1. EE/CS 481 Spring 2008 1Founder’s Day, 2008 University of Portland School of Engineering Team Blue Heron: Educational Ball and Beam Feedback Control System Authors Bryan Weber David Kim Thomas Neveu Advisor Dr. Peter Osterberg Dr. Robert Albright Industry Representative Mr. Mike DeSmith - Intel

2. EE/CS 481 Spring 2008 2Founder’s Day, 2008 University of Portland School of Engineering Agenda Introduction Thomas Background Thomas Methods Bryan Results David Conclusions David Demonstration Team Acknowledgments Thomas

3. EE/CS 481 Spring 2008 3Founder’s Day, 2008 University of Portland School of Engineering Introduction Goal: Develop a ball and beam feedback control system Why: To provide an educational tool that demonstrates control theory

4. EE/CS 481 Spring 2008 4Founder’s Day, 2008 University of Portland School of Engineering Background Objectives: Long-lasting and interactive feedback system Inspiration –Magnetic levitation –Inverted pendulum

5. EE/CS 481 Spring 2008 5Founder’s Day, 2008 University of Portland School of Engineering Research Evencio A. Rosales Armin Ataei-Esfahani Ben S. Cazzolato and Wei Wang Professors Bill Messner and Dawn Tilbury

6. EE/CS 481 Spring 2008 6Founder’s Day, 2008 University of Portland School of Engineering Block Diagrams

7. EE/CS 481 Spring 2008 7 MATLAB Analysis Final Transfer Function: Founder’s Day, 2008 University of Portland School of Engineering

8. EE/CS 481 Spring 2008 8Founder’s Day, 2008 University of Portland School of Engineering Circuit Design

9. EE/CS 481 Spring 2008 9Founder’s Day, 2008 University of Portland School of Engineering MATLAB Stability Analysis

10. EE/CS 481 Spring 2008 10 Results – Circuit Design University of Portland School of Engineering Founder’s Day, 2008

11. EE/CS 481 Spring 2008 11 Results – Oscilloscope University of Portland School of Engineering Founder’s Day, 2008

12. EE/CS 481 Spring 2008 12 Results – Issues Noise filters –Power source –Gain stages Wrong motor University of Portland School of Engineering Founder’s Day, 2008

13. EE/CS 481 Spring 2008 13Founder’s Day, 2008 University of Portland School of Engineering Conclusions Electrical design works But, wrong motor Future work required Overall success: learning experience

14. EE/CS 481 Spring 2008 14Founder’s Day, 2008 University of Portland School of Engineering Demonstration

15. EE/CS 481 Spring 2008 15 Acknowledgments Dr. Osterberg Neil Tuttle Jesse Fledderjohann Josh Triska Mike DeSmith Dr. Albright Rick Severs Sandy Ressel Founder’s Day, 2008 University of Portland School of Engineering

16. EE/CS 481 Spring 2008 16Founder’s Day, 2008 University of Portland School of Engineering Thank You. Are there any questions?

17. EE/CS 481 Spring 2008 17 Damping Example Founder’s Day, 2008 University of Portland School of Engineering