The document provides an overview and sample sections from an instructor workbook for a Coupled Tanks experiment using LabVIEW. The workbook is designed to help instructors teach control concepts and assess student learning based on ABET criteria. It contains background theory, pre-lab questions, lab experiments, and assessment rubrics. The samples show the table of contents, modeling background, sample pre-lab questions on deriving system equations of motion, and instructions for a tank level control simulation experiment. The workbook is intended to save instructors time while helping students understand concepts and maximize the value of the coupled tanks plant investment.
Uploaded by Dr. Bhimasen Soragaon, Prof. & Head, Dept. of ME., JSSATE, Bengaluru
All the peers and students are requested to give their feedback on the contents
This presentation gives complete idea about definitions of stability, BIBO, Absolute and relative stability, Routh-Hurwitz Criterion, Special Cases and numerical examples.
Solutions Manual Feedback Control Systems 5/E Charles L. Phillips, John Parrjavan08
The document provides information about new guidelines from the U.S. Secret Service's National Threat Assessment Center on enhancing school safety. The guidelines are based on research analyzing school shooters. Key recommendations include establishing threat assessment teams made up of diverse school staff, creating centralized reporting systems, and procedures for evaluating concerning behaviors and determining appropriate interventions. The goal is for schools to adopt these assessment and prevention strategies to help identify students who may be threats and intervene early.
The document discusses the Routh-Hurwitz stability criterion for analyzing the stability of systems. It explains that the criterion uses the coefficients of the characteristic equation to form Hurwitz determinants. If all the determinants are positive, the system is stable. It also describes the Routh array method, where the signs of the first column determine stability - all positive signs means the system is stable. Special cases like rows of all zeros are also addressed.
Effects of poles and zeros affect control systemGopinath S
1. A first order system's step response approaches its final value exponentially, determined by the location of its single pole.
2. Adding an additional pole slows the response, as the system is no longer purely first order. However, if the additional pole is far from the original dominant pole, its effect is negligible and the system remains effectively first order.
3. Adding a zero has the opposite effect of a pole - it speeds up the step response. A zero closer to the origin dominates over a pole farther away, making the system response faster than first order.
NONLINEAR CONTROL SYSTEM(Phase plane & Phase Trajectory Method)Niraj Solanki
This document discusses nonlinear control systems using phase plane and phase trajectory methods. It defines nonlinear systems and common physical nonlinearities like saturation, dead zone, relay, and backlash. Phase plane analysis is introduced as a graphical method to study nonlinear systems using a plane with state variables x and dx/dt. Key concepts are defined like phase plane, phase trajectory, and phase portrait. Methods for sketching phase trajectories include analytical solutions and graphical methods using isoclines. Examples are given to illustrate phase portraits for different linear systems.
LCA is useful in activity releated to discrete manufacturing.Wide range of activity such as
Loading,Feeding,Clamping,Machining,Welding,Forming,Gauging,Assembly and Packing can be subjected to LCA system adoption.
Useful in processing industries for manufacturing chemicals, oils, or pharmaceuticals.
The document discusses robust control system design using H-infinity synthesis tools. It presents an approach for designing a robust controller for an elastically coupled two-mass system, which significantly simplifies the actual elastic control system design. The robust control design methods are based on analyzing the frequency characteristics of systems using singular values of the transfer matrix to determine disturbance attenuation and stability margins. An example controller design is presented and the closed-loop system characteristics are analyzed.
Uploaded by Dr. Bhimasen Soragaon, Prof. & Head, Dept. of ME., JSSATE, Bengaluru
All the peers and students are requested to give their feedback on the contents
This presentation gives complete idea about definitions of stability, BIBO, Absolute and relative stability, Routh-Hurwitz Criterion, Special Cases and numerical examples.
Solutions Manual Feedback Control Systems 5/E Charles L. Phillips, John Parrjavan08
The document provides information about new guidelines from the U.S. Secret Service's National Threat Assessment Center on enhancing school safety. The guidelines are based on research analyzing school shooters. Key recommendations include establishing threat assessment teams made up of diverse school staff, creating centralized reporting systems, and procedures for evaluating concerning behaviors and determining appropriate interventions. The goal is for schools to adopt these assessment and prevention strategies to help identify students who may be threats and intervene early.
The document discusses the Routh-Hurwitz stability criterion for analyzing the stability of systems. It explains that the criterion uses the coefficients of the characteristic equation to form Hurwitz determinants. If all the determinants are positive, the system is stable. It also describes the Routh array method, where the signs of the first column determine stability - all positive signs means the system is stable. Special cases like rows of all zeros are also addressed.
Effects of poles and zeros affect control systemGopinath S
1. A first order system's step response approaches its final value exponentially, determined by the location of its single pole.
2. Adding an additional pole slows the response, as the system is no longer purely first order. However, if the additional pole is far from the original dominant pole, its effect is negligible and the system remains effectively first order.
3. Adding a zero has the opposite effect of a pole - it speeds up the step response. A zero closer to the origin dominates over a pole farther away, making the system response faster than first order.
NONLINEAR CONTROL SYSTEM(Phase plane & Phase Trajectory Method)Niraj Solanki
This document discusses nonlinear control systems using phase plane and phase trajectory methods. It defines nonlinear systems and common physical nonlinearities like saturation, dead zone, relay, and backlash. Phase plane analysis is introduced as a graphical method to study nonlinear systems using a plane with state variables x and dx/dt. Key concepts are defined like phase plane, phase trajectory, and phase portrait. Methods for sketching phase trajectories include analytical solutions and graphical methods using isoclines. Examples are given to illustrate phase portraits for different linear systems.
LCA is useful in activity releated to discrete manufacturing.Wide range of activity such as
Loading,Feeding,Clamping,Machining,Welding,Forming,Gauging,Assembly and Packing can be subjected to LCA system adoption.
Useful in processing industries for manufacturing chemicals, oils, or pharmaceuticals.
The document discusses robust control system design using H-infinity synthesis tools. It presents an approach for designing a robust controller for an elastically coupled two-mass system, which significantly simplifies the actual elastic control system design. The robust control design methods are based on analyzing the frequency characteristics of systems using singular values of the transfer matrix to determine disturbance attenuation and stability margins. An example controller design is presented and the closed-loop system characteristics are analyzed.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.
Introduction to flexible manufacturing system (fms)Nilraj Vasandia
This document provides an introduction and overview of flexible manufacturing systems (FMS). It discusses the key components of an FMS, including workstations, material handling and storage systems, and a computer control system. The objectives of an FMS are described as flexibility in production, automation and integration, reduced lead times, higher productivity, lower manpower needs, and reduced material handling. Different classifications of FMS are presented based on the number of machines, flexibility, and layout type. Advantages include higher utilization rates and flexibility, while limitations include high costs. FMS are applied to products with medium quantities and variety.
Reading and Analyzing of Non-Newtonian speed Bumps (speed breakers)IRJET Journal
1) The document discusses non-Newtonian fluid speed bumps, which are intended to control vehicle speeds in a more sensitive way than conventional speed bumps.
2) Conventional speed bumps cause disruption to vehicles even at low speeds, while non-Newtonian fluid speed bumps only increase in intensity if the vehicle exceeds the design speed.
3) The document reviews previous studies on speed bump design and compares characteristics of conventional versus non-Newtonian fluid speed bumps, noting advantages like lower installation/maintenance costs and increased fuel efficiency with the non-Newtonian type.
This document discusses using cascade compensation to improve control system performance. Cascade compensation involves adding additional poles and zeros to the open-loop transfer function. This can improve the transient response by placing poles farther out in the s-plane, and improve steady-state error by increasing the system type. An example shows designing a PI controller to reduce steady-state error to zero without affecting the 57.4% overshoot transient response. Pole-zero cancellation is used to maintain the original transient response while increasing the system type.
1. The document describes the syllabus for the course EE1354 - Modern Control Systems. It includes 5 units that cover topics like state space analysis of continuous and discrete time systems, z-transforms, nonlinear systems, and MIMO systems.
2. Key concepts discussed include state variable representation, eigenvectors and eigenvalues, solution of state equations, controllability and observability, and deriving state space models from transfer functions.
3. Methods like pole placement, state feedback, and observer design for state estimation are also covered in the context of analysis and design of control systems.
Chapter 1 basic components of control systemHarish Odedra
This presentation is on basic of control engineering subject which is offered to 5th sem Mechanical Engineering Department in Gujarat Technological University.
Necessary of Compensation, Methods of Compensation, Phase Lead Compensation, Phase Lag Compensation, Phase Lag Lead Compensation, and Comparison between lead and lag compensators.
The document discusses the components, control system, and programming of KUKA robots, including the control panel, robot controller, mechanical construction with 6 axes of movement, coordinate systems, setup procedures like mastering and tool calibration, applications for welding and milling, and programming motion using linear and circular paths.
This document discusses different layout configurations for flexible manufacturing systems (FMS). It describes five types of FMS layouts: progressive or line type, loop type, ladder type, open field type, and robot centered type. For each type, it provides a brief explanation of the layout and flow of parts. It also lists some factors that influence the selection of an FMS layout, such as availability of materials and labor, transportation infrastructure, and local business conditions.
Control engineering module 1 part-a 18me71Mohammed Imran
Control engineering module 1 part-a
Part-A
Introduction: Components of a control system, Open loop and closed loop systems.
Types of controllers: Proportional, Integral, Differential, Proportional-Integral, and Proportional- Integral Differential controllers.
Part-B
Modelling of Physical Systems: Mathematical Models of Mechanical, Electrical, Thermal, Hydraulic Systems.
The document provides an overview of a presentation on energy and power in hydraulic systems. It discusses key concepts in fluid power including Pascal's law, the laws of motion, conservation of energy, continuity equation, Bernoulli's equation, and their applications. Examples covered include hydraulic brakes, presses, pumps, ejectors, siphons, and how these concepts enable flight. The presentation was submitted by Himanshi Gupta for their fluid power course guided by Professor Samir Raval.
The document discusses automated assembly systems. It describes how automated assembly involves using mechanized devices to join parts together on an assembly line. There are different types of automated assembly systems like dial-type, in-line, carousel, and single-station machines. The document also discusses factors to consider for automated assembly like product demand, design, and component size. It outlines principles for designing products for automated assembly and describes common part feeding devices used like hoppers, feeders, tracks, and escapement/placement mechanisms.
This document discusses mathematical modeling of mechanical systems involving translational and rotational motion. It explains how to form differential equations of motion using Newton's laws and analogies to electrical systems. Models with multiple degrees of freedom are addressed by considering the independent motion of individual points/components and summing the relevant forces for each. Examples of 2 and 3 degree of freedom systems are presented for both translation and rotation.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
This document discusses stability analysis of control systems using transfer functions and the Routh-Hurwitz criterion. It begins by defining stability and describing different types of system responses. The key points are:
1) The Routh-Hurwitz criterion can determine stability by analyzing the signs in the first column of a constructed Routh table, with changes in sign indicating right half-plane poles and instability.
2) Special cases like a zero only in the first column or an entire row of zeros require alternative methods like the epsilon method or reversing coefficients.
3) Examples demonstrate applying the Routh-Hurwitz criterion to determine stability for different polynomials, including handling special cases. Exercises also have readers practice stability analysis using
1. Robot kinematics is the analytical study of robot motion without considering forces or moments. It involves representing a robot as a series of rigid links connected by joints and determining the relationship between joint positions and the end effector position and orientation.
2. There are two main kinematic tasks: direct kinematics, which determines the end effector pose given joint positions, and inverse kinematics, which determines required joint positions to achieve a desired end effector pose.
3. Direct kinematics involves matrix multiplications to transform between reference frames. Inverse kinematics is more difficult and involves solving nonlinear equations, which may have multiple or no solutions. Simplifications like decoupling subproblems can help.
This document discusses steady state error in control systems. It defines steady state error as the difference between the input and output of a system at infinite time. The type of a control system, from Type 0 to higher, determines its steady state error for different input types like steps, ramps, and parabolas. Higher type systems have lower steady state error but reduced stability. The document also introduces static error constants that quantify steady state error for different input types, like position (Kp) for steps, velocity (Kv) for ramps, and acceleration (Ka) for parabolas. These constants are used to calculate the expected steady state error for a given system and input.
Analysis of Rack and Pinion under dynamic conditionsnagaraju kondrasi
Based on physical and thermal properties graphite cast iron has got more strength than sand cast Mg alloy and it is clear from the results that the load carrying capacity of former is larger than the later. Hence Graphite cast iron is preferred for the manufacture of rack and pinion.
In static structural analysis the total deformation and von - mises stresses are more in sand cast Mg alloy than graphite cast iron. Hence graphite cast iron has better strength than Sand cast Mg alloy.
In modal analysis the number mode shapes are higher for graphite cast iron than sand cast Mg alloy.
Under transient conditions the total deformation of Graphite CI is less than that of Sand cast mg alloy. Hence former is preferred under Transient conditions.
Under fatigue loads the damage is more in sand cast Mg alloy. Hence graphite CI is preferred for manufacturing of Rack and pinion.
Hence Keeping all the analysis in view the graphite cast iron is preferred over sand cast Mg alloy.
This document provides an overview of course materials for a coupled tanks experiment. It includes background sections to introduce theoretical concepts, pre-lab questions to assign as homework, and lab experiment sections with step-by-step instructions. The materials are designed to help students learn control systems concepts and satisfy ABET accreditation criteria by applying knowledge, designing experiments, analyzing data, and communicating results.
This document presents a control method for flexible link manipulators using feedback linearization and an extended state observer. It begins with introducing the mathematical model of a flexible link system and formulates the dynamics. It then describes how feedback linearization can be used to linearize the system dynamics. However, feedback linearization requires knowledge of all system states, which may not be feasible due to uncertainties and disturbances. The document proposes using an extended state observer to estimate the system states, uncertainties, and disturbances. The estimated values from the observer are then used within the feedback linearization controller to make it robust to uncertainties. Simulation results demonstrate the effectiveness of combining feedback linearization with an extended state observer for controlling a flexible link system in the presence of unknown
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
The document discusses representing position and orientation of robotic systems using coordinate frames and homogeneous transformations. It introduces coordinate frames and describes how to represent position as a point and orientation as a set of axes. Rotations between frames can be represented by rotation matrices, and transformations between frames are described using homogeneous coordinates. Euler angles provide a method to represent orientation using three angles but require careful consideration of axis sequences due to non-commutativity of rotations.
Introduction to flexible manufacturing system (fms)Nilraj Vasandia
This document provides an introduction and overview of flexible manufacturing systems (FMS). It discusses the key components of an FMS, including workstations, material handling and storage systems, and a computer control system. The objectives of an FMS are described as flexibility in production, automation and integration, reduced lead times, higher productivity, lower manpower needs, and reduced material handling. Different classifications of FMS are presented based on the number of machines, flexibility, and layout type. Advantages include higher utilization rates and flexibility, while limitations include high costs. FMS are applied to products with medium quantities and variety.
Reading and Analyzing of Non-Newtonian speed Bumps (speed breakers)IRJET Journal
1) The document discusses non-Newtonian fluid speed bumps, which are intended to control vehicle speeds in a more sensitive way than conventional speed bumps.
2) Conventional speed bumps cause disruption to vehicles even at low speeds, while non-Newtonian fluid speed bumps only increase in intensity if the vehicle exceeds the design speed.
3) The document reviews previous studies on speed bump design and compares characteristics of conventional versus non-Newtonian fluid speed bumps, noting advantages like lower installation/maintenance costs and increased fuel efficiency with the non-Newtonian type.
This document discusses using cascade compensation to improve control system performance. Cascade compensation involves adding additional poles and zeros to the open-loop transfer function. This can improve the transient response by placing poles farther out in the s-plane, and improve steady-state error by increasing the system type. An example shows designing a PI controller to reduce steady-state error to zero without affecting the 57.4% overshoot transient response. Pole-zero cancellation is used to maintain the original transient response while increasing the system type.
1. The document describes the syllabus for the course EE1354 - Modern Control Systems. It includes 5 units that cover topics like state space analysis of continuous and discrete time systems, z-transforms, nonlinear systems, and MIMO systems.
2. Key concepts discussed include state variable representation, eigenvectors and eigenvalues, solution of state equations, controllability and observability, and deriving state space models from transfer functions.
3. Methods like pole placement, state feedback, and observer design for state estimation are also covered in the context of analysis and design of control systems.
Chapter 1 basic components of control systemHarish Odedra
This presentation is on basic of control engineering subject which is offered to 5th sem Mechanical Engineering Department in Gujarat Technological University.
Necessary of Compensation, Methods of Compensation, Phase Lead Compensation, Phase Lag Compensation, Phase Lag Lead Compensation, and Comparison between lead and lag compensators.
The document discusses the components, control system, and programming of KUKA robots, including the control panel, robot controller, mechanical construction with 6 axes of movement, coordinate systems, setup procedures like mastering and tool calibration, applications for welding and milling, and programming motion using linear and circular paths.
This document discusses different layout configurations for flexible manufacturing systems (FMS). It describes five types of FMS layouts: progressive or line type, loop type, ladder type, open field type, and robot centered type. For each type, it provides a brief explanation of the layout and flow of parts. It also lists some factors that influence the selection of an FMS layout, such as availability of materials and labor, transportation infrastructure, and local business conditions.
Control engineering module 1 part-a 18me71Mohammed Imran
Control engineering module 1 part-a
Part-A
Introduction: Components of a control system, Open loop and closed loop systems.
Types of controllers: Proportional, Integral, Differential, Proportional-Integral, and Proportional- Integral Differential controllers.
Part-B
Modelling of Physical Systems: Mathematical Models of Mechanical, Electrical, Thermal, Hydraulic Systems.
The document provides an overview of a presentation on energy and power in hydraulic systems. It discusses key concepts in fluid power including Pascal's law, the laws of motion, conservation of energy, continuity equation, Bernoulli's equation, and their applications. Examples covered include hydraulic brakes, presses, pumps, ejectors, siphons, and how these concepts enable flight. The presentation was submitted by Himanshi Gupta for their fluid power course guided by Professor Samir Raval.
The document discusses automated assembly systems. It describes how automated assembly involves using mechanized devices to join parts together on an assembly line. There are different types of automated assembly systems like dial-type, in-line, carousel, and single-station machines. The document also discusses factors to consider for automated assembly like product demand, design, and component size. It outlines principles for designing products for automated assembly and describes common part feeding devices used like hoppers, feeders, tracks, and escapement/placement mechanisms.
This document discusses mathematical modeling of mechanical systems involving translational and rotational motion. It explains how to form differential equations of motion using Newton's laws and analogies to electrical systems. Models with multiple degrees of freedom are addressed by considering the independent motion of individual points/components and summing the relevant forces for each. Examples of 2 and 3 degree of freedom systems are presented for both translation and rotation.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
This document discusses stability analysis of control systems using transfer functions and the Routh-Hurwitz criterion. It begins by defining stability and describing different types of system responses. The key points are:
1) The Routh-Hurwitz criterion can determine stability by analyzing the signs in the first column of a constructed Routh table, with changes in sign indicating right half-plane poles and instability.
2) Special cases like a zero only in the first column or an entire row of zeros require alternative methods like the epsilon method or reversing coefficients.
3) Examples demonstrate applying the Routh-Hurwitz criterion to determine stability for different polynomials, including handling special cases. Exercises also have readers practice stability analysis using
1. Robot kinematics is the analytical study of robot motion without considering forces or moments. It involves representing a robot as a series of rigid links connected by joints and determining the relationship between joint positions and the end effector position and orientation.
2. There are two main kinematic tasks: direct kinematics, which determines the end effector pose given joint positions, and inverse kinematics, which determines required joint positions to achieve a desired end effector pose.
3. Direct kinematics involves matrix multiplications to transform between reference frames. Inverse kinematics is more difficult and involves solving nonlinear equations, which may have multiple or no solutions. Simplifications like decoupling subproblems can help.
This document discusses steady state error in control systems. It defines steady state error as the difference between the input and output of a system at infinite time. The type of a control system, from Type 0 to higher, determines its steady state error for different input types like steps, ramps, and parabolas. Higher type systems have lower steady state error but reduced stability. The document also introduces static error constants that quantify steady state error for different input types, like position (Kp) for steps, velocity (Kv) for ramps, and acceleration (Ka) for parabolas. These constants are used to calculate the expected steady state error for a given system and input.
Analysis of Rack and Pinion under dynamic conditionsnagaraju kondrasi
Based on physical and thermal properties graphite cast iron has got more strength than sand cast Mg alloy and it is clear from the results that the load carrying capacity of former is larger than the later. Hence Graphite cast iron is preferred for the manufacture of rack and pinion.
In static structural analysis the total deformation and von - mises stresses are more in sand cast Mg alloy than graphite cast iron. Hence graphite cast iron has better strength than Sand cast Mg alloy.
In modal analysis the number mode shapes are higher for graphite cast iron than sand cast Mg alloy.
Under transient conditions the total deformation of Graphite CI is less than that of Sand cast mg alloy. Hence former is preferred under Transient conditions.
Under fatigue loads the damage is more in sand cast Mg alloy. Hence graphite CI is preferred for manufacturing of Rack and pinion.
Hence Keeping all the analysis in view the graphite cast iron is preferred over sand cast Mg alloy.
This document provides an overview of course materials for a coupled tanks experiment. It includes background sections to introduce theoretical concepts, pre-lab questions to assign as homework, and lab experiment sections with step-by-step instructions. The materials are designed to help students learn control systems concepts and satisfy ABET accreditation criteria by applying knowledge, designing experiments, analyzing data, and communicating results.
This document presents a control method for flexible link manipulators using feedback linearization and an extended state observer. It begins with introducing the mathematical model of a flexible link system and formulates the dynamics. It then describes how feedback linearization can be used to linearize the system dynamics. However, feedback linearization requires knowledge of all system states, which may not be feasible due to uncertainties and disturbances. The document proposes using an extended state observer to estimate the system states, uncertainties, and disturbances. The estimated values from the observer are then used within the feedback linearization controller to make it robust to uncertainties. Simulation results demonstrate the effectiveness of combining feedback linearization with an extended state observer for controlling a flexible link system in the presence of unknown
Sliding Mode Controller for Robotic Flexible Arm Jointomkarharshe
The problem of joint flexibility was of critical importance since the use of robot started in the fields such as space science and surveillance. This project addresses this issue by applying a stabilizing control law, ensuring robustness against plant uncertainties and disturbances.
The sliding mode control approach is recognized as one of the
efficient tools to design robust controllers for complex high-order non-linear dynamic plant operating under uncertainty conditions.
Introduction of process control, Process control, Example of controlled process, Feedback control system, Feed forward control system,Classification of variables in chemical process, Components of control system
Instrumentation and process control fundamentalshossam hassanein
Basic course covers:
-Basic understanding of process control
-Important process control terminology
-Major components of a process loop
-Instrumentation P&ID symbols
Modified Chattering Free Sliding Mode Control of DC MotorIJMER
This document discusses the design of a modified sliding mode controller for position control of a DC motor. It begins with an introduction to PID controllers and sliding mode controllers. It then provides the mathematical modeling of a DC motor and describes the conventional sliding mode control approach. It discusses some issues with chattering in sliding mode control and proposes a modified approach using a boundary layer. The document also describes tuning a PID controller using the Ziegler-Nichols method. It aims to compare the performance of the modified sliding mode controller to PID controllers for position control of a DC motor.
This document provides an overview of instrumentation and process control. It defines key terms like instrumentation, process, transducer, signal, loop, controller, and interlock. It describes common process parameters measured like pressure, level, temperature, and flow. It discusses primary measuring devices and principles for each process variable. It also covers control valves and automation systems like DCS, PLC, and SCADA.
This document provides the procedure for an experiment on amplitude modulation and demodulation in the Analog Communications Lab at KL University. The objectives are to generate an AM signal, examine its time waveform, measure modulation index and power in sidebands. The procedure instructs students to build circuits for AM modulation using a transistor and for envelope detection using a diode. Students are asked to simulate the circuits in Multisim beforehand and compare results to measurements taken in the lab. A post-lab assignment involves illustrating the mixer circuit and answering questions about AM theory.
EE312_ Control System Engineering_Moodle_PagePraneel Chand
This document contains information about the EE312: Control System Engineering course, including announcements, lecture materials, and lab information. The course provides an introduction to control systems engineering, covering topics such as mathematical modeling, block diagram representation, transducers, and using programmable logic controllers. Students will learn the fundamentals of modeling dynamic systems and designing controllers, and will complete a mini-project in the labs involving PLCs starting in week 5. The document contains materials to support learning these key concepts through lectures, tutorials, videos, and lab activities focused on modeling, transducers, and programming PLCs.
This document outlines the standard format for project reports at The Technical University of Kenya. It specifies that reports should include sections for acknowledgments, dedication, abstract, table of contents, introduction, literature review, design, construction and testing, results and discussion, conclusion, recommendations, references, and appendices. It also provides formatting guidelines for reports, such as using A4 page size, 11-point Calibri font, bolding for titles and subtitles, and numbering tables, figures, and equations consecutively within each chapter. Reports should start each new chapter on a separate page and include landscape pages rotated 90 degrees if needed.
For more course tutorials visit www.newtonhelp.com
ECET 365 Lab 1 Using the Serial Communication Interface in a Microcontroller
ECET 365 Lab 2 Temperature Measuring System using a
For more course tutorials visit
www.newtonhelp.com
ECET 365 Lab 1 Using the Serial Communication Interface in a Microcontroller
ECET 365 Lab 2 Temperature Measuring System using a Microcontroller
For more classes visit
www.snaptutorial.com
ECET 365 Lab 1 Using the Serial Communication Interface in a Microcontroller
ECET 365 Lab 2 Temperature Measuring System using a Microcontroller
ECET 365 Lab 3 Traffic
For more classes visit
www.snaptutorial.com
ECET 365 Lab 1 Using the Serial Communication Interface in a Microcontroller
ECET 365 Lab 2 Temperature Measuring System using a Microcontroller
ECET 365 Lab 3 Traffic Light Control Using Finite State Machines (FSM)
For more classes visit
www.snaptutorial.com
ECET 365 Lab 1 Using the Serial Communication Interface in a Microcontroller
ECET 365 Lab 2 Temperature Measuring System using a Microcontroller
This document provides guidelines for conducting practical exercises for an Advanced Database Management Systems course. It includes 11 exercises covering concepts like SQL statements, functions, normalization, joins, views, and PL/SQL programming. Students are expected to complete the exercises over 12 sessions in 7 days under faculty guidance. Exercises are assessed and students must score a minimum of 40% combined on guided and unguided assessments to pass. The document outlines software and hardware requirements and provides instructions for completing the exercises and documenting the work.
This document is the laboratory manual for ECE 311 Electronics I at Clemson University. It provides an overview of the course, safety guidelines, lab procedures, and details for 12 laboratory experiments. The experiments are designed to experimentally demonstrate electronic principles taught in the concurrent lecture course ECE 320. Students will use equipment like power supplies, oscilloscopes, and curve tracers to characterize electronic devices and analyze circuits containing diodes, bipolar junction transistors, and field effect transistors. The manual aims to help students learn circuit analysis and design skills through hands-on experimentation in the lab.
On-the-job training is one type of training that typically provides employees with specific technical skills needed to complete their work on a day-to-day basis. This training is usually provided in the workplace after an employee is hired.
IRJET- Impact of using e-Textbook for the Teaching of Control Systems Enginee...IRJET Journal
This study compared student performance in a Control Systems course at UAE University when using hardcopy textbooks versus e-textbooks. The course was observed over four offerings from 2015-2018, where hardcopy textbooks were used in 2015-2016 and e-textbooks were used 2017-2018. Student grades showed no significant differences between the two textbook formats. Therefore, continuing with e-textbooks is recommended since they are cheaper and more convenient than hardcopies.
This document describes a project to develop analytical and empirical models for controlling the level in a two tank system. The project involved modeling the process dynamics, collecting experimental data using different control modes, tuning PID parameters using software, and validating the models. The goals were to demonstrate the modeling procedure and key skills in process control, such as developing numerical models, tuning controllers, and performing operational tests. Controlling liquid levels has various industrial applications. This project helped reveal modeling and tuning methods that can be used by process control technicians.
Movie Review GuidelinesI. Introduction· Genre · Movie Titl.docxroushhsiu
Movie Review Guidelines
I. Introduction
· Genre
· Movie Title
· Director
· Principal location
· Mention your opinion –use a description
· Include the top actor
II. Brief Summary of the Plot
III. Your analysis of the movie’s component’s
· The theme
· The directing
· The acting
· Visual elements
IV. Conclusion
· return to your opinion of the movie
· do you recommend the movie or skip this movie
ChE 460 Literature Review Due: Dec 03, 2019, 11 AM
Paper Review (50 pts.)
Read the paper: “Dissolved oxygen control of the activated sludge wastewater treat-
ment process using model predictive control,” Computers and Chemical Engineering, vol
32, 1270-1278, 2008, and write a note about that paper. Please submit the printed hard
copy. Handwriting version is not accepted.
You need to show and discuss the following contents. Please do not copy and paste
any sentences from that paper.
� Motivations (10 pts.): why is this work important from the industrial or academic
perspective?
� Methodologies (10 pts.): including the modeling and controller design methods.
� Your questions about the method in this paper (10 pts.): Model predictive control
is the state-of-the-art technique for industrial automation. It is very normal that
students cannot easily understand its concept. List all your questions on this
method.
� Comments with critical thinking (10 pts.): List advantages & drawbacks of the
proposed method. Provide your suggestions or possible improvement.
Format Requirement (10 pts.): Print your review on A4 paper, at least two full
pages (not including references), single space, Times New Roman 12, margins 1 inch
on all sides, no figure. Please list references in the end of this review (You can follow
the reference format of Computers and Chemical Engineering). If your report does not
meet above requirements, then you can obtain at most 1 point in this part.
1
Ashraf Al Shekaili
Chemical Engineering 460
Dr. Yu Yang
Literature Review
Dissolved Oxygen Control of The Activated Sludge Wastewater Treatment Process Using Model Predictive Control
The process of waste water treatment is very complex and hard to control due to non-linear behavior system. This happens because of the variation in composition of the incoming wastewater along with disturbances in flow and load. Many control strategies were proposed to control the process; however, their evaluation is difficult due to shortage in the standard evaluation criteria.
The dissolved oxygen in the aerobic reactors play a role in the activity of microorganisms that live in activated sludge. High concentration of dissolved oxygen is required to feed enough oxygen to microorganisms in the sludge so the organic matters will be decomposed. However, excessive dissolved oxygen may lead to increase the operational cost because of high energy consumption.
Building a model to control a process is extremely important for any industry because industries have to meet the effluent requirements of ...
1 P a g e A semester of Experiments for ECE 225 .docxmercysuttle
1 | P a g e
A semester of Experiments for ECE 225
Contents
General Lab Instructions ................................................................................................................. 3
Notes on Experiment #1 .................................................................................................................. 4
ECE 225 Experiment #1
Introduction to the function generator and the oscilloscope .................................................... 5
Notes on Experiment #2 ................................................................................................................ 14
ECE 225 Experiment #2
Practice in DC and AC measurements using the oscilloscope .................................................. 16
Notes on Experiment #3 ................................................................................................................ 20
ECE 225 Experiment #3
Voltage, current, and resistance measurement ....................................................................... 21
Notes on Experiment #4 ................................................................................................................ 27
ECE 225 Experiment #4
Power, Voltage, Current, and Resistance Measurement .......................................................... 28
Notes on Experiment #5 ................................................................................................................ 30
ECE 225 Experiment #5
Using The Scope To Graph Current-Voltage (i-v) Characteristics ............................................. 31
Notes on Experiment #6 ................................................................................................................ 36
ECE 225 Experiment #6
Analog Meters ........................................................................................................................... 39
Notes on Experiment #7 ................................................................................................................ 41
ECE 225 Experiment #7
Kirchoff's current and voltage laws .......................................................................................... 43
2 | P a g e
Notes on Experiment #8 ............................................................................................................... 55
ECE 225 Experiment #8
Theorems of Linear Networks ................................................................................................... 52
Notes on Experiment #9 ............................................................................................................... 55
ECE 225 Experiment #9
Thevenin's Theorem ................................................................................................................. 57
Notes on Experiment #10 ..................................................................... ...
This document outlines the requirements for functional test cases for a software system. It specifies that test cases should include the objective, test data, and criteria for success. Test cases should be ordered for execution and identify likely regression points from software changes. A test case coverage matrix should match test objectives to test cases to ensure all objectives are tested.
The document outlines the requirements for a software test case, including:
1. Describing the general testing approach and identified test cycles.
2. Providing the objective, test data, and criteria for each test case.
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5. Including a test case coverage matrix matching test objectives to test cases to ensure all objectives are tested.
Test automation principles, terminologies and implementationsSteven Li
A general slides for test automation principle, terminologies and implementation
Also, the slides provide an example - PET, which is a platform written by Perl, but not just for Perl. It provides a general framework to use.
This document is a final report submitted by Eric Hubicka for a heat exchanger temperature control project. It summarizes the results of experiments conducted over 8 weeks to determine the optimal control strategy for disturbances to a heat exchanger process. Four control strategies were evaluated: PI, PID, cascade, and feedforward control. Tests were run using different disturbances and the strategies were compared based on integrated square error, peak error, and response speed. The cascade control strategy was found to perform the best by compensating for process lags and changing conditions more smoothly than the other strategies.
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
Build the Next Generation of Apps with the Einstein 1 Platform.
Rejoignez Philippe Ozil pour une session de workshops qui vous guidera à travers les détails de la plateforme Einstein 1, l'importance des données pour la création d'applications d'intelligence artificielle et les différents outils et technologies que Salesforce propose pour vous apporter tous les bénéfices de l'IA.
Supermarket Management System Project Report.pdfKamal Acharya
Supermarket management is a stand-alone J2EE using Eclipse Juno program.
This project contains all the necessary required information about maintaining
the supermarket billing system.
The core idea of this project to minimize the paper work and centralize the
data. Here all the communication is taken in secure manner. That is, in this
application the information will be stored in client itself. For further security the
data base is stored in the back-end oracle and so no intruders can access it.
Blood finder application project report (1).pdfKamal Acharya
Blood Finder is an emergency time app where a user can search for the blood banks as
well as the registered blood donors around Mumbai. This application also provide an
opportunity for the user of this application to become a registered donor for this user have
to enroll for the donor request from the application itself. If the admin wish to make user
a registered donor, with some of the formalities with the organization it can be done.
Specialization of this application is that the user will not have to register on sign-in for
searching the blood banks and blood donors it can be just done by installing the
application to the mobile.
The purpose of making this application is to save the user’s time for searching blood of
needed blood group during the time of the emergency.
This is an android application developed in Java and XML with the connectivity of
SQLite database. This application will provide most of basic functionality required for an
emergency time application. All the details of Blood banks and Blood donors are stored
in the database i.e. SQLite.
This application allowed the user to get all the information regarding blood banks and
blood donors such as Name, Number, Address, Blood Group, rather than searching it on
the different websites and wasting the precious time. This application is effective and
user friendly.
Generative AI Use cases applications solutions and implementation.pdfmahaffeycheryld
Generative AI solutions encompass a range of capabilities from content creation to complex problem-solving across industries. Implementing generative AI involves identifying specific business needs, developing tailored AI models using techniques like GANs and VAEs, and integrating these models into existing workflows. Data quality and continuous model refinement are crucial for effective implementation. Businesses must also consider ethical implications and ensure transparency in AI decision-making. Generative AI's implementation aims to enhance efficiency, creativity, and innovation by leveraging autonomous generation and sophisticated learning algorithms to meet diverse business challenges.
https://www.leewayhertz.com/generative-ai-use-cases-and-applications/
Mechatronics is a multidisciplinary field that refers to the skill sets needed in the contemporary, advanced automated manufacturing industry. At the intersection of mechanics, electronics, and computing, mechatronics specialists create simpler, smarter systems. Mechatronics is an essential foundation for the expected growth in automation and manufacturing.
Mechatronics deals with robotics, control systems, and electro-mechanical systems.
Software Engineering and Project Management - Introduction, Modeling Concepts...Prakhyath Rai
Introduction, Modeling Concepts and Class Modeling: What is Object orientation? What is OO development? OO Themes; Evidence for usefulness of OO development; OO modeling history. Modeling
as Design technique: Modeling, abstraction, The Three models. Class Modeling: Object and Class Concept, Link and associations concepts, Generalization and Inheritance, A sample class model, Navigation of class models, and UML diagrams
Building the Analysis Models: Requirement Analysis, Analysis Model Approaches, Data modeling Concepts, Object Oriented Analysis, Scenario-Based Modeling, Flow-Oriented Modeling, class Based Modeling, Creating a Behavioral Model.
Tools & Techniques for Commissioning and Maintaining PV Systems W-Animations ...Transcat
Join us for this solutions-based webinar on the tools and techniques for commissioning and maintaining PV Systems. In this session, we'll review the process of building and maintaining a solar array, starting with installation and commissioning, then reviewing operations and maintenance of the system. This course will review insulation resistance testing, I-V curve testing, earth-bond continuity, ground resistance testing, performance tests, visual inspections, ground and arc fault testing procedures, and power quality analysis.
Fluke Solar Application Specialist Will White is presenting on this engaging topic:
Will has worked in the renewable energy industry since 2005, first as an installer for a small east coast solar integrator before adding sales, design, and project management to his skillset. In 2022, Will joined Fluke as a solar application specialist, where he supports their renewable energy testing equipment like IV-curve tracers, electrical meters, and thermal imaging cameras. Experienced in wind power, solar thermal, energy storage, and all scales of PV, Will has primarily focused on residential and small commercial systems. He is passionate about implementing high-quality, code-compliant installation techniques.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
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- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
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- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
1. INSTRUCTOR WORKBOOK
Coupled Tanks Experiment for LabVIEW Users
Standardized for ABET*
Evaluation Criteria
Developed by:
Jacob Apkarian, Ph.D., Quanser
Hervé Lacheray, M.A.SC., Quanser
Amin Abdossalami, M.A.SC., Quanser
CAPTIVATE. MOTIVATE. GRADUATE.
Quanser educational solutions
are powered by:
2.
PREFACE
Preparing laboratory experiments can be time-consuming. Quanser understands time constraints of teaching
and research professors. That’s why Quanser’s control laboratory solutions come with proven practical
exercises. The courseware is designed to save you time, give students a solid understanding of various
control concepts and provide maximum value for your investment.
Quanser courseware materials are supplied in two formats:
1. Instructor Workbook – provides solutions for the pre-lab assignments and contains typical
experimental results from the laboratory procedure. This version is not intended for the
students.
2. Student Workbook – contains pre-lab assignments and in-lab procedures for students.
This courseware material is prepared for users of National Instruments
LabVIEW™ software.
The courseware for Coupled Tanks experiment is aligned with the requirements of the
Accreditation Board for Engineering and Technology (ABET), one of the most respected
organizations specializing in accreditation of educational programs in applied science,
computing, science and technology. The Instructor Workbook provides professors with a simple framework
and set of templates to measure and document students’ achievements of various performance criteria and
their ability to:
Apply knowledge of math, science and engineering
Design and conduct experiments, and analyze and interpret data
Communicate effectively
Use techniques, skills and modern engineering tools necessary for engineering practice
Quanser, Inc. would like to thank Dr. Karl Åstrom from Lund University, Sweden for his immense contribution
to the courseware content and Dr. Hakan Gurocak from the Washington State University Vancouver, for
rewriting the original manual to include embedded outcomes assessment.
The following material provides an abbreviated example of pre-lab assignments and in-lab procedures for
the Coupled Tanks experiment. Please note that the examples are not complete as they are intended to
give you a brief overview of the structure and content of the course materials you will receive with the
plant.
4.
1. INTRODUCTION TO QUANSER COUPLED TANKS COURSEWARE SAMPLE
Quanser courseware provides step-by-step pedagogy for a wide range of control challenges. Starting with the
basic principles, students can progress to more advanced applications and cultivate a deep understanding of
control theories. Quanser Coupled Tanks courseware covers topics, such as:
How to mathematically model the Coupled-Tank plant from first principles in order to obtain the two
open-loop transfer functions characterizing the system, in the Laplace domain
How to linearize the obtained non-linear equation of motion about the quiescent point of operation
How to design, through pole placement, a Proportional-plus-Integral-plus-Feedforward-based
controller for the Coupled Tanks system in order for it to meet the required design specifications for
each configuration
How to implement each configuration controller(s) and evaluate its/their actual performance
Every laboratory chapter in the Instructor Workbook is organized into four sections:
Background section provides all the necessary theoretical background for the experiments.
Students should read this section first to prepare for the Pre-Lab questions and for the actual lab
experiments.
Pre-Lab Questions section is not meant to be a comprehensive list of questions to examine
understanding of the entire background material. Rather, it provides targeted questions for
preliminary calculations that need to be done prior to the lab experiments. All or some of the
questions in the Pre-Lab section can be assigned to the students as homework.
Lab Experiments section provides step-by-step instructions to conduct the lab experiments and
to record the collected data.
System Requirements section describes all the details of how to configure the hardware and
software to conduct the experiments. It is assumed that the hardware and software
configuration have been completed by the instructor or the teaching assistant prior to the lab
sessions. However, if the instructor chooses to, the students can also configure the systems by
following the instructions given in this section.
Assessment of ABET outcomes is incorporated into the Instructor Workbook – look for indicators such as A-1, A-2
These indicators correspond to specific performance criteria for an outcome. Appendix A of the Instructor
Workbook includes:
- details of the targeted ABET outcomes,
- list of performance criteria for each outcome,
- scoring rubrics and instructions on how to use them in assessment.
The outcomes targeted by the Pre-Lab questions can be assessed using the student work. The outcomes
targeted by the lab experiments can be assessed from the lab reports submitted by the students. These
reports should follow the specific template for content given at the end of each laboratory chapter. This will
provide a basis to assess the outcomes easily.
5.
2. INSTRUCTOR WORKBOOK TABLE OF CONTENTS
The full Table of Contents of the Quanser Coupled Tanks Instructor Workbook is shown here:
1. INTRODUCTION
2. MODELING
2.1. BACKGROUND
2.1.1. CONFIGURATION #1 SYSTEM SCHEMATICS
2.1.2. CONFIGURATION #1 NONLINEAR EQUATION OF MOTION (EOM)
2.1.3. CONFIGURATION #1 EOM LINEARIZATION AND TRANSFER FUNCTION
2.1.4. CONFIGURATION #2 SYSTEM SCHEMATICS
2.1.5. CONFIGURATION #2 NONLINEAR EQUATION OF MOTION (EOM)
2.1.6. CONFIGURATION #2 EOM LINEARIZATION AND TRANSFER FUNCTION
2.2. PRE-LAB QUESTIONS
3. TANK 1 LEVEL CONTROL
3.1. BACKGROUND
3.1.1. SPECIFICATIONS
3.1.2. TANK 1 LEVEL CONTROLLER DESIGN: POLE PLACEMENT
3.1.3. TANK 1 LEVEL CONTROL IMPLEMENTATION
3.2. PRE-LAB QUESTIONS
3.3. LAB EXPERIMENTS
3.3.1. OBJECTIVES
3.3.2. TANK 1 LEVEL CONTROL SIMULATION
3.3.3. TANK 1 LEVEL CONTROL IMPLEMENTATION
3.4. RESULTS
4. TANK 2 LEVEL CONTROL
4.1. BACKGROUND
4.1.1. SPECIFICATIONS
4.1.2. TANK 2 LEVEL CONTROLLER DESIGN: POLE PLACEMENT
4.2. PRE-LAB QUESTIONS
4.3. LAB EXPERIMENTS
4.3.1. OBJECTIVES
4.3.2. TANK 2 LEVEL CONTROL SIMULATION
4.3.3. TANK 2 LEVEL CONTROL IMPLEMENTATION
4.4. RESULTS
5. SYSTEM REQUIREMENTS
5.1. OVERVIEW OF FILES
5.2. CALIBRATING THE PRESSURE SENSOR MEASUREMENTS
5.3. SETUP FOR TANK 1 CONTROL SIMULATION
5.4. SETUP FOR TANK 1 LEVEL CONTROL
5.5. SETUP FOR TANK 2 CONTROL SIMULATION
5.6. SETUP FOR TANK 2 LEVEL CONTROL
6. LAB REPORT
6.1. TEMPLATE FOR TANK 1 LEVEL CONTROL REPORT
6.2. TEMPLATE FOR TANK 2 LEVEL CONTROL REPORT
6.
6.3. TIPS FOR REPORT FORMAT
7. SCORING SHEETS
7.1. MODELING PRE-LAB QUESTIONS
7.2. TANK 1 LEVEL CONTROL PRE-LAB QUESTIONS
7.3. TANK 1 LEVEL CONTROL LAB REPORT
7.4. TANK 2 LEVEL CONTROL PRE-LAB QUESTIONS
7.5. TANK 2 LEVEL CONTROL LAB REPORT
APPENDIX A – NOMENCLATURE
APPENDIX B - INSTRUCTOR’S GUIDE
B.1 PRE-LAB QUESTIONS AND LAB EXPERIMENTS
B.1.1. HOW TO USE THE PRE-LAB QUESTIONS
B.1.2. HOW TO USE THE LABORATORY EXPERIMENTS
B.2 ASSESSMENT FOR ABET ACCREDITATION
B.2.1. ASSESSMENT IN YOUR COURSE
B.2.2. HOW TO SCORE THE PRE-LAB QUESTIONS
B.2.3. HOW TO SCORE THE LAB REPORT
B.2.4 ASSESSMENT OF THE OUTCOMES FOR THE COURSE
B.2.5 COURSE SCORE FOR OUTCOME A
B.2.6 COURSE SCORES FOR OUTCOMES B, K AND G
B.2.7 ASSESSMENT WORKBOOK
B.3 RUBRICS
REFERENCES
7.
3. BACKGROUND SECTION - SAMPLE
Configuration #1 System Schematics
A schematic of the Coupled-Tank plant is represented in Figure 2.1, below. The Coupled-Tank system's
nomenclature is provided in Appendix A. As illustrated in Figure 2.1, the positive direction of vertical level
displacement is upwards, with the origin at the bottom of each tank (i.e. corresponding to an empty tank),
as represented in Figure 3.2.
Figure 2.1: Schematic of Coupled Tanks in Configuration #1.
Configuration #1 Nonlinear Equation of Motion (EOM)
In order to derive the mathematical model of your Coupled-Tank system in configuration #1, it is reminded
that the pump feeds into Tank 1 and that tank 2 is not considered at all. Therefore, the input to the process
is the voltage to the pump VP and its output is the water level in tank 1, L1, (i.e. top tank).
The purpose of the present modeling session is to provide you with the system's open-loop transfer
function, G1(s), which in turn will be used to design an appropriate level controller. The obtained Equation
of Motion, EOM, should be a function of the system's input and output, as previously defined.
Therefore, you should express the resulting EOM under the following format:
where f denotes a function. In deriving the Tank 1 EOM the mass balance principle can be applied to the
water level in tank 1, i.e.,
(2.1)
where At1 is the area of Tank 1. Fi1 and Fo1 are the inflow rate and outflow rate, respectively. The volumetric
inflow rate to tank 1 is assumed to be directly proportional to the applied pump voltage, such that:
Applying Bernoulli's equation for small orifices, the outflow velocity from tank 1, vo1, can be expressed by
the following relationship:
8.
4. PRE-LAB QUESTIONS SECTION - SAMPLE
Modeling
Answer the following questions:
1. A-1, A-2, A-3 Using the notations and conventions described in Figure 2 derive the Equation Of Motion
(EOM) characterizing the dynamics of tank 1. Is the tank 1 system's EOM linear?
Hint: The outflow rate from tank 1, Fo1, can be expressed by:
(2.12)
Answer 3.1
Outcome Solution
A-1 As a remark, the cross-section area of tank 1 outlet hole can be calculated by:
(Ans. 2.1)
Using Equation Ans.2.1, the outflow rate from tank 1 given in Equation 2.12 becomes:
(Ans.2.2)
A-2 Moreover, using the mass balance principle for tank 1, we obtained a first-order
differential equation for L1 in Equation 2.1. Substituting in Equation 2.1 Fi1 and Fo1 with
their expressions given in Equation Ans.2.1 and Equation Ans.2.2, respectively, and
rearranging results in the following equation of motion for the tank 1 system:
(Ans.2.3)
A-2 The EOM of tank 1 in Equation Ans.2.3 is nonlinear.
9.
5. LAB EXPERIMENTS SECTION - SAMPLE
Tank 2 Level Control Simulation
Experimental Setup
The Coupled Tanks -Tank2 Level Control simulation VI shown in Figure 4.2 is used to perform tank 2 level
control simulation exercises in this laboratory.
Figure 4.2: VI used to run PI-FF control Simulation on Coupled Tanks system in configuration #2.
IMPORTANT: Before you can conduct these experiments, you need to make sure that the lab files are
configured. If they have not been configured already, then go to Section 5 to configure the lab files first.
Follow this procedure:
1. In Coupled Tanks.lvproj, open Coupled Tanks- Tank2 Level Control Simulation.vi. The model implements
the system's simulation Proportional-plus-Integral (PI) closed-loop with feedforward action, as studied in
Section 4.1.2. As mentioned in the pre-lab assignments, the tank 2 water level control loop is based on
tank 1 level controller, as developed and tuned in the previous sections. The level controller diagram for
the Coupled Tank in configuration #2 also interfaces directly with your Coupled Tank hardware. To
familiarize yourself with the diagram, it is suggested that you open the model subsystems to get a better
idea of their composing blocks as well as take note of the I/O connections.
2. To generate a square wave that goes between 14 and 16 cm for the tank 2 level reference, go to the
Amplitude Command (cm) section and set the controls to the following:
Amplitude = 1 cm
Frequency = 0.02 Hz
Offset = 15 cm
The total level setpoint for tank 2 should result to be a square wave of _1cm around the desired
equilibrium level L20
3. Enter the proportional, integral, and feedforward control gains found in Section 4.2 in the kp 2, ki 2, and
kff 2 controls in the Control Parameters section on the front panel. Keep in the the PI-plus-feedforward
10.
controller gains for tank 1 of the Coupled-Tank system in configuration #1, as previously implemented.
Those are kp 1, ki 1, and kff 1 controls in the Control Parameters section on the front panel. Have your lab
assistant check your values.
4. Run the VI.
5. The VI should start the Coupled Tanks simulation filling tank1 and tank 2 up to their operating levels L10
and L20, respectively. Then after a 35-second settling delay (in order to stabilize the system at its
operating point), the water level in tank 2 should start tracking the desired ±1cm square wave setpoint
around the desired operating level L20. The corresponding commanded pump voltage, which is
proportional to the control effort spent, can also be monitored and plotted on-line.
6. B-5, K-2 Attach a plot showing the Implemented Tank 2 Control response and the input voltage.
Answer 4.5
Outcome Solution
B-5 If the procedure was followed properly, Tank 2 level control simulation file should have
been run. The response similar to Figure 4.3 should have been obtained.
K-2 The closed-loop Tank 2 level response is shown in Figure 4.3.
7. K-1, B-9 Assess the actual performance of the level response and compare it to the design
requirements. Measure your response actual percent overshoot and settling time. Are the design
specifications satisfied? Explain. If your level response does not meet the desired design specifications,
review your PI-plus-Feedforward gain calculations and/or alter the closed-loop pole locations until they
do. If you are still unable to achieve the required performance level, ask your lab instructor for advice.
Does the response satisfy the specifications given in Section 2.1.4?
Hint: Use the graph cursors in the Measure tab to take measurements.
Answer 4.6
Outcome Solution
K-1 The settling time in the response shown in Figure 4.5 is
ts2 = 0 cm
The peak time and percentage overshoot of the response are:
tp2 = 40 -25 = 15 sec
and
B-9 Both the peak time and percent overshoot measured satisfy the specifications given in
Section 2.1.4.