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University of Wah Complex Engineering Problem

This document provides instructions for a linear control systems course assignment involving the design of a PI controller for a mobile robot vision system. Students are asked to design a PI controller to meet specifications for percent overshoot, settling time, velocity error constant, and peak time based on a unity feedback system model. They then simulate the closed-loop system in Matlab to verify the controller performance and suggest any improvements needed to handle speed constraints on the object.

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145 views2 pages

University of Wah Complex Engineering Problem

This document provides instructions for a linear control systems course assignment involving the design of a PI controller for a mobile robot vision system. Students are asked to design a PI controller to meet specifications for percent overshoot, settling time, velocity error constant, and peak time based on a unity feedback system model. They then simulate the closed-loop system in Matlab to verify the controller performance and suggest any improvements needed to handle speed constraints on the object.

Uploaded by

saifullah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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University of Wah

Department of Electrical Engineering


Document No: UW/EE/AF/REV00

UNIVERSITY OF WAH
WAH ENGINEERING COLLEGE
Electrical Engineering Department
Complex Engineering Problem
Course Title: Linear Control Systems Course Code: EE 322
Section: 6th (A, B & N) Course Teacher: Mirza Muhammad Javed
Total Marks: 20 Due Date: June 07, 2020
Student Name_____________________ Reg No.___________________________

Note: Attempt all questions.

Course Learning Outcome Program Learning Outcome Learning Domain


CLO-3 PLO-3 C6

CLO-3: Design controllers for linear systems to improve the performance of the system for a given
set of parameters.

PLO-3: Design / Development of Solutions: An ability to design solutions for complex engineering
problems and design systems, components or processes that meet specified needs with appropriate
consideration for public health and safety, cultural, societal, and environmental considerations

Attribute 1: Preamble: Engineering problems which cannot be resolved without in-depth


engineering knowledge.

Attribute 4: Depth of knowledge required: Requires research-based knowledge much of which is


at, or informed by, the forefront of the professional discipline and which allows a fundamentals-
based, first principles analytical approach.

Attribute 9: Interdependence: Are high level problems including many component parts or sub-
problems.
____________________________________________________________________

Problem 1: A mobile robot using a vision system as measurement device is shown in Figure 1.
The control system is a unity feedback with the plant transfer function G(s) = 1/ (s+1) (0.5s + 1), and
controller transfer function Gc(s) = Kp+ KI / s as shown in Figure 2. The use of integral controller
ensures a zero steady state error for a step input.

a. (12 points) Design the PI controller to meet the following specifications:


 %OS for a step input is ≤ 5%
 Settling time (2% criterion) is Ts ≤ 6 seconds
 System velocity error constant Kv > 0.9
 The peak time Tp is minimized.

b. (5 points) Simulate the system in Matlab and verify that your controller improves the system
performance as specified.
c. (3 points) Are there any constraints on the object speed? Can you suggest improvements in the
specifications to handle speed constraints?

Figure 1: A robot and vision system

Figure 2: Feedback control system

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