a ramp profile like that specified in Project 3. It is better to do this project initially with the 2 DOF rotational and translational model of Project 3. Before attempting applying it to the 4 DOF model in Project 3. Minimum scope Develop a suitable P, PI, PD or PID controllerô€– in Simulink and demonstrate the robustness of the system with simulations of various scenarios and conditions. Specify the required performance parameters, horsepower and torque of the engine and gearing. ô€€¤ô€ô€–ô€’ô€€ƒô€†ô€’ô€‘ô€–ô€Œô€‡ô€ˆô€•ô€€ƒ ô€’ô€—ô€‹ô€ˆô€•ô€€ƒô€„ô€–ô€“ô€ˆô€†ô€—ô€–ô€€ƒô€ô€Œô€Žô€ˆô€€ƒô€—ô€‹ô€ˆô€€ƒô€Šô€•ô€’ô€˜ô€‘ô€‡ô€€ô€šô€‹ô€ˆô€ˆô€ô€€ƒô€‰ô€•ô€Œô€†ô€—ô€Œô€’ô€‘ô€€ƒô€•ô€ˆô€”ô€˜ô€Œô€•ô€ˆô€ô€ˆô€‘ô€—ô€–ô€€‘ô€€ƒ Submit demonstration simulation results during severe undulations and when negotiating the ramp of Project 3. Reflection and discussion Reflect on the behaviour of the controller, its components and advantages over other controller types trialled. Reflect on the assumptions upon which the simulation is based. If your design failed in the test cases, discuss reasons. Please include failed simulations. Comment on stability and frequency response and system bandwidth. Question 2 – System Identification Problem Data from a non-linear system is available on the moodle site. Your task is to use this data and estimate a suitable simulink modelô€€ƒô€’ô€‰ô€€ƒô€—ô€‹ô€ˆô€€ƒô€‘ô€’ô€‘ô€€ô€ô€Œô€‘ô€ˆô€„ô€•ô€€ƒô€–ô€œô€–ô€—ô€ˆô€ô€€‘ The data was measured from a machine you are investigating under different applied force conditions. The machine is a single mass and is mounted vertically on isolators which you suspect has damping and spring properties. The plant manager wants you to model the machine to better understand its vibration characteristics. You suspect that there may be non-linearities in the springs characteristics, and the damping is viscous. The mass is not known but you estimate it to be less than 1 tonne. It will help to analyse the provided data in sections as different parts of the data will allow you to accurately determine the different characteristics of the system including the mass, non-linear spring rates and viscous damping properties. Test your model with the given applied force and other hypothetical inputs to ensure it works properly and gives believable results. ô€€‹ô€—ô€‹ô€Œô€–ô€€ƒô€Œô€–ô€€ƒô€‘ô€’ô€—ô€€ƒô€„ô€€ƒô€†ô€˜ô€•ô€™ô€ˆô€€ƒô€‰ô€Œô€—ô€—ô€Œô€‘ô€Šô€€ƒô€ˆô€›ô€ˆô€•ô€†ô€Œô€–ô€ˆô€€Œ Minimum scope -Develop a non-linear simulink model of the machine. -Test your model with the applied force data in the supplied data file and compare the displacement output of your model with the measured displacement data in the supplied data file. -Test your model with other hypthetical force inputs to ensure the model gives believable results for input forces that are different to the supplied data. -Discuss errors/uncertainties in the model. -Reflect on the problems faced when deriving implicit models, use examples from your project to back up any observations and conclusions. -Discuss how do explicit and implicit models differ? And how these relate to the problem solved. Problem Data As supplied on the moodle site. The data provides time based data of the known applied force in newtons and displacement in metres. The diagram below shows the positive direction of the data. Known applied force (recorded in excel file) Vibration Isolators Measured Displacement from stationary position (recorded in excel file) Solid foundation Arrows indicate the positive directions machine mass ~ less than 1 tonne Project 4: Control Systems Team: Marker: Also see my comments/markups on the project report if included Below Sound Sound Good Excellent Q1 Minimum Scope Areas Develop suitable P, PI, PD or PID controllers in Simulink and demonstrate the robustness of the system with simulations of various scenarios and conditions Specify the required performance parameters, horsepower and torque of the power plant and drive train. Also consider other aspects like the ground-wheel friction requirements Submit demonstration simulation results during severe undulations and when negotiating the ramp of Project 3. Q1: Reflection and Discussion Reflect on the behaviour of the controller, its components and advantages over other controller types trialled. Reflect on the assumptions upon which the simulation is based. If your design failed in the test cases, discuss reasons. Please include failed simulations. Comment on stability and frequency response and system bandwidth. Below Sound Sound Good Excellent Q2: Minimum Scope Develop a non-linear Simulink model of the machine Test your model with the applied forced data and compare the displacement with the displacement data in the provided data file. Test your model with other hypothetical force inputs Discuss errors/uncertainties in the model. Reflect on the problems faced when deriving implicit models. How do explicit and implicit models differ? And how might this relate to the problem solved. Report Structure/Presentation and Language Overall Grade and General Comments

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