Design of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives Kevin Block, Timothy De Pasion, Benjamin Roos, Alexander Schmidt Gary Dempsey Bradley University Electrical and Computer Engineering Department March 1, 2016
111
Embed
Design of a Simulink-Based Control Workstation for Mobile ...ee.bradley.edu/.../venom/deliverables/progress_presentation2.pdf · Design of a Simulink-Based Control Workstation for
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
Design of a Simulink-Based Control
Workstation for Mobile Wheeled Vehicles with
Variable-Velocity Differential Motor Drives
Kevin Block, Timothy De Pasion, Benjamin Roos, Alexander SchmidtGary Dempsey
Bradley University Electrical and Computer Engineering Department
March 1, 2016
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
2
Overview
What: Design and Implement Control Workstation with a Model-Based PID Controller that has Feed-Forward Compensation
How: Combination Simulink and Experimental Platform
Why: Future Control Algorithm Research, Development, and Testing at Bradley University
3
Objectives
•Simulink System Integration Complete
•Controller Development Complete
•Controller Code Written
•Experimental Platform Integration Complete
•Simulink GUI Complete
•System Integration in Progress
•System Testing in Progress
4
Division of Labor
5
TABLE I. DIVISION OF LABORTask Name Team Member Name
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
10
Presentation Outline
•Background•Benjamin Roos
•Controller Development – PI Feedback Controller•Controller Specification Verification•Current Source and Dynamic Model Matching
•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
11
Vehicle Plant Bode Diagram
12Fig. 6 – Vehicle Plant Bode Diagram
Vehicle Plant Root Locus
13Fig. 7 – Vehicle Plant Root Locus
Plant and Controller Root Locus
14Fig.8– Vehicle and Controller Root Locus with Zero at s = -19.5 rad/s
Controller and Plant Bode Diagram
15Fig. 9 – Continuous Vehicle and Controller Bode with Controller Gain = 500
Discrete PI Controller Step Response
16Fig. 10 – Complete Controller Response to Worst Case Conditions,
Settling Time = 1 second
Presentation Outline
•Background•Benjamin Roos
•Controller Development – PI Feedback Controller•Controller Specification Verification•Current Source and Dynamic Model Matching
•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
17
Disturbance Rejection Specification
•The drive control system shall minimize the effect of external torque disturbances.
•Performance Specification:•Shaft RPM change of less than or equal to 40%
•Test Measurements:•Max Instantaneous Error of 35.75% at 20 RPM•Spec has been met for the Simulink Model
18
Disturbance Rejection Specification
19Fig. 11 – Disturbance Response Curves with Disturbance Change at 2 seconds
Step Tracking Specification
•The drive control system shall reduce vehicle tracking errors for step commands.
•Performance Specification: •Average difference between input and output of less than or equal to 20% over 4 seconds
•Test Measurements:•Max Error is about 14% at 400 RPM•Spec has been met for the Simulink Model
20
Step Tracking Specification
21Fig. 12 – Average Error of Step Responses
Ramp Tracking Specification
•The drive control system shall reduce vehicle tracking errors for ramp commands.
•Performance Specification: Average difference between input and output of less than or equal to 20% over 4 seconds
•Test Measurements:•Max Error is about 35% at 400 RPM/s
22
Ramp Tracking Specification
23Fig. 13 – Average Error for Ramp Responses
Ramp Tracking Specification
24Fig. 14 – Ramp Response Curve with a Ramp Input = 400 RPM/s
Parabolic Tracking Specification
•The drive control system shall reduce vehicle tracking errors for parabolic commands.
•Performance Specification: Average difference between input and output of less than or equal to 40% over 4 seconds
•Test Measurements:•Max Error is about 20% at 400 RPM/s^2
25
Parabolic Tracking Specification
26Fig. 15 – Average Error for Parabolic Responses
Presentation Outline
•Background•Benjamin Roos
•Controller Development – PI Feedback Controller•Controller Specification Verification•Current Source and Dynamic Model Matching
•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
27
Current Source Torque Disturbance Matching
28
Fig. 16 – The Experimental Platform Disturbance Input should match that of the Simulink Model
Plant Inertia Differences Between Systems
•Simulink Vehicle and Motor Inertia:𝐽 = 5.28 ∙ 10−3 𝑘𝑔 𝑚2
•Experimental Platform Motor and Generator Inertia:𝐽 = 6.12 ∙ 10−6 𝑘𝑔 𝑚2
•Goal: Match Acceleration Based on𝑇𝑆𝐼𝑀𝐽𝑆𝐼𝑀
=𝑇𝐸𝑋𝑃𝐽𝐸𝑋𝑃
= 𝑎
𝑇 = 𝑁𝑒𝑡 𝑇𝑜𝑟𝑞𝑢𝑒𝐽 = 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝐼𝑛𝑒𝑟𝑡𝑖𝑎
𝑎 = 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
29
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
30
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion
•Simulink Integration•Controller Development – Feed Forward•Terrain Creation•GUI Creation
•Alexander Schmidt•Kevin Block•Conclusion
31
Simulink System
32
Fig. 17 – Simulink System Block Diagram
Simulink Integration
•Goal: Combine individual Simulink models into one overall model
•Problems: •Timing Problems•Model Redesign
33
Simulink Integration: Timing Problems
34Fig. 18 – Simulation Time Improvement
Simulink Integration: Model Redesign
Rotary Encoder
35Fig. 19 – Rotary Encoder Simulink Model
Simulink Integration: Final Simulink Model
36Fig. 20 – Final Simulink System
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion
•Simulink Integration•Controller Development – Feed Forward•Terrain Creation•GUI Creation
•Alexander Schmidt•Kevin Block•Conclusion
37
Controller Development – Feed Forward
•Specifications•40% Overshoot•2 Second Settling Time
•Used a digital redesign method to create the transfer function
38
3250.3 ∗ 1 0.9986 − 𝑧−1
1 0.6667 + 𝑧−1
Ts=0.001 seconds
Eq. 38-1
Controller Development – Feed Forward
•Simulink System
39Fig. 21 – Simulink Controller
Feed Forward Controller Performance
40Fig. 22 – Step Response with and without Feed Forward
Feed Forward Controller Performance
41Fig. 23 – Zoomed in Step Response
Feed Forward Controller: Error
42Fig. 24 – Error with and without Feed Forward
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion
•Simulink Integration•Controller Development – Feed Forward•Terrain Creation•GUI Creation
•Alexander Schmidt•Kevin Block•Conclusion
43
Terrain Creation
•Involved writing MATLAB scripts to test both the Simulink Model and the Experimental Platform•Circle Test•Straight line no elevation•Straight Line with Elevation•Worst Case•Best Case•Random•Ramp
44
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion
•Simulink Integration•Controller Development – Feed Forward•Experimental Platform Integration•Terrain Creation•GUI Creation
•Alexander Schmidt•Kevin Block•Conclusion
45
Overview
46Fig. 25 – High Level Block Diagram
GUI Creation
•Stop Button•Start Button•Select or Create a Test•Choose Surface•Add a Payload•Change Gravity•Use an Ideal Vehicle•Change Motor Parameters
•Best and Worse Case
•Simulink/Experimental Platform Selection
47
GUI Creation
48Fig. 26 – GUI
GUI Creation: Start\Stop Button
49Fig. 27 – Start\Stop GUI
GUI Creation: Create Test
50Fig. 28 – Create Test in GUI
GUI Creation: Choose Surface
51Fig. 29 – Choosing a Surface Fig. 30 – Drop Down Menu
GUI Creation: Set Test
52
Fig. 31 – Setting a Test in the GUI
GUI Creation: Add a Payload, Change Gravity, Ideal Vehicle
53
Fig. 32 – Changing values in the GUI
GUI Creation: Change Motor Parameters
54
Fig. 33 – Changing Motor Parameters
GUI Creation: Choose Between Systems
55
Fig. 34 – Choose Between Systems in the GUI
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
56
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt
• Motor Thermals• H-Bridge• GUI Design
•Kevin Block•Conclusion
57
Motor Thermals: 4 Sources of Heat
•Resistance in the windings
•Coulomb Friction
•Viscous Friction
•Dynamic Loads
58
Resistance in the Windings
•I2*R Losses
59
Fig. 35 – Top Level Resistance Power Loss
Fig. 36 – Bottom Level Resistance Power Loss
Viscous, Coulomb, and Dynamic Loads
•V*T Losses
60
Fig. 37 – Coulomb Friction Losses
Fig. 39 – Dynamic Load Losses
Fig. 38 – Viscous Friction Losses
Total Power Loss
61
Fig. 40 – Top Level Power Loss Simulink Block
No Load Values
62Fig. 41 – No Load Thermal Measurement
Loaded Values
63Fig. 42 – Loaded Thermal Measurement
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt
• Motor Thermals• H-Bridge• GUI Design
•Kevin Block•Conclusion
64
H-Bridge Build
65
Fig. 43 – Laboratory H-Bridge Setup
H-Bridge Build
66
Fig. 44 – H-Bridge Pinout
“LMD1820 3A, 55V H-Bridge” National Semiconductor, Dec. 1999.
H-Bridge Thermals
•Total Power of H-BridgePTotal = PQ + PCOND + PSW [EQ – 67.1]
PQ = Quiescent Power Dissipation
PCOND = Conductive Power Dissipation
PSW = Switching Power Dissipation
67
Quiescent Power Dissipation
PQ = IS * VCC [EQ – 68.1]
IS = Quiescent Current
VCC = Supply Voltage
68
Conductive Power Dissipation
PCOND = 2 * I2RMS * RDS (ON) [EQ – 69.1]
IRMS = RMS Current
RDS (ON) = On Resistance of the Power Switch
69
Switching Power Dissipation
PSW = (EON + EOFF) * F [EQ – 70.1]
EON = Turn On Energy
EOFF = Turn Off Energy
F = Switching Frequency
70
H-Bridge Total Power
•Using Equations 67.1 – 70.1
PTotal = 0.6[W] + 2.7[W] + 0.3 [W]
•Maximum power dissipation of the H-Bridge without a heat sink is 3.0 Watts
•PTotal = 3.6 Watts
•Heat Sink is Required!
71
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt
• Motor Thermals• H-Bridge• GUI Design
•Kevin Block•Conclusion
72
GUI
73Fig. 45 – Motor Velocity GUI
GUI
74Fig. 46 – Vehicle Position GUI
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block•Conclusion
75
Presentation Outline
•Background•Benjamin Roos•Timothy De Pasion•Alexander Schmidt•Kevin Block