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Posted: December 3rd, 2022
The tuning and Assessment of a traditional closed loop control scheme
The tuning and Assessment of a traditional closed loop control scheme
This is an individual coursework assignment to complete the tuning and Assessment of a traditional closed loop control scheme. It is a practical real-time control problem and to which you are expected to build a control rig with a servo actuator and an ultrasonic sensor. You are required implement and tune a classical feed forward controller employing any combination of the, P, I or D elements, which is programmed on an Arduino MEGA 2560 hardware, to alter the position of the servo on one end of the ramp so as to control the position of a light, large plastic ball (tennis-ball sized ball) on the ramp to follow an external demand. Further details of the rig, including a schematic diagram of the rig is outlined later in the assignment brief. All the electronics needed for the construction of the real-time rig were provided in the Arduino Kit supplied during the first year of the degree programme. You will be required to build the rig – however the dimension of which are not critical, but guidelines are provided later in this assignment sheet. The tuning of the traditional (P/PI/PID) controllers is left to the discretion of the student, but it is expected that both trial-and-error and theoretical approaches are implemented. The technical report will detail the tuning methods adopted, explain why particular theoretical tuning approaches work better for this particular application. The report will also detail the coding of the control algorithm, including any integration, differentiation or sampling strategies utilised. The report will detail the optimal control strategy found during the tuning process and explain using control engineering language, graphical responses and performance metrics why their particular tuned controller is optimal. It is expected that all graphical response will be professionally presented using graphs created in MATLAB, fully labelled and annotated. It is expected that the control engineering performance metrics taught during the module will be used, but that the student will implement and investigate further performance metrics. The calculation of these performance metrics will be coded (in MATLAB, Simulink) and the details included within the report. Finally, a video of the constructed test rig with it operating under closed loop control must also be submitted.
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