Project: Digital Control System

Sway Suppression in Gantry Crane

l = 1. 00 m, M = 10 kg, m = 1. 00 kg and g = 9. 81 m/ s
2


A controller is required to suppress the sway angle in the gantry crane, which is controlled
through external force. The transfer function from sway angle to input is given as

0(s)
F(s)
=
-u.1
(s
2
+ 1u7.91) s
2




Things to Do

Deadline 26
th
August 2011 for presentation of detail work

1. Make a model equations specifying input, states and output
2. Write state space model
a. Controllable canonical form
b. Observable canonical form
3. Finds its roots
a. Check it should be [ 0 0 10. 388j ]
4. Write Difference Equations with variable names
a. Simulate this difference equation in MATLAB/Simulink
b. Solve the difference equation with MATLAB for
i. Impulse response
ii. Step response
iii. Exponential response
5. Plot Frequency responses using MATLAB from Chapter 7. |E(])| E(])
6. Change your system within 10 % like
A=10*r and( 1) *A, B=10*r and( 1) *B, C=10*r and( 1) *C
7. Repeat step 5 & 6
8. Implement a discrete PID controller in MATLAB with PID tuner.
9. Find Discrete time state space model for your changed model
10. Find Forward, Backward and Trapezoidal Equivalent for Discrete System in 10.
11. Find Zero Order Hold, Triangular Hold, and Zero-pole matched Equivalent Discrete
System, (manually and compare with MATLAB)
12. Place poles at s = -o _b], -c, -J for Discrete control law design to system in step 10.
13. Find full order estimator by using Prediction and Current Estimator for poles at s = -c _
], -g, -b
14. Design a reduced order estimator
15. Write Combined Regulator Equations (Controller plus Estimator) for prediction, current
and reduced order estimation
16. Write compensator transfer functions for prediction, current and reduced order estimation
17. Plot step and impulse responses from compensator transfer function
18. Add input delays as in Chapter 3
19. Add a noise vector (disturbance) _
u.1
u.u2
u.S
u.4
_ w(k)
20. Repeat Step 9-16 for 3 different sampling times T, {Hint: Section 11.2 for choosing
different sampling time.}
21. Explain which sampling time is better and why? Compare your controller with tuned PID
controller in step 9 for these sampling time? Discuss your results in combined plots.

Recommendation for a, b, c, d, e, f or chose your own values
a=r ound( 1+( 15) *r and( 1) )
b=r ound( 1+( 10) *r and( 1) )
c=r ound( 2+( 20) *r and( 1) )
d=r ound( 10+( 10) *r and( 1) )
e=r ound( 10+( 35) *r and( 1) )
f =r ound( 3+( 30) *r and( 1) )
g=r ound( 10+( 30) *r and( 1) )
h=r ound( 3+( 30) *r and( 1) )


NOTE : I ex pec t al l t he pr oj ec t st eps i n MATLAB / SI MULI NK
Pr oj ec t = 30% of t he c our se
Pr oj ec t pr esent at i on and vi va i s ver y i mpor t ant . Any c l ue about
c heat i ng l ead t o zer o i n pr oj ec t gr ade
Due Dat e : 24-Aug-2013 (No Ex t ensi on i n Deadl i ne)