Fast Track

ESD2527/AEL503/AEL2515/AEL2519

M.S RAMAIAH SCHOOL OF ADVANCED STUDIES Bengaluru

Postgraduate Engineering and Management Programme [PEMP]

Department
Course
Batch
Module Code
Module Title
Module Leader

Computer Engineering
Real-Time Embedded Systems/Automotive
Electronics
Fast Track
ESD2527/AEL503/AEL2515/AEL2519
Embedded Control Theory/ Control Systems
Engineering/ Automotive Control Systems
Engineering
Viswanath K. Reddy

INSTRUCTIONS TO CANDIDATES:
1. The assignment has three parts. Part A carries 30marks, Part B carries 30 marks,
Part C carries 30 marks and others 10 marks.
2. The assignment should be word processed and submitted in the standard format
specified by the ARO, MSRSAS.
3. The assignment should be word processed along with diagrams. All the diagrams
should have explanation.
4. Maximum length of the report should not exceed 35 pages on A4 sheets.
5. You are required to use SI units wherever applicable
6. The last date for submission is April 10, 2015
7. Weightage is based on comprehension of the question, your style of presentation,
originality and logical thinking.
8. You can discuss the assignment in a group but the report should reflect your effort.
9. No group work is permitted. If plagiarism or collusion of any kind is found, the
candidates result will be declared as Fail
10. At the end you are required to comment on
a. Benefits you derived by solving this assignment
b. Whether assignment was able to assess your learning outcomes

February 2015

Form 43

Ver: 2

Date: 14-03-2011

Fast Track

ESD2527/AEL503/AEL2515/AEL2519

Introduction:
Control engineering has an essential role in a wide range of control systems from a simple
household washing machine to a complex high performance F-16 fighter aircraft. It allows
one to understand a physical system in terms of its inputs, outputs and various components
with different behaviors using mathematical modeling, control it in a desired manner with the
controllers designed using control systems design tools, and implement the controller on the
physical system employing available technology. A system can be mechanical, electrical,
fluid, chemical, financial and even biological, and the mathematical modeling, analysis and
controller design shall be done using control theory in one or many of the time, frequency
and complex-s domains depending on the nature of the control system design problem.
When you turn the steering wheel in your car, the wheels turn. In olden cars the effort
involved in steering the vehicle was enormous. But due to the advent of power steering, effort
has reduced drastically. Hyundai company was one of the car manufacturers to introduce this
technology (zip drive) in Indian market almost a decade ago. In this assignment, the student
is expected to
Part A of the assignment deals with a debate on Research on power steering is
saturated
Part B deals with modeling of mechanical and power steering and their comparison
Part C is about digital implementation of PID controller

Part A: Mechanical and Power Steering Systems

Power steering was introduced in the Indian market around the year 2000. Being relatively a
simple technology and about more than a decade old, in this part of the assignment, the
student is expected to debate on Research on power steering technology is saturated. In this
context, the student has to develop a debate with emphasis on the following points.

Mechanical arrangement and principle of working of mechanical steering

Power steering principle and its advantages
Cost implications on the vehicle with built in technology/ additional fitting
Various sensors and actuators involved in power steering
Future trends in power steering systems
Conclusions

Guidelines for submission of Part A

Use simple sentences
Equations and figures can be reproduced from literature with citation
Use appropriate control engineering terms
Represent data with appropriate graphs and diagrams
Express your own views through discussions on topics you come across while
developing the essay
The word-processed essay should not exceed three A4 size pages

Form 43

Ver: 2

Date: 14-03-2011

Fast Track

ESD2527/AEL503/AEL2515/AEL2519

Part B: 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

Form 43

Ver: 2

Date: 14-03-2011

Fast Track

ESD2527/AEL503/AEL2515/AEL2519

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

Controller

Assessment of Utility and Learning Outcomes

5 Marks

Please go through the Module Learning Outcomes (refer Session-00 of Day 1 or the MID)
and answer the following questions in short paragraphs after you have completed the rest of
this Assignment.
What are the benefits you have derived by solving this Assignment?
Whether the Assignment covered (some of) the Module Learning Outcomes and how?
Include this as a separate chapter in your Assignment book.
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

Guidelines for submission of the assignment:

Your assignment should consist of three chapters only, each chapter/part should have
the following: Strictly follow the below guidelines:
o Introduction
(written
in
your
own
words-the
contents/words/sentences/paragraph should not match with any web/book
resources/other assignments)
o Literature review and Design details should be original contribution, you can
make suitable changes with existing design available, need to mention the
same in your assignment
o Simulation / Implementation results should be explained very neatly in your
own words, more emphasis should be given in this chapter.
o Discussion on results with proper recommendations explain in your own
words taking more test results from the simulation or from other journals use
more than 500 words

Form 43

Ver: 2

Date: 14-03-2011

Fast Track

ESD2527/AEL503/AEL2515/AEL2519

o Conclusion (Every chapter/part should have separate conclusion)-explain in

your own words

You need to have one abstract for the entire assignment.

References should be in proper format as specified in the student handbook

Add acknowledgement wherever required.

Results obtained from simulation needs to be included in your assignment with proper
formatting. The results should reflect your work done and the contribution.

The equations should be typed using Math Type or MS Word Equation Editor

Results should be demonstrated to the module leader.

Marking Scheme
Q. No.
Part A
30 M

Part B
35 M

Part C
35 M

Expectations
A well developed essay about
Mechanical arrangement and principle of working of mechanical
steering
Power steering principle and its advantages
Cost implications on the vehicle with built in technology/ additional
fitting
Various sensors and actuators involved in power steering
Future trends in power steering systems
Conclusions

Marks

4
5
5
7
4
5
2
2
3
6
3
4
4

Critical literature review

Block diagram development with all the subblocks.
Free body diagram for all the subblocks
Mathematical model of each subblock and overall TF
MATLAB/Simulink model simulation and analysis
Suggestion to convert the mechanical system to a power steering system
Free body diagrams and overall transfer function/model for the power
steering system
MATLAB/Simulink model simulation and analysis - power steering
PID controller design
Comments

Analytical analog to digital conversion(at least three methods)

Modelling of digital controller in MATLAB/Simulink and analysis
Comparison of analog and digital controller responses
Implementation of digital controller using C
Development of suitable test cases and testing
Plotting and analysis of the two implemented controller structures
Suitable conclusions

6
6
4
5
3
3
3
10

Comments on

Total

4
4
3

Benefits you derived by solving this assignment

Whether assignment was able to assess your learning outcomes

Form 43

100

Ver: 2

Date: 14-03-2011

Marks

Fast Track

ESD2527/AEL503/AEL2515/AEL2519

Form 43

Ver: 2

Date: 14-03-2011