Assignment 1

Modeling and Simulation of Car Steering Systems

Steering wheel is a simple lever which effectively transfers the force applied by the driver on
it to the vehicle wheel. The torque applied the driver is the input, angular displacement of the
vehicle wheel is the response. In this part of the assignment the student is expected to model,
simulate and compare the performances of mechanical and a power steering system.
Problem Statement

In the above context, the student is expected to model and compare the performance of the
mechanical and power steering systems
Conduct a critical survey of mechanical and power steering system for their
specifications
Indicating all the subblocks, develop a block diagram of mechanical steering system
from the literature review.
Write a free body diagram for all the subblocks of the mechanical steering system
Derive a mathematical model for each subblock
Obtain the overall transfer function of the system with the applied force as input and
vehicle wheel rotation as output
Simulate the model using MATLAB/Simulink and analyze the step response
Suggest suitable modifications required to convert the block diagram of mechanical
system to a power steering system
With suitable free body diagrams develop a transfer function/model for the power
steering system
Simulate the developed model of power steering using MATLAB/Simulink and
analyze its step response
Design a PID controller to achieve POS<5%, settling time < 100ms, ss error<2%
Comment on the vehicle wheel displacement for the same driver force applied on the
steering wheel in both the systems
Guidelines for Submission of Part B
Consider the same make of the vehicle with and without power steering
Use the specifications of the car under consideration

Part C: Digital Implementation of the PID Controller

A general block diagram of the control system is shown in the figure below. Due to the
advantages of digital implementation, usually the analog controller will be implemented
digitally. To do this, the inputs to the digital controller should be digitized and the output of
this controller should be converted back to analog before driving the plant. In this part of the
assignment the student is expected to understand how to digitize an analog controller, and
develop a C program to implement the digital controller.

Problem Statement:
In this context, the student has to

Analytically digitize the PID controller designed in Part B using two different
techniques
Model the digitized controller in MATLAB/Simulink and analyze its response
Compare the analog and digital PID controller responses
Implement the digital PID controller (DF-I and DF-II) using C language
Develop suitable test cases and test the developed program
Plot and analyse the responses of two implemented controller structures
Draw suitable conclusions

Controll
er

Guidelines for Submission of Part C

Assume any missing data and indicate the same

MATLAB/Simulink tool may be used to do the simulations
Any codes should be well-commented and provided as appendix
All graphs/figures should be clearly titled, axes should be labeled and annotated

Assignment 2

In this part of the assignment, the student is expected to study the OFDM orthogonal
property and data rate, by using the different combinations of the QAM modulation and FFT
blocks and document the results. The student is expected to study the MATLAB/Simulink
model of OFDM and analyse its performance based on data rate and BER vs SNR, with the
help of binary, grey scale and colored images.
The student has to perform the following steps.
Understand the given OFDM model
Provide binary, grayscale, coloured image data and measure the
data rate and BER for different combinations of QAM
(4,8,16,32,64) and FFT (64,128,256,512,1024) at different signal
strengths
Tabulate and document the results properly for the different
images with different combination of QAM, FFT and SNR
Analyse the OFDM performance in terms of data rate and BER vs
SNR
Draw suitable conclusions
Demonstrate the work
Part C consists of the implementations of the above part in RVDS
Problem statement
40 Marks
In this part of the Assignment, the student has to develop C code to
implement the OFDM model as in Part B in RVDS and analyse the same for
different ARM cores (ARM11, Cortex A8 and A9) with different combination
of QAM and FFT.
The student has to perform following steps.

Develop the C Code to implement the OFDM for the different

combination of the FFT and QAM by changing the suitable
parameter and variable for different combination
Build, profile and tabulate the developed code on ARM11, Cortex
A8 and A9 platforms
Plot graphs to determine the performance base on the profiler
and document the same
Draw suitable conclusions
Demonstrate

Assignment 3
In this part of the assignment, the student is required to design and develop two
FIFOs each for virtual character devices, /dev/cva, /dev/cvb, etc. These FIFOs will
be used for providing exclusive read and write operations on the devices. One
FIFO, which is used for writing, is a write only device node and other one, which
is used for reading, is a read only device node under /dev directory. Both the FIFO
nodes share the same major number as the character device. The write and read
FIFOs are named cva0 and cva1, respectively for character device cva. A write to
first FIFO has to do the write operation executed by the device driver and a read
from the other FIFO has to do the read operation on the same device.
Develop a driver (name cv) for virtual character device which provides read and
write operations through the corresponding FIFOs. Develop a proper logic for
assigning numbers to the devices and the corresponding FIFO nodes.
The student has to perform the following steps:
a. Develop a proper logic for
Device numbering
Device driver
Write and read operation
b. Implement the device driver with two FIFOs
c. Compile and load the device driver

Part C

20 Marks

This part of the assignment involves design and implementation of the suitable
user level program for the developed device driver in Part B. The read and write
FIFOs have to be assigned proper permissions for exclusive read and write
operations.

Problem Statement:
The student has to perform the following:
a.
b.
c.
d.

Write a suitable user program to drive the driver program

Test and validate the system for its functionality
Analyse the results obtained
Demonstration of the work done