1. EE/CS 480 Fall 2007 1November, 2007 University of Portland School of Engineering Project Blue Heron Educational Ball and Beam Feedback Control System Team Bryan Weber David Kim Thomas Neveu Advisors Dr. Osterberg, Dr. Albright Industry Representative Mr. Mike DeSmith Intel

2. EE/CS 480 Fall 2007 2November, 2007 University of Portland School of Engineering Overview Introduction Scorecard Additional Accomplishments Plans Issues/Concerns Conclusions

3. EE/CS 480 Fall 2007 3November, 2007 University of Portland School of Engineering Introduction Blue Heron: An example of an analog control system using a ball and beam feedback control system

4. EE/CS 480 Fall 2007 4November, 2007 University of Portland School of Engineering Scorecard Significant progress on transfer function mathematics and closed loop feedback analysis Built base and center fulcrum (Thanks Jesse!) Shortcoming: Have not ordered motor, but that’s OK

5. EE/CS 480 Fall 2007 5 Scorecard Continued Ordered nichrome wire (28 gauge ≈ 5 Ω/ft) Started MATLAB analysis, achieved a favorable step response Circuit design University of Portland School of Engineering November, 2007

6. EE/CS 480 Fall 2007 6November, 2007 University of Portland School of Engineering Additional Accomplishments Built a prototype circuit –Place holding resistors and capacitors –Simulator potentiometers

7. EE/CS 480 Fall 2007 7 Previous Diagrams

8. EE/CS 480 Fall 2007 8 New Diagrams

9. EE/CS 480 Fall 2007 9 MATLAB EDU>> s=tf('s') Transfer function: s EDU>> p=.2/s^2 Transfer function: 0.2 --- s^2 EDU>> m=20/(s*(1+.125*s)) Transfer function: 20 ------------- 0.125 s^2 + s EDU>> pid=10+10*s*(1+.4*s) Transfer function: 4 s^2 + 10 s + 10 EDU>> a=p*m*pid Transfer function: 16 s^2 + 40 s + 40 ------------------ 0.125 s^4 + s^3 EDU>> t=a/(1+a*1) Transfer function: 2 s^6 + 21 s^5 + 45 s^4 + 40 s^3 --------------------------------------------------------- 0.01563 s^8 + 0.25 s^7 + 3 s^6 + 21 s^5 + 45 s^4 + 40 s^3 EDU>> step(t,0:.001:5)

10. EE/CS 480 Fall 2007 10November, 2007 University of Portland School of Engineering Plans Overall Goal: Finish building the plant, complete mathematical analysis, and order parts/electronics Move completion date for the Final Report up (tentative) Build beam Refine MATLAB step response Close the loop on the prototype

11. EE/CS 480 Fall 2007 11November, 2007 University of Portland School of Engineering Milestones Number DescriptionOriginal Date Previous Date Present Date 1Product Approval10/05/07 2Functional Specifications Approval10/05/07 3Plan Approval11/09/07 4Circuit Design11/25/07 01/21/08 5Design Review Approval12/07/07 6Order Electronics12/08/07 7Plant Built12/14/07 03/9/08 8Motor Received01/26/08 02/29/08 9Test Circuit for Frequency Response02/15/08 2/15/08 10System Integration02/15/08 2/15/08 11TOP Approval02/22/08 12Build and Testing Completed03/10/08 3/10/08 13Prototype Approval04/04/084/04/08 14Founder’s Day04/08/08 4/08/08 15Post Mortem04/23/08 4/23/08 16Final Report04/25/08 4/25/08

12. EE/CS 480 Fall 2007 12November, 2007 University of Portland School of Engineering Concerns/Issues Gauge of the nichrome wire, not a huge problem Resistance of the beam and heat

13. EE/CS 480 Fall 2007 13November, 2007 University of Portland School of Engineering Conclusions Making significant progress Built prototype, above and beyond our original plan Still have lots to do! We are still on schedule

14. EE/CS 480 Fall 2007 14November, 2007 University of Portland School of Engineering Questions?