Project%20MEC%20709%20-%20Winter%202011

Project%20MEC%20709%20-%20Winter%202011 - Project for...

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Project for MEC709 Control Systems Winter semester 2011 Control of an overhead crane Goal To provide a complete system modeling, analysis and control design experience. Objective The objective of this project is to model a system mathematically, analyze it by means of simulation in Simulink and MATLAB, and design a controller so that the output of the system satisfies specified criteria. The tasks assigned to your group are specifically detailed in the task section. The sequence of the tasks assigned is based on the course material so that the project may be executed in parallel with the course material. The tasks assigned and their orders should familiarize you with the general process of analyzing a system and designing a controller for it.

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The system A crane system which consists of a trolley, rope and payload is shown in the figure below. The notation refers to the following parameters: m t – mass of the trolley, m l – mass of the load, x t – horizontal displacement of the trolley, x l – horizontal displacement of the load, ϕ – angular displacement of the rope, l – length of the rope, b t – coefficient of friction between the trolley and the rail, b l – coefficient of friction on the load (caused by pivot joint friction and air friction), F – force applied to the trolley. Task 1. Fundamentals The goal is to design controllers which will improve the efficiency of the crane system, i.e., to enable fast transport of materials without big sways in the load which may lead to not only longer time for unloading (why?), but also safety risks or damage to environment and the machine itself. a) Elaborate on how you would design feedback controllers to improve the efficiency of the crane system. Lists several sets of input-output variables for possible feedback control systems, m l x l x t F L b t
based on the figure shown above. What would be the purpose of having closed-loop systems and how they would enhance the performance of the crane? Answer in less than 10 sentences. b) For one set of input-output variables, draw a block diagram of the closed-loop system similar to the Figure 1.6b from the Nise textbook, and clearly indicate the signal variables in the block diagram: controlled variable, possible disturbances, actuating signal, etc. (For instance, controlled variable can be the horizontal displacement of the load). Task 2. Modeling

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This note was uploaded on 02/20/2011 for the course MEC 709 taught by Professor Sharifi during the Fall '11 term at Ryerson.

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Project%20MEC%20709%20-%20Winter%202011 - Project for...

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