MIDDLE EAST TECHNICAL UNIVERSITY MECHANICAL ENGINEERING DEPARTMENT ME 304 CONTROL SYSTEMS SPRING 2011 HOMEWORK 1-SOLUTIONS

Assigned Date: 11.03.2011 Due Date: 21.03.2011 Prepared by Hseyin Emre Gner (D-110)
Please follow the rules posted in the web page of the course in preparing your homework. Submit your homework personally on its due date till 5 pm to Hseyin Emre GNER at D-110. Definitely no extensions will be given beyond the due time.

PROBLEM 1

(reservoir)

Figure 1. A Water Level Control System Figure 1 shows a water storage tank. The outlet valve is randomly opened and closed by people who use the stored water. The inlet valve is operated by a buoy. The arrangement is such that as the buoy goes lower it opens the inlet valve further and thus increases the inflow. This way, the water level in the tank is tried to be kept fixed.

a) Identify the main components of this control system, namely the plant, the controller, the sensor, and the actuator. b) Identify the manipulated input, the disturbance input, the reference input, and the controlled output. c) Explain what modification you would make in order to change the reference input. d) Sketch a block diagram representation of the system. SOLUTION to PROBLEM 1 a) The plant is the water tank. The controller is the buoy. The sensor is the buoy. The actuator is also the buoy. Note that, in some control systems, the same component may assume several functions. The buoy is a very typical example of such a component. b) The manipulated input, i.e. the control input, is the inlet flow rate. This flow rate is governed by the inlet valve, which is manipulated by the buoy. Let it be denoted by q in ( t ) . The disturbance input is the outlet flow rate. This flow rate is governed by the outlet valve, which is randomly opened and closed by the users. Let it be denoted by q out ( t ) . The reference input is the desired height of the water level. Let it be denoted by h ref ( t ) . The controlled output is the actual height of the water level. Let it be denoted by h ( t ) . c) The reference input can be changed by changing the pivot location of the buoy and/or the lengths of the links of the buoy mechanism. d) The descriptive block diagram of the system is shown below.

q out ( t )
h ref ( t )

buoy (controller + actuator)

q in ( t )

water tank (plant)

h (t )

h (t )

buoy (sensor)

h (t )

PROBLEM 2

Figure 2. A Robotic Vacuum Cleaner Automatic control is used in a variety of home appliances. For example, the robotic vacuum cleaner depicted in Figure 2 is a mechatronic device that relies on infrared sensors and microchip technology in order to navigate around the furniture without striking them. a) Describe how the system works in order to prevent collisions. b) Identify the plant, the controller, the sensor, and the actuator. c) Identify the reference input, the control input, the disturbance, and the output. d) Sketch a block diagram representation of the system.

SOLUTION to PROBLEM 2 a) There are several evenly spaced infrared sensors on the periphery of the vacuum cleaner. When one of these sensors approaches an obstacle, the controller (which is a microprocessor) commands the driving motors to slow down the approaching motion of the vacuum cleaner toward the obstacle. Thus, the distance between the obstacle and the vacuum cleaner is tried to be kept at a desired safe value. b) The plant is the vacuum cleaner. The controller is the microprocessor. The sensors are the infrared devices that provide voltages proportional to the distances between them and the nearby objects. The actuators are the electric motors that drive the wheels of the vacuum cleaner at speeds commanded by the microprocessor. c) The reference input is the desired minimum safe distance between the vacuum cleaner and the surrounding obstacles. Let it be denoted by x ref ( t ) .The control inputs are the command voltages applied to the driving motors. The output is the actual distance between the vacuum cleaner and the nearest obstacle. Let it be denoted by x ( t ) .Actually, there won't be any significant disturbance as long as the possible intentional or unintentional interruptions of the human beings (or animals such as cats) are counted out.

d) The descriptive block diagram of the system is shown below.

x ref ( t )

microprocessor (controller)

wheel motors (actuators) infrared sensor

vacuum cleaner (plant)

x (t )

x (t )

x (t )

PROBLEM 3

Figure 3. Automated Parallel Parking of a Car Many modern luxury cars have an auto park option. This feature will parallel park a car without driver intervention. Figure 3 illustrates a parallel parking scenario. a) Describe how the automatic parallel parking system works. b) Identify the plant, the controller, the sensors, and the actuators. c) Identify the reference inputs, the control inputs, the disturbances, and the outputs. d) Sketch a block diagram representation of the system. SOLUTION to PROBLEM 3 a) The automatic parallel parking system can use multiple ultrasound sensors to measure the distances to the parked automobiles and the curb. The sensor measurements would be processed by an onboard computer to determine the steering wheel, accelerator, and brake inputs to avoid collision and to properly align the vehicle in the desired space. Even though the sensors may accurately measure the distance between the two parked vehicles and the curb, there will be a problem if the available space is not large enough to accommodate the parking car. In such a case, the mission will be aborted with an appropriate message of the computer.

b) The plant is the automobile. The controller is the onboard computer. The sensors are the ultrasound sensors (or ultrasonic sensors) that measure the distance between the two parked cars and the curb. The actuators are the driving and steering motors c) The reference input is the computer determined parking trajectory for the car. Let it be denoted by y ref ( t ) . The control inputs are the command signals sent to the actuators. The output is the actual position of the car. Let it be denoted by y ( t ) . Moreover, the possible user interruptions can be considered as disturbances to the system. d) The descriptive block diagram of the system is shown below.

y ref ( t )

onboard computer (controller)

driving&steering motors (actuators) Ultrosonic sensors

automobile (plant)

y (t )

y (t )

y (t )

PROBLEM 4

Figure 4. A Segway PT Figure 4 shows a Segway PT (Segway6 Personal Transporter). It is a two-wheeled vehicle in which the human user stands on its platform. The computer controlled motors in the base of the vehicle keep the Segway PT balanced upright when powered on. The user commands the Segway to go forward by shifting his weight forward on the platform and backward by shifting his weight backward. The Segway PT notices, as it self balances, the change in its center of mass and then generates a corresponding forward or backward speed. Gyroscopic sensors and fluid-based leveling sensors are used to detect the shifting weight. In order to turn, the user manipulates the handlebar left or right.

a) Describe how the control system of the Segway PT works. b) Identify the plant, the controller, the sensors, and the actuators. c) Identify the reference inputs, the control inputs, the disturbances, and the outputs. d) Sketch a block diagram representation of the system. SOLUTION to PROBLEM 4 a) In order to maintain the system in a stable position, the tilt angle p ( t ) and the angular velocity p ( t ) of the platform of the vehicle will have to be kept zero with respect to the gravitational direction. To achieve this, a feedback control scheme is used which employs a fluid leveling sensor and a rate gyro to acquire information about p ( t ) and p ( t ) . This feedback information is then used by the onboard computer to drive an electric motor between the platform and the axle of the wheels in order to have p ( t ) pref 0 and
p ( t ) pref 0 .

b) The plant is the personal transporter. The controller is the onboard computer. The sensors are the fluid based leveling sensor and the rate gyro to detect the deviation of the platform from the desired horizontal attitude. The actuator is the electric motor between the platform and the axle of the wheels. c) The controlled outputs are p ( t ) and p ( t ) . Let them be denoted together as

c ( t ) { p ( t ), p ( t )} . The reference inputs are pref 0 and pref 0 . Let them be denoted

together as r { pref , pref } . The control input is the computer generated command voltage for the actuating motor. In this system, disturbance may be created by the random motions of the user.

d) The descriptive block diagram of the system is shown below.

user-caused disturbance

onboard computer (controller)

electric motor (actuator)

personal transporter (plant)

c (t )

c ( t ) c ( t )

Fluid leveling sensor & rate gyro

c (t )