Projects:2014s2-80 Swinging Crane Project - Revision history

A1643699 at 12:42, 4 June 2015

2015-06-04T12:42:41Z

A1643699: /* Project introduction */

2015-06-04T12:41:44Z

‎Project introduction

A1643699 at 12:41, 4 June 2015

2015-06-04T12:41:27Z

A1653368: /* Fuzzy rules define */

2015-06-02T09:04:20Z

‎Fuzzy rules define

A1653368: /* Outer-loop controller design */

2015-06-02T09:00:44Z

‎Outer-loop controller design

A1653368: /* Simple pendulum model */

2015-06-02T08:59:52Z

‎Simple pendulum model

A1653368: /* Outer-loop controller design */

2015-06-02T08:57:38Z

‎Outer-loop controller design

A1653368: /* Future work */

2015-05-29T04:27:43Z

‎Future work

A1653368: /* Conclusion */

2015-05-29T04:27:21Z

‎Conclusion

A1653368: /* Conclusion */

2015-05-29T04:26:25Z

‎Conclusion

@@ Line 1: / Line 1: @@
 [[File:worst case example.gif|right]]
 [[File:worst case example 2.gif|right]]
-'''Project aim:''' Swinging Crane project is aim to transporting a payload from one place to another and reducing the consuming time as much as possible. Using the software of Simulink and ControlDesk on computer to create and simulate a system model. Through the hardware of dSPACE board, amplifier and simulator to realise practical control, which is move the trolley for 0.5 meters and count the consuming time from starting movement to fully settled. The outcomes are supposed to realize multiple control methods, which includes automatic and manual control. The system performance should be improved compared with last year results. This project also could be used for helping high school student to understand the principle of control systems.
+'''Project aim:''' Swinging Crane project is aim to transporting a payload from one place to another and reducing the consuming time as much as possible. Using the software of Simulink and ControlDesk on computer to create and simulate a system model. Through the hardware of dSPACE board, amplifier and simulator to realize practical control, which is move the trolley for 0.5 meters and count the consuming time from starting movement to fully settled. The outcomes are supposed to realize multiple control methods, which includes automatic and manual control. The system performance should be improved compared with last year results. This project also could be used for helping high school student to understand the principle of control systems.
 == Project introduction ==
@@ Line 20: / Line 20: @@
 The gantry crane system could be identified into separate sections: linear motion and swinging pendulum. The goal is to minimum the time used to transport loads and reduce the swinging oscillation as minimize as possible.
-The pendulum was studied by Galileo, Huygens, Newton, Hooke and all the leading figures of 17th-century science. Since the long history on the study, pendulum theory has been almost perfect, but still exist imperfection in applied to practical. In this project, the basic model is simple gravity pendulum. To analyse the motion parameters of pendulum, Newton’s classical mechanics Laws are applied. In traditional education, Newton’s lows are taught in high-school physics lecture. The theorem is abstract to student, and divorced from the practical application. The gantry crane system is a representative application, and easy to understand, thus it is suitable for demonstration teaching purpose.
+The pendulum was studied by Galileo, Huygens, Newton, Hooke and all the leading figures of 17th-century science. Since the long history on the study, pendulum theory has been almost perfect, but still exist imperfection in applied to practical. In this project, the basic model is simple gravity pendulum. To analyze the motion parameters of pendulum, Newton’s classical mechanics Laws are applied. In traditional education, Newton’s lows are taught in high-school physics lecture. The theorem is abstract to student, and divorced from the practical application. The gantry crane system is a representative application, and easy to understand, thus it is suitable for demonstration teaching purpose.
 === Objectives ===
@@ Line 40: / Line 40: @@
 === Feed forward/open-loop control ===
-Feed forward control can change the system output directly through a pre-defined path. Feed forward control is usually used with feedback control since a feedback control system is required to track set point changes and to suppress unmeasured disturbances in system response. In system theory, reference input is necessary to control the plant, and how to set an appropriate input signal is difficult.
+Feed forward control can change the system output directly through a per-defined path. Feed forward control is usually used with feedback control since a feedback control system is required to track set point changes and to suppress unmeasured disturbances in system response. In system theory, reference input is necessary to control the plant, and how to set an appropriate input signal is difficult.
 Moreover, there exists a lot of methods for optimal input-shaping, which is aim to improve system performance through system input, instead of controller. This usually has more obvious effect than the feedback control.
@@ Line 90: / Line 90: @@
 By taking the Laplace transform, the system transfer function is
-[[File:Laplace transfrom of linear transfer function.png|200px]].
+[[File:Laplace transform of linear transfer function.png|200px]].
 The above equations could also write as state-space model form. Assume the state variable [[File:State_variable.png|80px]], and state equation [[File:State_equation.png|80px]] the state matrices are [[File:SSM_A.png|170px]],[[File:SSM_B.png|55px]]and[[File:SSM_C.png|120px]].

@@ Line 3: / Line 3: @@
 '''Project aim:''' Swinging Crane project is aim to transporting a payload from one place to another and reducing the consuming time as much as possible. Using the software of Simulink and ControlDesk on computer to create and simulate a system model. Through the hardware of dSPACE board, amplifier and simulator to realise practical control, which is move the trolley for 0.5 meters and count the consuming time from starting movement to fully settled. The outcomes are supposed to realize multiple control methods, which includes automatic and manual control. The system performance should be improved compared with last year results. This project also could be used for helping high school student to understand the principle of control systems.
 == Project introduction ==
-−
 === Technical introduction ===
 [[File:Gantry_Crane_System.png|thumb|500px|Figure 1.Gantry crane system model]]

@@ Line 3: / Line 3: @@
 '''Project aim:''' Swinging Crane project is aim to transporting a payload from one place to another and reducing the consuming time as much as possible. Using the software of Simulink and ControlDesk on computer to create and simulate a system model. Through the hardware of dSPACE board, amplifier and simulator to realise practical control, which is move the trolley for 0.5 meters and count the consuming time from starting movement to fully settled. The outcomes are supposed to realize multiple control methods, which includes automatic and manual control. The system performance should be improved compared with last year results. This project also could be used for helping high school student to understand the principle of control systems.
 == Project introduction ==
-−
 === Technical introduction ===
 [[File:Gantry_Crane_System.png|thumb|500px|Figure 1.Gantry crane system model]]

@@ Line 181: / Line 181: @@
 ==== Fuzzy rules define ====
 The fuzzy rules are defined as term of Θ (ZR, PS; AS) for example. Table 7 presents the corresponding relationship of the angular error, the angular acceleration error and the correction output acceleration. Table 8 is the position rule matrix, similar as Table 7. The example rule could be interpreted with the following implication:
-If the angular error εθ is ZR and the variation of the angular error is PS, then the trolley acceleration Γ is AS.
+If the angular error εθ is NS and the variation of the angular error is NL, then the trolley acceleration Γ is LB.
 {| border="0.5"

@@ Line 132: / Line 132: @@
 |-
 | valign="center"|
-[[File:position_PID_controller_design.jpg|thumb|left|500px|Figure 10.position PID controller design]]
+[[File:position_PID_controller_design.jpg|thumb|left|450px|Figure 10.position PID controller design]]
 | valign="center"|
-[[File:position_PID_controller_design_bode.jpg|thumb|left|500px|Figure 11.position PID controller bode diagram]]
+[[File:position_PID_controller_design_bode.jpg|thumb|left|450px|Figure 11.position PID controller bode diagram]]
 |}
 The outer loop is designed using the Simulink built-in function, PID self tuning with considering the following conditions:

@@ Line 71: / Line 71: @@
 [[File:free_trolley_position_movement_anime.gif|left|Free trolley position movement anime]]
 | valign="center"|
-[[File:System_total_energy_variance.jpg|thumb|left|450px|Figure 7.System total energy variance example]]
+[[File:System_total_energy_variance.jpg|thumb|left|400px|Figure 7.System total energy variance example]]
 |}

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 === Future work ===
 Gantry crane controlling is a large research area in control field. There still exists lot of work could be done.
 The model used in this project to simulation is lumped mass model, in which the mass of the rod is neglect, but for practical device the connector is 0.5 kilo grams, which is the same weight as trolley. A distributed mass model could be studied in future.
 There are other controllers that could research on. For instance, adaptive control is a method that widely applied in modern industrial, especially for changing conditions case. Fuzzy-tuned PID control is another type of hybrid controller, also there is an algorithm called particle swarm optimizations could help increase system controlling precision.
 The practical model in lab is built together, hard to separate. In future could use a variable mass of payload and an extension-type of connector, which are more close to the actual application.
 The model now is a planar model, but in real world the payload is mostly moving in a 3 dimension space. In future the system model could increase the dimension, which could coordinate with different payload shape or transport line.

@@ Line 290: / Line 290: @@
 During the project period, the team cooperation ability, the ability to communicate or negotiate with supervisor, the capability of literature review, time management and project management skill and other professional skills would be developed.
 All of the skills are essential for further research activities and could be apply to career.
 == Group members ==

@@ Line 258: / Line 258: @@
 == Conclusion ==
 === Designing summarize ===
-[[File:Solving engineering problem cycle.png|thumb|right|500px|Figure 20.Solving engineering problem cycle]]
+[[File:Solving engineering problem cycle.png|thumb|right|500px|Figure 24.Solving engineering problem cycle]]
 During the modeling process, the system parameters and assumptions are proofed to important, since one parameters could change the system performance totally different, and the assumptions should be made appropriately. The friction in this project is significant large compared with motor traction, thus friction implement is enssential, and cannot be ignored. In interfacing part, initially the system was built up without testing, as a consequence, the system behaves non-expected. For instance, the motor drives the trolley very fast for every time, it is hard to select a suitable current input only rely on experience. Also, the system model verification process is necessary, since the model reflects understanding from the designer, and it could help checking the accuracy of parameters.
-An appropriate designing process with logical order that learned from this project is as Figure X.
+An appropriate designing process with logical order that learned from this project is as Figure 24.
 === Project completion ===