Active Suspension System Test Platform – Controls Advisor: Mr. Steven Gutschlag Presented: 29 April 2004 Project Member: Jerry L. Campbell Senior Presentation.

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Presentation transcript:

Active Suspension System Test Platform – Controls Advisor: Mr. Steven Gutschlag Presented: 29 April 2004 Project Member: Jerry L. Campbell Senior Presentation

Outline I. Project Overview II. Functional Description III. System Block Diagram IV. System Identification V. Plant Model VI. System Performance VII. Problems Encountered VIII. Future Work IX. Questions

Reliable Test Platform Digital Controller for DC Actuator Used by Future Bradley University Projects Overview

System InputsOutputs Desired Platform Motion (R)Actual Platform Motion (C) Note: Desired system response is C=R, or C/R = 1.0 EMAC Micropac 535 micro-controller based development board (Controller) InputsOutputs Keypad (Desired Platform Motion)Actuator Drive Signal Max. Platform Motion AmplitudeLCD Display Actuator (plant) InputsOutputs Error Signal from Controller Platform Movement Position Signal Disturbance Force (Load)

Modes of Operation Sinusoidal Step Triangular Note: Step and Triangle functions can be single or continuous

Software Initialization Flow Chart

Basic System Block Diagram Shown in a General Configuration Input Voltage Signal Representing the Desired Platform Motion ( Provided by the Micro-Controller ) Actuator Plant EMAC MicroPac 535 Development System Digital Controller Input Platform Motion

Detailed Spec Sheet Not Available Need Accurate Mathematical Model Obtained Via Frequency Response and Load vs. Speed Measurements System Identification Identification

Block Diagram of a Simple DC Machine ( Open Loop)

Sample Frequency Response Data Sample

Frequency Response Actuator Velocity [dB] Applied Frequency [w] Red => Slope from pencil Line Blue=> Slope from Cursors

Frequency Response Actuator Velocity [dB] Applied Frequency [w] Red => Slope from pencil Line Blue=> Slope from Cursors -3dB point at ~ 42 rad/sec

Applied Frequency (rad/sec) Phase (degrees) Phase (peak to inflection) VS. Frequency ~28

Preliminary Simulink Model for the Warner Linear Actuator Including Non-Linear Effects

Backlash Effects Input Position

Simplified Model Assumptions System is Linear Backlash Not Present Dead Band Not Present

Position Va Force (load) System Model Simplified System Model

Simplified System Simulink Model

PM Determination

Phase Margin Determination

Position Without Controller Position With Controller System Performance Lower Actuator Position Limit

Simplified System Simulink Model

Input K = 10 K = 80 K = 40 K = 20 System Performance Note: Backlash Effects Minimized as Gain Increases

System Step Response Input Position K = 40

Other Controller Options and Obstacles Integrator PI Controller

Problems Encountered Current Limiting Caused Inadequate Data Time Required for System Identification Insufficient Time Left to Implement Digital Control

Future Work Select Practical Hardware Micro-Controller Code Implement Digital Controller W/ EMAC Construct Test Platform

Questions

Questions

Questions

Lumped Parameter Model