I. Leaming Outcomes 1. The student implements AND uses the MATLAB simulation tool for the design of a simple control sys

[answerhappygod]

I Leaming Outcomes 1 The Student Implements And Uses The Matlab Simulation Tool For The Design Of A Simple Control Sys 1 (53.48 KiB) Viewed 56 times

I Leaming Outcomes 1 The Student Implements And Uses The Matlab Simulation Tool For The Design Of A Simple Control Sys 2 (36.2 KiB) Viewed 56 times

I Leaming Outcomes 1 The Student Implements And Uses The Matlab Simulation Tool For The Design Of A Simple Control Sys 3 (61.99 KiB) Viewed 56 times

I Leaming Outcomes 1 The Student Implements And Uses The Matlab Simulation Tool For The Design Of A Simple Control Sys 4 (58.32 KiB) Viewed 56 times

I. Leaming Outcomes 1. The student implements AND uses the MATLAB simulation tool for the design of a simple control system. 2. The student adequately employs the concepts associated with 2nd order system response and develops skill in the design process II. The lane change control in autonomous vehicle One of the basic problems in automated steering control is a lane-change maneuver as shown in Fig. 1. Figure 1. Lane-change maneuver The steering process is described as follows: • The steering input controls the lateral motion of the vehide (see Fig. 1), • The automated vehicle steering control system uses information about the vehicle position relative to the center of the current lane to determine the steering wheel angle. • A lateral force on the vehicle (and hence, a lateral acceleration) is created as the wheels tum • The automated steering controller is designed to steer the vehicle from the center of the current lane to the center of an adjacent lane. Measurements of the vehicle's lateral position during the maneuver will be computed from the lateral acceleration measured by the accelerometer (see Fig. 2)

-Steering angle Direction of lateral motion no Direction of travel Figure 2: Vehicle with accelerometer Ta(s) Wind us U(S) Stang angle + Vehicle Controller R(S) Y() pion BERMOMETRE The closed loop steering control system with accelerometer feedback is shown in Figure 3. The vehicle has a transfer function 6,($) = the steering actuator has a transfer function Ga (9) and the accelerometer has a transfer function (8) = 1 The signals in Fig. 2 are described in table 1, and let us CRX

Activities 1. Examine the closed loop step response (lane change response) for various values of the proportional control gain K and K3 through MATLAB simulations and by calculating the damping ratio and undamped natural frequency as a function of K and Kz. Present results in a table. 2. The first goal of the design is to choose K and Ky so that a) the percent overshoot of the output to a step command, r(t), of the vehicle's lateral position has an overshoot less than or equal to 10%. Plot the system response to a unit step input position b) the steady state error to a ramp command is minimized. Plot the triangular input response where R(5).Y(s). and steady state error are depicted. c) the effect of a step disturbance is reduced, i.e. the steady-state error for a unit disturbance must be minimized. Plot the unit step disturbance input. You need to consider that by increasing the gain factor to reduce the steady-state error, the system's damping ratio < decreases. Hence, the designer must trade higher overshoot and larger maximum steering angle for reduced steady-state error. We want a compromise that provides largest gain on the smallest allowable Analyze and answer: What does the overshoot, steering angle and disturbance represent for the ehicle/user? Sketch the system root locus Dynamic Tests a. How does settling time change when input variable R(s) is changed in a 25% b. How does sleenng angle 1(s) and lateral position Y (5) when changing input variable R(s) a 25%?

IV. PRESENTATION RULES 1. The project and the report can be submitted in groups of up to three students. 2. The report must be submitted electronically through BLACKBOARD no later than MONDAY, May 9th before 11:59 PM 3. The report document must be written in IEEE TRANSACTIONS format that include the following: a. Introduction i Overview of steady state error, 2nd order systems, disturbances, test input signals, stability ii. Why are these concepts important? lii. In what type of applications are they used? iv. Any other introductory or background information relevant to the topic. b. Content i. Individual sections for each of the activities ii. Give examples of actual applications. . Show the computations to make the problem formulation and complete the model. iv. Show your MATLAB plots, tables and explain their meaning. All graphics and tables must be properly referenced with their specific titles and labels. Signals must be explicitly in their amplitude, time, and frequency ranges. Use different colored lines if you are going to present multiple signals on one graph. V. Include any other relevant information. C. Conclusion i Brief summary ii. Concluding statements d. Appendix i MATLAB code T. (optional) Any other additional information needed to support your Work 4. Good writing in the report, as well as consistency in ideas, procedures, and results, is important.