ABSTRACT

A video projector is studied with intent of designing a control system so that we can improve it to meets the desired performance specification. Size of image projected by the projector is controlled by controlling the distance from the projector to the slide. This can be achieved by varying the projector position via DC motor using some gears and timing belt. Feedback is achieved by measuring the actual position of the projector using sensor. The information related to this project is firstly obtained. Experiment to determine the relationship between the sizes of image projected and the distance between the slide and projector was conducted. Result of the experiment is then recorded in the form of mathematical equation. Later, the block and systematic diagram of this system is drawn and by applying all the physical law, the mathematical modeling is done to obtain the transfer function for our system. The modeling process is then continued by writing the m. file for the transfer function. This transfer function was used as the initial step to do the analysis. Analysis process is then take part on the system using LTI viewer and step response was found and analyzed. Later, the desired performance specification that is settling time, peak time and percent overshoot were being identified. After that, the root locus techniques are applied to design the controlled in order to meet the desired performance specification by using 2 methods: a) Manually, b) SISO Design Tools. Lastly, the performance of the proposed closed-loop system is being verified through simulation using MATLAB Simulink.

1.0 INTRODUCTION
A projector is used to project an image directly from the computer. There are lots of types of projector in the market, such as image projector, video projector and slide projector. Here however, we will focus on video projector as this is the most common type of projector used. Video projector is a device that projects a video signal from computer, home theatre system and etc. This type of projector is used widely in in all kind of settings such as, conference room presentations, meeting, classroom, and even as a home theatre. Video projector is one of the greatest inventions ever. It helps lots of educator deliver and sharing their knowledge more effectively. As educators nowadays store lots of education related materials in their notebook, the used of projector is a must. Projector here becomes a medium that connect the educators with the students. Problem arises as projector is usually fixed to a certain spot. This limit the users ability to control the screen size. University students are different from school students. They does not sit in bulk, they scattered. As the projector is fixed to a certain spot, this means that the size of the virtual screen produce is also fixed. If the size is too small, the students at the back of the lecture hall will have very difficult times to see and understand the lecture. Through thorough observation on how the projector system works, we came up with a solution. This adjustable projector will be of great help to both lecturer and students. As the distance of the projector to the white screen is adjustable, hence so thus the size of the screen produces. Students that sit at the back of the lecture hall can now see the lecture clearly as much as the students that sit in front and thus, improving their understanding of the lecture.

1.1 Objective
The objective of this project is to design a control system for an adjustable projector. User can control the desired size of image at the slide by buttons or similar control system. This control system is designed to meet several specifications that is 10% of percentage overshoot and 10s of settling time, Ts. If the settling time is too long, it will take a very long time to make the size of image as desired and can make the user become impatient. But, if the settling time is too fast, it might damage the projector.

2.0 MODELING 2.1 Schematic Diagram

Figure 1- Systematic Diagram

Figure 2- Block Diagram

2.2 Mathematical Model

Data Motor (this data we got from internet for our type of motor). Tstall= 0.318 Nm Motor resistance (armature) = Rm=0.175 ohms Back EMF constant = Kb = 0.0239 Motor torque constant = KT = 0.024 Armature damping = Da = 5.7296 x 10-5 Nms/rad Armature inertia = Ja = 1.92 x 10-5 kgm2 Spring constant of system (motor and load) = ks = 0.01 N/m

Rotational load Damping rotational load = DL = 80 Nms/rad Inertial rotational load = JL = 800 kgm2 Radius of gear = r = 0.05 m

Translational load Damping of load = C = fv = 0.5 Ns/m Mass (projector plus rail) = 5 kg

Calculate the gear ratio. Total torque needed to move projector = Mgr = Td = 5(10)(0.05)= 2.5 Nm !!"#$$ !! ! !! !! !!!"#!!" !! ! !!!"# ! ! !!!!!" !! DC motor

We know such that; the DC motor run by using magnetic field phenomenon. A magnetic field is created by stationary electromagnet called fixed field. The armature (rotating circuit); which

current ia(t) passed through the magnetic field at right angles and feels a force. Than this will turn the rotor. The stator is a magnet which will not move.

!
Figure 3-DC motor

Now we will discuss the other concept of motor.

!
Figure 4-DC Servo Motor Circuit Diagram

Based on the figure above; the source voltage (EMF) will be supplied through the electric circuit that consists of resistor, induction and armature current into the motor that will produce current. Thus, the equation of the voltage will be supplied is, Ea = Ea1 +Ea2 +Ea3 Note that the Ea1 ,Ea2 ,Ea3 is the voltage used (separated) from the EMF (Ea). Note that the EMF is total voltage supplied to the motor; and the voltage lost by resistance and inductance in the motor. Than the total voltage left for the motor to rotate the rotor is back emf (em) or in this case is Ea3. !"! ! ! ! !! ! !! !!

!! ! !!

From here we will Laplace transform; !! ! ! !! !!! ! ! ! !! ! ! !! !!!

Thus the block diagram for the motor and including the mechanical load will be. Ea1 Tm + Tm
"$#! "#&$!

"##!

Ea2

+ +

Ea3

"%!

Torque Developed In the motor system, when the current pass through the electric circuit, torque will be produced resulting of the magnetic field and the current armature. The current and the magnetic field will be constant. Thus the torque developed by the motor is proportional to the armature current. ! ! ! !! !!! !!! ! ! ! ! ! ! ! !! ! !! !!! ! !! !!!!!!!!!!!!!!!!!! !! KT is torque constant which depend on the motor and magnetic field characteristic. We also know such that the Tm is a torque developed by the motor to rotate the load (J) as shown in figure 2.2. Thus we can mature that Tm Tm(s) = (JmS2 + DmS + K ) By ignoring stiffness of the load Tm(s) = (JmS2 + DmS+ks)--------------- (2)

!! ! !! ! ! ! !! ! ! !! !!!!!!!!!!!!!!!!!!! !! !! ! ! !!!!!!!!!!!!!!!!!!!!!!!!!! ! !! !! ! ! !! ! ! !! Note that equation (3) is equal to G1/2

Back electromotive force Back emf (em) is directly proportional to the angular velocity of the motor !! !"

!! ! ! ! ! !

!! ! ! ! ! em(s) = KbS!m-------------(4) Kb is back emf constant For G11 !! !!! ! !! 1---------------------(5) Substituting the equation (1) into (5)

!! !"

!! !

!! ! !!! !!

!! !! ! !!!!!!!!!!!!!!!!""! !!" !! ! For G21 ! ! !! ! ! !!! !!!!!!!!!!!!!!!!!!!! Substituting the equation (1) into (6) !! !! ! !!! !!

!! !! ! !!!!!!!!!!!!!!!!!!"! !!" !! Summation of G21 and G11 !! !! !! !! ! ! ! !!" !!" ! ! !! ! Now G21 and G11 will multiplied with the G1/2 !! !! !! !! !! !! ! ! ! ! ! ! !! ! ! !!! !! !!! !! !! !! ! !! ! ! !! ! ! !! !! !! !! !! ! ! ! ! !! ! ! !!" !!" !! !! ! !! ! ! !! ! ! !! For G3 !!" ! !! From equation 4 em(s) = KbS!m Thus !! ! ! !!!!!!!!!!!!!!!!!! !!" !! ! Summation for all !! !! !! !! !! ! ! ! ! ! ! ! ! !!" !!" !!" !! !! ! !! !! ! !! ! ! !! !! !

!!! !!! !!! !! !! ! !! ! ! ! !! ! ! !! !! ! ! ! ! ! ! ! !! !! !! !! !! ! ! Since Ea = Ea1 +Ea2 +Ea3 Thus !! !! !! ! !! ! ! ! !! ! ! !! !! ! ! ! ! ! !! !! !! ! ! And also know such that the Lm <<< Rm Thus !! !!! !! !! ! ! ! !! ! ! !! !! ! ! ! ! !! !!! !! ! ! ! !! ! ! ! ! ! !! ! ! ! !! !!! ! !! !!! ! ! ! !! ! ! ! ! ! ! ! !! !! !! ! ! !! Or in a simpler form !! !!! ! ! ! !! !!! ! ! !" ! !

Ea1

!! ! !! !

Tm + T!m!
! !

Ea +

Ea2
!! ! !!

! ! ! ! ! ! ! !!

+ +

Ea3

! ! !! !

For motor and load

Ea

!!

!! ! ! ! !! ! ! ! ! ! ! ! ! ! ! !! ! ! ! ! !! ! ! !" ! ! ! ! ! ! !! !! !! ! ! !! !

!m

Since we know Jm and Dm is based on the rotational and translational part of the system. For the rotating load, we assume all inertia and damping has been reflected to the load, Thus we will get the translational and rotational torque equation. T1(s) = !L (JeqS2 + DeqS) T2(s) = F(s)r T1 + T2 = Teq

(Jeq s2+Deq s)!L(s) + F(s)r = Teq(s)________(7) We know that the !!" !! ! ! ! !! !!!!!!!!!!!!!!!!!!! !!

!!" ! !! !
!!"

!!" ! !! ! !! !!! ! ! !! !!!!!!!!!!!!!!!!9) Jeq = Inertia at the load of the rotational load and the armature JL = Inertia at the load of the rotational load Ja = Armature inertia Deq = Damping at the load of the rotational load and the armature DL = Damping at the load of the rotational load Da = Armature damping r= Radius of rotational load We also know such that the !!!! ! !!! !!!!!!!!!!!!!!!!!!"! ! ! ! !! !! ! !" ! ! ! ! !!!!!!!!!!!!!!!!!!!!!!!!! Put (7) into (8) and assuming stiffness (K) = 0 ! ! ! !! !! ! !"! !!!! _________ (12) Put (8), (9) and (12) into (7)

!!" ! ! !! ! !! ! ! ! ! ! ! ! ! !! ! !! ! ! ! ! ! ! ! ! !!! Thus !! ! ! !!! ! !! ! ! ! ! ! ! ! !!

!! ! !

!! ! !!!"#! !!!!"#$!!"!! ! !!" !!!"! ! !!!! !!!"! ! Dm = 3.273 x 10-3 Nms/rad !! ! ! !!! ! !! ! ! ! ! ! !! !!

!! ! !

!! ! !!!"#! !!!!"!!"!! ! !"" !!!"! ! !! !!!"! ! Jm=0.03272 kgm2 Now we will find the value of " !! ! ! ! ! ! !! !! ! !

!!

!!

!!!"#!! !!" ! !! !!!!"#!!!!!"#$! ! !!!"#$# !!!!"#$#!!!!!"#!! ! ! !!! !! !!

!!

!!

!!!" !!!"#$#

! ! !!!"#$

! !!

!! ! !! !! !! !

!!

!!!"# !!!!"#$#!!!!!"#!!!!!"#$! ! ! ! !""!!!! !""!!!! ! !!!! ! !!!"#$

!! ! !i(s) +
'#!

!!

Ve(s)
'$!

Ea(s)
"(!

!m(s)

Vi(s) Vt +

) #& )$!

!L(s)
*!

X(s)

'%!

Potentiometer (input) Voltage produced by potentiometer (Vi) ! desired angle (!i) Vi (s) =K1!i (s) !! !!! ! !! ! !!!"# !! !!! K1=based on the book 0.318 When we put it after summation the Vi=>Vi+Vt

!i=>Ve Preamplifier Total voltage (EMF); Ea ! Ve(s) Ea(s) = K2 Ve(s) !! !!! ! !! ! !!!"# ! ! !! ! Ve Motor and Load (Plant) Angle of motor load (!ms) ! Total voltage (EMF) Ea !ms = Gm Ea !! !!! !""!!!! ! !! ! ! !! !!! ! ! !!!! ! !!!"#$ Changing gear from motor to load Angle of load (!Ls) ! angle of motor load (!ms) !Ls=(Kx) !ms Since the changing of angle rotation is based on the gear ratio. Thus Kx=N1/N2 !! !!! !! ! !! !!! !!

And we also know such that

Tmotor
)$&)#!

Td

!!"#$$ !! ! ! !!!"# !! !! The rotational to translational The relationship is X(s) = r !L (s) ! !! ! ! ! ! !!!" !! !!! Displacement sensor (Feedback) The voltage produced by the sensor is directly proportional to distance (Vi) ! X(s) Vi = K3 X(s) !! ! !! ! !!!"# ! !! ! Overall open loop transfer function

!!!! !! ! !! !! !!! !! !!! !! !!! !!!! ! ! ! ! ! ! ! !! ! !! !!! !! !!! !! !!! !! !!! ! ! !! ! !! ! ! !! ! !! !! !! ! ! !! ! !""!!!! ! !!!! ! !!!"#$ !!!"# !!!!"!

!! ! !!!"# !!!!"#

!!

!! ! The feedback will be

!!

!!!"#$ ! !!!! ! !!!"#$

!! !

!! !!

!! !

!!!"# ! !!!"#! !!!"#

+
!! ! !! !!!"#$ ! ! !!!! ! !!!"#$ !

!! !

!!!"# ! !!!"#!! !!!"# !

Open loop transfer function !! ! !! !! !"#$ ! !! !" ! !! !"#$

Closed Loop transfer function !! ! !! ! ! !! !!

!!!"#$ ! ! !!!! ! !!!"#$ ! !! ! !!!"#$ !! ! !!!!"#!! ! ! !!!! ! !!!"#$

!! !

!!

!! !"#$ ! !! !" ! !! !"#$

Input

!! !

!!

!! !"#$ ! ! !! !" ! !! !"#$ !

Output

2.3 Matlab m.file

3.0 ANALYSIS BY LTI VIEWER

Figure 5- Step Response

Figure 6- Bode Diagram

Figures above show Step Response and Bode Diagram of our system. By using the open-loop transfer function from modeling part, !!!"#$ ! ! ! !!!!!! ! !!!"#$

! ! !!

we analyses and then proceed using LTIviewer. From the step response graph above, we can observe that the step response is under damped. The performance specification of our system is, ! Percent overshoot, OS% = 56% ! Settling time, Ts = 36.3s There are some differ for the value of settling time. This is due to the formula used for manual calculation which is conservative. So, the value might be manipulated by neglecting the oscillating component. This will be compared with the desired specification. In order to get a better response, the desired specification should be set to obtain new poles which known as desired poles. Thus, we had set the desired specification for our system that is 30% for percent overshoot, OS% and 10s for settling time, Ts.

Figure 7- Pole/zero Diagram

Pole-zero plots is a graphical representation of a transfer function in the complex plane or also known as Z plane. Z plane consist an imaginary and real axis referring to the complex valued of variable z. In the Z plane, poles are denoted by x sign and zeros are denoted by o sign. In general, a transfer function has the form of X(s) =P(s)/Q(s). The two polynomials P(s) and Q(s) can be used to determine poles and zeros of the system. Poles of a transfer function happen when the values of the Laplace transform variable, s that cause the Q(s) to become zero or cause the X(s) to become infinite. Zeros of a transfer function happen when the values of the Laplace transform variable, s that cause the P(s) or X(s) to become zero. Pole-zero plots is used to determine the stability of the system. The system can be said stable when all the zeros and poles are located at the left hand side of the Z plane.

For our system, we use open-loop transfer function T(s) to perform the analysis of the system using LTIviewer. Figure above is a pole-zero diagrams that we get from the LTIviewer.

4.0 DESIGN 4.1 Manually Calculation

Designing the controller manually Determination of poles ! ! !! Using, ! ! ! ! ! ! !!" !! Poles, s = !!! ! !!!"#$
1! !

!!!"#$ ! ! ! !!!! ! !!!"!#

+,-.#/! +,-.#/! +,-.#/! ! ! 0!!+,#! ! 0!+,-.#/!

From the formula: Peak time, !!! = ! = !!!"#$ = 5.7984s

!

Settling time, !! = !" = ! = !!! = 40s

!

Time constant, Ta = ! = !!!"#$ = 4.7755s Desired performance: Desired percentage overshoot %OS = 30% Desired settling time Ts = 10s

Damping ratio, !!"!!!!" !""#! !! ! ! ! !"! !!!!"! Damping ratio, ! = 0.3579

Settling time,

!! !

!!"!!!!!" ! ! ! ! ! ! !!

Natural frequency, !! !!1.1122 rad/s

Desired Poles, !! ! ! !! !! ! !!! ! ! ! ! Desired Poles, !! ! !!!!"#$ ! !!!"#$!!

1! ! ! #,+%/-! +,-.#/! +,-.#/! ! ! 0!+,%-23! ! 0!#,+%/-!

From the formula: Peak time, !!! = ! = !!!"#$ = 3.0251 s

!

Settling time, !! = !" = ! = !!!"#$ = 11.1783 s

!

Sketching the root locus ! ! ! !! ! ! !!!"! ! !

Pole location as function of gain for the system K 0 0.01 1 2 3 4 5 Pole 1 -0.2 -0.1 -0.1+0.99 -0.1+1.41 -0.1+1.73 -0.1+1.99 -0.1+2.23 Pole 2 0 -0.1 -0.1-0.99 -0.1-1.41 -0.1-1.73 -0.1-1.99 -0.1-2.23

First of all, the poles are real for gains less than 0.01. When K less than 0.01, the system becomes overdamped. At gain of 0.01 the poles are real and multiple and hence critically damped. For gains above 0.01, the system is underdamped. Since the settling time is inversely proportional to the real part of the complex pole for this second-order system. The conclusion is that regardless of the value of gain, the settling time for the system remains the same under all conditions of underdamped response. As we increase the gain, the damping ratio diminishes, and the percent overshoot increases. The damped frequency of oscillation, which is equal to the imaginary part of the pole, also increases with an increase in gain, resulting in a reduction of peak time. Finally, since the root never crosses over into the right half-plane, the system is always stable, regardless of the value gain and can never break into a sinusoidal oscillation.

Designing desired poles. Desired percentage overshoot !!" ! !"! Desired settling time !! ! !"#

!"#$%&'!!"#$%! ! !

!!" !"#!!""# !! ! !"! !"#!!""# !!"#!! !! ! !"! !!!!!

!"#$%&'!!"#$%! ! !

!"#$%&'!!"#$%! ! ! !! !"#

!"##$%&'!!"#$! !! !

!!" !!!" ! ! !! !!!

!

!" !

!!" !!!" ! ! !!!"# !!!"# !!

!"#$%"&!!"#$%#&'(! !! ! !! !!!!"#!!

!"#$%"&!!"#$%! !! ! !!!! ! !!! ! ! !! !"#$%"&!!"#$%! !! ! ! !!!"# !!!! ! ! !!!! !"#$%"&!!"#$%! !! ! !!! !"# ! !! !"#$% ! ! !!!"#
!

Designing the Compensator Desired Poles, !! ! !!! !"# ! !! !"#$% Determination of angle deficiency:

To calculate designed compensator, we assume zero compensator, Zc=0.397

!"# ! !

!!!"#$ ! !!!"#$ !!!"# ! !!!

! ! !"#!! !!!"# ! ! !"! !" !! =180 59.12 =120.880

!"# ! !

!!!"#$ ! !!!"#$ !!!"# ! !!!

! ! !"#!! !!!" ! ! !"! !" !! =180 79.36 =100.640

! ! !!"# ! !! ! !! ! ! !!"# ! !"#!!! ! !""!!" ! ! !!"# ! !!"!!" ! ! !"! !" !"# ! ! ! !!!"#$

! ! !"#! !!!"#$ ! ! !"#$%!!" !!!"#$ ! ! !!!"!#

!"#$!!"!!"#$%&'()"*! !! ! !!!!"# ! !!!"!# ! !!!! !"#

Designed Compensator !"#$%&'()"*! ! ! ! ! ! !! ! ! !! !"#$%&"'!!"#$%&'()"*! ! ! ! ! ! !! !"# ! ! !! !"#

4.2 SISO Design Tools

SISO Design Tool application can be used to design the appropriate compensator. In the design, a lead compensator was added. The design requirement of 10s settling time was applied along with 30% overshoot. The final compensator acquired is : !! ! !!!"#!! !! ! !!!"!!

! ! ! !!!"#!

In this case, a percent overshoot of 60.4% and settling time of 9.19s is obtained.

!
Figure 8- SISO Design

! !

5.0 SIMULINK
After design of compensator, Simulink is used to simulate the system response to verify that the control system is valid and the compensator is able to achieve the desired specifications. The objectives of this step are: (i) (ii) to verify that the equivalent unity-feedback system acquired is correct, and to set a limit to the maximum and minimum opening of duct to represent the real physical limits. Simulink setup is shown below.

!
"#$%&'!()*#+%,#-.!*'/%0

!
Figure 10- Step response by Simulink

6.0 CONCLUSION
In this project, we have modeled and analyzed a projector systems response to a step user input. The open loop system is a second-order control system. Two different lead compensators have been designed to allow the system to meet the desired performance specification. The first compensator is designed manually, and is able to offer 30% overshoot and 10s settling time. The second compensator is designed using SISOTools optimization method and achieved 67.3% overshoot and 33s settling time.