2.14/2.

140 Analysis and Design of Feedback Control

Systems
(Spring 2009 Term Project)

May 14th, 2009 

Eric Gilbertson, egilbert@mit.edu

Kavya K.Manyapu, kavyam@mit.edu
Lennon Rodgers, rodgers@mit.edu
  Objective & Motivation
  Problem Definition
  Technical Approach
  Theoretical Plant Model
  Controller Design
  Simulation Results
  Experimental Design
  Results
  Conclusions
  Electric Vehicles (EV’s) could soon become a
transportation option in the U.S.
  EV’s can be modeled and controlled using the
tools learned in this class
  SISO system
  The speed is controlled via a
single 0-5V signal (throttle)

www.electricmotion.org 
  Accurate model of the motorcycle
  Add speed control to the electric motorcycle
  Rise Time (~4 seconds) for step input of 13 m/s (~30 MPH)
  Zero Steady State Error
  Theoretical Motorcycle (Plant) Model
  Controller Choice – PID
  P = Good disturbance rejection
  I = Zero steady state error
  D = Faster response

  SISO tools/Matlab ROM of gains

  Simulink to model and tune gains
  Validated the model using experimentation
   Equations of Motion

di
Vin = iR + Vemf + L
dt Jθ˙˙ = τz − Fw rw m˙x˙ = Fw − C( x˙ + 2 x˙ w + w 2 ) − (µ + Sinθ )mg

€ € €
Vin ( µ + sinθ )mgrw + Cw 2 rw
X˙ = −
 Ls + R   J   K z   J  K t2 z 2 
t
   + mrw  s + Crw(1+ 2w) +   + mrw  s + C(1+ 2w)rw + 
K z
 t   w r   rw  
  wr  ( Ls + R ) rw
 1 
Pw = Fw ⋅ x˙ =  ρACd (20+ 2)2 + µmg ⋅ 20
2 

Constant Description Method Value

Measured with inductance 
L Inductance of the motor 50*10‐6 Hen.
meter
€
R Resistance of motor Measured with Ohm meter 0.12 Ohm

Determined from  0.187 N‐m/Amp and Volt/
Kt Torque constant
manufacturer’s data rad
Total mass of motorcycle 
m Calculated/Estimated 295 kg
and driver
Combined Moment of 
J Inertia for both front and  Calculated/Estimated 1.4 kg‐m2
rear wheels

z Sprocket Ratio Fixed 6

rw Radius of the wheel Measured/Estimated 0.32 m

Pwmeter = (Pmeter − Plights ) ⋅ 0.88
Cd Drag Coefficient  Estimated 0.6

A Frontal Area of motorcycle Estimated 0.41 m2 Efficiency of motor 

Tuned values of μ, A and Cd 
€ (within uncertainty) to obtain: 
Pwmeter = Pw
  PID gains estimated using SISO
tools
  Finalized using Simulink:
KP = 3, KI = 1/2, Kd = 1/5
Step Input, 13 m/s 

13 m/s 
Analog Input: Throttle (0‐5V) 
Note: voltage divider was used 
Digital Input: Speedometer pulses 
Analog Output: Command signal (0‐5V) 
Step Input, Open Loop 
Command/PID Motor Voltage (V) 
Step Input, Closed Loop 
Step Input, Open vs. Closed Exp., Flat  Step Input, Closed Loop,  Beacon Hill 
  Design and implementation of a PID
controller
  Validation of the design through experiment
  Future work
  Use plant model to predict power consumption and
compare to the experimental (power meter)
  Lessons learned
  EM noise is a serious issue with power electronics
  Arduino microcontroller was a good final choice
  Gene F. Franklin, 2006, Feedback Control of
Dynamic Systems, 5th Edition, Prentice Hall
  Vittore Cossalter, Motorcycle Dynamics, 2nd
Edition
  Electric motorcycle design:
www.electricmotion.org
?