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Elevator Project

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99 views9 pages

Elevator Project

Uploaded by

api-260205541
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Elevator Project

Alec Ashton, Ben Scott, Jake Solberg,


and Emily Suppes

Introduction
Basic Cargo Elevator
Design

Typical Real System

Much more complex than
our simple model
Same basic ideas
Motor at top
Shaft walls guide car
travel
Weight added to smooth
motion and lower lifting
forces
Design/Method
Kp= 0.7
Ki= 0.01
Kd=0.03
Initial design pictured in slide 2 had our motor pulling
from the bottom, this pulled the entire shaft sideways
and introduced a lot of inconsistency in controlling.
Could have braced the shaft to reduce the lateral
motion
Could also eliminate problem by pulling from the top
Design choices
Final design was the best one, used in real life with
motor at the top of the shaft.
This eliminated any noticeable lateral flex in our Knex
assembly
Also took the pulley out of the equation lowering
friction and another point of inconsistency the motor
was contending with

Design choices (cont.)
When testing original design each run was different from
the last due to bad motor placement discussed previously
Once design was right we added mass to our car to
simulate a cargo load
This not only simulated realistic conditions more
closely(Elevators arent used to lift solely the car in most
cases) it made PID tuning easier
A consistent slightly heavier load gave a more predictable
response from the motor
Testing/PID Tuning
Results
After tuning PID we
achieved a very good
response that closely
matches our input.
The design rises and settles
quite quickly with little
overshoot
Closely mimics what might
be seen in a factory setting
moving parts from machine
to machine quickly

0 2000 4000 6000 8000 10000 12000
-1
0
1
2
3
4
5
6
7
Time(MilliSec)
F
i
n
a
l

V
a
l
u
e
(
R
a
d
)
Conclusion
By using Ziegler-Nichols design rules a basic guess for the PID
controller parameters were obtained
By creating longer final step times a smoother transition from
the bottom of the elevator shaft to the top and back again
can be achieved
Overall the design of the system allows for minimal errors to
occur in general

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