ES410

Flu id Co mpensator Design Project

Spring 2012

Due : Tuesdat, 01-May-12

Name:

Note: This project is an INDIVIDUAL assignment. You may only consult with the instructor on technical matters.

Problem Statement
Given the following 1 st order step response for the plant G p s

H2 s Qs s

Height of fluid m in tank #2 Flow rate m3 sec

Step response for Qs=2.0e-5 (m3/sec) 0.1 0.09 0.08 0.07

Fluid height (m)

0.06 0.05 0.04 0.03 0.02 0.01 0

10

20

30 40 Time (sec)

50

60

70

Figure 1: Flui d height step response for Qs

2.0 10

m3 / sec

design a compensator KGc s following characteristics:

Qs s E s

that will man ipulate the fluid height to 0.10 m

while exhib iting the

1.) The closed-loop system exh ibits stability. 2.) The closed-loop system exh ibits zero steady state error m 3.) The closed-loop system exh ibits a settling time of

15.0 sec and a %OS 10% .

7.0 10
5

4.) The commanded input signal fro m the closed-loop system is Qs

m3 / sec .

Model Identification
The step response data of Figure 1 is contained in the file StepRespData.m. You may open this file in MATLAB to retrieve more accurate data points. Utilizing the same techniques utilized in the tank identification lab (Lab #7), develop the plant transfer function

Gp s

H2 s Qs s

Fluid height in tank #2 Flow rate input from pump

Note: The plant fro m Lab #7 will differ as I changed the orifice on th e bottom of the tank. Once you have calculated your transfer function G p s , compare your theoretical step response for

Qs

2.0 10

m3 / sec against your experimental step response. Plot the two responses on ONE figure. You

may simu late your step response with: step(Qs*Gp);

Design your Compensator

Once you have validated your model, you are now in position to design your compensator KGc s . As we have discussed, you may pre-select a desired compensator structure or select the desired closed-loop transfer function and solve for the required KGc s . In the end, an effective co mpensator is needed that will obtain all specified objectives. All co mpensator designs need to follo w an accepted design methodology. You will need to describe your design process.

Simulation Evaluation
Prior to validating the compensator on hardware, the compensator KGc s must be verified via simulat ion. Build the following SIMULINK simu lation model

Figure 2: Compensator feedback diagram The saturation block has been added to capture the hardware saturation effects. Set the saturation limits to 7.0 10 5 m3 / sec . The pump cannot generate flow rates outside this range. Simu late the system for a step input of 0.1 m and calculate: 1) Steady state error ( SSE ), 2) settling time ( Ts ), 3) percent overshoot ( %OS ), and 4) maximu m co mmanded flow rate ( Qsmax ). If any specified objective is not achieved, re-design accordingly. Only after demonstrating to your instructor a successful simu lation will you be able to move on to the experiment.

Experimental Evaluation
Once you have successfully demonstrated your compensator working in simulat ion, you are now ready to implement on the hardware. All that is needed is your compensator KGc s . After your instructor imp lements your compensator, they will save the experimental step response in a .mat file that will be sent to you. From this file, you will be able to plot the experimental step response. You will need to calculate: 1) Steady state error ( SSE ), 2) settling time ( Ts ), 3) percent overshoot ( %OS ), and 4) maximu m co mmanded flow rate ( Qsmax ) for the experiment. If your compensator fails in experiment, you will need to redesign accordingly.

Deliverables
A self-contained design document (i.e., no enclosures figures will be embedded and referenced within body of text) including the following: 1. 2. 3. 4. 5. 6. Introduction what are we attempting to do in this project. Big p icture. Use your own words. The set of design specifications (i.e., what must the compensator do). The design methodology (i.e., the process by which you arrived at your co mpensator). This will also include the development of the plant model G p s . Include your figure that verifies the model. Simu lation results illustrating that the design achieves established specifications of 2. Experimental results illustrating compensator performance on hardware (schedule a time to implement the experiment). Please include the following table that summarizes your performance in simulat ion and experiment.

SSE
Simu lation ( KGc s ) Simu lation (Difference Eqns). Experiment ( KGc s ) Experiment (Difference Eqns)

Ts

%OS

Qsmax

In addition, include figures that show the height of the fluid and the flow rate co mmand over time. 7. Co mment on the project in general. Did you have to re-design at any point? Why? What did you learn? What topics are still vague?