MODELING OF

DOOR OPENING
SYSTEM USING
MATLAB-
SIMULINK
CONTROL SYSTEM
THEORY
Section 3

Dr. SYED ZAHURUL

ISLAM

AMAL HAYATI BINTI MAT ISA AE170050

AISHA AJEERAH BINTI AZAHAR
AE170067
NURSHAHANIM BINTI MOHD SHUKRI
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 PROBLEM BASED LEARNING PROJECT

DOOR OPENING SYSTEM USING PID CONTROLLER

COURSES CODE BEH30603

COURSES NAME CONTROL SYSTEM THEORY

STUDENTS’ NAMES AMAL HAYATI BINTI MAT ISA (AE170050)

AISHA AJEERAH BINTI AZAHAR (AE170067)
NURSHAHANIM BINTI MOHD SHUKRI (CE170099)

SECTION 3

LECTURER’S NAME DR. SYED ZAHURUL ISLAM

DATE OF SUBMISSION 27th JUNE 2020

TABLE OF CONTENTS

1.0 INTRODUCTION.....................................................................................................................1

2.0 LITERATURE REVIEW..........................................................................................................2

3.0 PROBLEM ELABORATION...................................................................................................6

4.0 PROBLEM EXECUTION AND RESULT.............................................................................11

5.0 CONCLUSION.......................................................................................................................12

6.0 REFERENCES........................................................................................................................13
1.0 INTRODUCTION

A control system is an interconnection of components forming a system configuration

that will provide a desired system response. While control systems engineering is the
engineering discipline that applies control theory to design systems with predictable
behaviours. Control system is very important to control the outputs in some prescribed
manner by the input through the elements of the control system. Access control is a security
type that measure to ensure that only specified person is allowed into the specified place.
Door access control is a control system that determine people for enter or exit within the
specific time. Usually, the door opening control system used DC motor in the system. There
are many access controls that can used in order to raise the standard of security and
specifications [1]. For door opening control system, the DC motor have been used in this
system. The block diagram must be drawn to identify the controller. A motor with direct
current (DC) is a type of electrical machine which converts electrical energy into mechanical
power. DC motors use direct current to take electrical power, and transform this energy into
mechanical rotation.

This project is based on the door opening control system that is shown in the figure of
the question. The figure consists of dc motor armature control, two gears and two pulleys.
The data of the dc motor armature is given to fulfil the requirement that is to find the transfer
function of the system. From that, we can determine the number zeros and poles of this
system to determine the stability of the control system. Root locus graph is plot using the data
of the zeros and poles. The calculation then continues to the expression of asymptotic angle.
The values of K in the expression varies to determine the asymptotic angle. Values of
calculation and the transfer function are then transferred to MATLAB software. P, PI, PID
result can be easily plotted in MATLAB with the function of sisotool. Rlocus function in
MATLAB can be used to generate the root locus graph simply from the transfer function. The
purpose of this project obviously is to show the differences in PID control where the result
that is required are from three types of control that is proportional (P), proportional-integral
(PI) and proportional-integral-derivative (PID). Surely, the optimal result must be from the
PID control system. In general, proportional response depends on the difference between set
point and process variable. Integral response sums up the error over time and derivative
response control the output of the process variable by decreasing it to an optimal value.

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2.0 LITERATURE REVIEW

TITLE AUTHOR/DATE SUMMARY

Wireless Philip C. Dumas, This wireless access control system includes a
access Thomas Bennett remote access for authorizing access control of
control the system to a lock when an input triggers the
system and 16 June 2015 proximity sensor of the control system.
related Generally, this control system is built to
methods operate in lock and unlock of the door. Users
are needed to have the remote access and
present in a certain predetermine distance from
the door if the users wish to open door. The
proximity sensor is assigned to detect presence
of object that is in this case the users that are
nearby. Transceiver is the main component of
the control system. Signal from the proximity
sensor and the remote access are transmitted
and then receive by the control system [2].
Control David S. Magner, John On this paper, it discusses on the control
system for Todd Bergman system for a power assisted door including
power- smart control. Plurality of sensors input are
assisted door 13 October 2015 embedded into the smart control. These
sensors are connected to the mechanical
components of the power assisted door. A
power drive is the force that operates the smart
system in executing the process of opening and
closing of the door. The smart control of the
system will then monitor the status of the input
sensors and also control the amount of the
power to drive the system. This paper suggest
that this project could be improve by
introducing a power distribution module in
order to assist in limiting current draw as well

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 as the charging process [3].
Door Masaki Yuge None of smart system is included in this paper.
opening/closi Only mechanical process that uses pulley
ng 3 Febuary 2015 along with drive motor. The design is for the
apparatus back door of vehicles that open up vertically. It
also includes a speed reducing mechanism that
have its own electric actuator for the purpose
of reducing the rotation speed of the actuator
in order to drive the force to the shaft
connection of one of the link, besides a clutch
mechanism is responsible for the switching
process between transmission and non-
transmission of driving force that originate
from the electric actuator that have the output
of reducing the speed mechanism [4].
Vehicle door Yin-Ju Chen, Cheng-Po This paper focus on controlling the system for
opening Yu the warning alarm system of vehicles. It
warning included a control unit, a projection unit and a
system and 6 December 2016 detection unit. The control unit is embedded on
vehicle door the door of a vehicle. The projection unit is
opening embedded on the same door as control unit and
warning it is connected electrically to the control unit.
method Last but not least, the projection unit is
disposed at the body on the outside of vehicle.
It is also connected electrically to the control
unit, to operate by producing a signal that is
received from the detection unit when it
detects a moving object nearby. All data
received will be process by the control unit to
produce the output [5].
Methods, Yu Fan, John C. Lyons Method performed in a relationship between a
program vehicle garage door control system are given
products, 27 December 2015 as the system of a vehicle garage door control
and systems system and a smartphone software product in

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relating to interacting with such a garage door control
vehicular system. Vehicle garage door control system
garage door can include a Garage Door Opener (GDO) in-
control vehicle signal generator, a wireless receiver,
systems and a controller. Further explanation, this
system involves the process of obtaining a
request signal from an electronic remote at the
controller that travels by wireless connection
to the destination, the actuation of the GDO
mechanism. The whole process has an
objective of controlling the open and close
position of the door when it is triggered [6].
Door Keigo Fujimoto, Improving the usability of vehicle’s back door
opening/closi Yoshiki Yamagishi is the purpose of this paper. It gave an example
ng control Yusuke Ueda of travelling with large luggage that can be the
device Sambon Lee reason of the back door of vehicles cannot be
close completely. It uses operation signal
20 December 2016 acceptor that configure for accepting the signal
from the operation of the back door switching
open/close in order to give the feedback of
opening or closing of the back door. This
operation is done by a motor and it started
when the control receives the signal of the
operation of the back door. This invention only
operates when the vehicle is in travelling state
that prevent equipment or things from
throwing out of the vehicle from the back door
[7].
Automatic Steve Szymke, Joshua The invention that is presented in this paper is
Wireless Gramlich the control system of a garage door by the
Door automatic wireless Bluetooth. It can be control
Opening 26 November 2015 using smart devices that usually have
System Bluetooth function. It claims to have a higher
security level compare to normal remote

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 control. But, in source of battery life, smart
devices tend to power quicker compared to a
remote controller. The advantage of using
smart devices is mainly the security as smart
devices have its own safety from unlocking the
devices through the step of activating the
Bluetooth [8].
Door access Jimmy Shen, Tsung-Yu Discussing about the operation of a door
control Huang access control system. A door having an
system 28 June 2018 identification number access as its first
memory storing. The second memory storing is
the main control that stores the management of
the identification number. The control unit is
connected to the power supply. The door lock
includes a latch head that is slide able from
latching position to unlatching position and
vice versa. The control module is set to
configure the driving of the active induction
module to read the identification number of the
first and second memory [9].
Automatic Kazuyuki Sasaki Description of this paper is first, the motor is
Wireless connected to a case .The connection then
Door 15 March 2016 continues to the mechanism components that
Opening built the transmission mechanism consists of
System and reduction gears, shaft and so on, for the
Method of electrical components it consists of
Using the electromagnetic clutch and a rotation sensor,
Samw All of the components mechanical and
electrical are connected to the case. Problem
that rise from this invention is that it lacks
productivity thus making it inefficient. This is
because it is not possible to confirm the
operation of only electrical component and the
operation of mechanical mechanism judging

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 from the assembly operation [10].
Control Meng-Yu Chung, Yi This paper highlights the concern of the
system and Chuan Liao vehicles user that may not notice of pedestrian
control of object that may collide with their vehicle’s
method for 4 August 2016 doors. The design of this invention consists to
collision control module that is light control module and
avoidance sound control module. The use of the sound
while control module is to control a sound prompting
opening unit to alarm when the moving speed of the
vehicle door vehicle is equal to zero. For the light control
module, it is use to control a light prompting
unit to flicker when the vehicle is stop or in the
other words is when the moving speed of the
vehicle is equal to zero [11].

Table 2.1: Overall Summarization of Literature Review

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3.0 PROBLEM ELABORATION

Figure 3.1: Door Opening Control System

Based on “door opening control system” as shown in Figure 3.1, it is required to do

the analysis to control system for the findings of the output for the system. Officially it is
focused on design a control system at the same time create of the block diagram based
mathematical model. In this project, the derivation of the system mathematical model and
construct the block diagram need the be done based on door opening control system. To get
the project outcomes, MATLAB Simulink software will be use to run and simulate the block
diagram. While, DC motor to operate the door open and close that involving the gears with
different radius and diameter to move in opening and closing the door by decreases the
friction and make it smoothly on the load. In order to do the analysis, it will be more easier to
design a mathematical model derivation first and after that find out the calculation of transfer
function to analyze the stability of the system. All the mechanical contacts with gear data are
assumed to determine the system transfer function. This derivation is needed to analyze its
stability and fundamental of the control system theory in the system given. Then, the stability
of the system with controller and without controller will be compared.

There are many types of controllers such as Proportional (P), Proportional-Integral

(PI), Proportional-Derivative (PD) and Proportional Integral-Derivative (PID) are

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implemented in this project as the controller of the system. Specifically, in this project mostly
use the PID controller to create and run the system. PID are always the stable controller
system when it uses it cause if it is the combination from another controller. But some time
the industrial do not want to use PID because of it uses only limited use in there industrial, so
that it will save the cost and use the simple controller only. Therefore, it will be tuning test in
the way of manually and automatically for PID controllers. PID tuning has be done using
Ziegler Nicol second method. All controller response will be compared with system response
without the controller. The PID controller need to ensure maximum overshoot (0.5%) ≤ 10%,
minimize rise time (Tr), setting time (Ts), peak time (Tp) and reduce steady state error (e ss) is
achieved. Therefore, PID controller are simple and easy to manage and control.

For each P, I and D have a different characteristics and function. The function of
proportional control (Kp) will have the effect of reducing the rise time and will reduce, but
never eliminate, the steady-state error. An integral control (K i) will have the effect of
eliminating the steady-state error, but it makes the transient response worse. A derived
control (Kd) will have the effort of increasing the stability of the system, reducing the
overshoot, and improving the transient response [12]. Derivative control will have the effect
of increasing the stability of the system, reducing the overshoot, and improving the transient
response. Derivative control action can never be used alone because this control action is
effective only during transient periods. The PID controller makes a control loop respond
faster with less overshoot and most popular method of control by a great margin. The
combined action has the advantages of each of the three individual control actions. The effect
of each controllers Kp, Kd, and Ki on a closed-loop system are summarised in the Table 3.1
below:

Parameter Rise Time Oversho Settling Time S-S Error

ot
Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease Small Change

Table 3.1: Characteristics of Proportional (P), Integral (I) and Derivative (D) Controller
Part

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 It is noted that, for the performance comparison of P, PI, and PID controllers, when
gain is increasing speed of response is increasing in case of P and PID controller but in PI
controller gain of response is decreasing. In PID controller there is a minor decrease or no
changes are shown in various parameter which can see from table 1. Hence there is no change
in steady state error so PID controller is better than P and PID controller [13]. For the
implementation of the controller, firstly do a manual and auto tuning for each type of
controller using MATLAB software. Manual tuning is works by setting the reset time to its
maximum value and the rate to zero and increasing the gain until the loop oscillates at a
constant amplitude. For auto tuning of controller, is to simplify matters by choosing their own
tuning parameters based on control processes requirements. After do a manual and auto
tuning for each type of controller, analyse each type of controller responses and compare
when system responses without controller. Lastly, by using PID controller, determine the
maximum overshoot, rise time, settling time, peak time and reduce steady state error.

To design the mathematical model, it required the input and the output for the system.
Next, in order to do the analysis, method that will be used is differential equation and transfer
function. Differential equation model is a time domain mathematical model of a control
system by applying basics law of control system such as electrical system will apply
Kirchoff’s Law and get the differential equation based on the Kirchoff’s Law as shown in the
equation below.

Figure 3.2: Example of Electric Circuit Application

d vo d2 vo
vi=RC + LC + vo
dt dt

d2 vo R d vo 1 1
¿
dt ( )
+
L dt
+( ) ( )
v= v
LC o LC i

The transfer function model is known as s-domain mathematical model in control

systems. For the example transfer function for a Linear Time Invariant (LTI) system is
represent in the Laplace transform by assuming the initial conditions are zero. The transfer

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function is the ratio of x(t) as input and y(t) as output. The corresponding Laplace transforms
are X(s) and Y(s) as below:

Y ( s)
Transfer Function=
X (s)

The transfer function model can be represented in the block diagram as shows in the
Figure 3.3 below. The block diagram shows that the input has an input X(s) and output Y(s).

Figure 3.3: Transfer Function of LTI System Block Diagram

There was a two method to analyze the stability of the system. The method is Routh-
Hurwitz and Ziegler-Nichols method:

[1] Routh-Hurwitz:
In this method, any system can be stable if all the roots at first column has same sign.
Using this method, we can find the stability without solving the equation. Other than that,
the range of K for stability can be determined easily.

[2] Ziegler-Nichols
The Ziegler-Nichols rule is a heuristic PID tuning rule that attempts for produce three
PID gain parameters:

 Kp - controller path gain.

 Ti - controller's integrator time constant.
 Td - controller's derivative time constant.

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4.0 PROBLEM EXECUTION AND RESULT

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5.0 CONCLUSION

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6.0 REFERENCES

[1] Adetoyi, Oluyemi. (2019). Development of Smart Card Door Access Control System.
International Journal of Innovative Research in Computer and Communication
Engineering. 8. 2249-071.
[2] Dumas, P. C., & Bennett, T. (2015). U.S. Patent No. 9,057,210. Washington, DC:
U.S. Patent and Trademark Office.
[3] Magner, D. S., & Bergman, J. T. (2015). U.S. Patent No. 9,159,219. Washington, DC:
U.S. Patent and Trademark Office.
[4] Yuge, M. (2015). U.S. Patent No. 8,944,487. Washington, DC: U.S. Patent and
Trademark Office.
[5] Chen, Y. J., & Yu, C. P. (2016). U.S. Patent No. 9,514,629. Washington, DC: U.S.
Patent and Trademark Office.
[6] Fan, Y., & Lyons, J. C. (2015). U.S. Patent No. 9,169,684. Washington, DC: U.S.
Patent and Trademark Office.
[7] Fujimoto, K., Yamagishi, Y., Ueda, Y., & Lee, S. (2016). U.S. Patent No. 9,522,590.
Washington, DC: U.S. Patent and Trademark Office.
[8] Szymke, S., & Gramlich, J. (2015). U.S. Patent Application No. 14/718,206. 27.
[9] Shen, J., & Huang, T. Y. (2016). U.S. Patent No. 9,378,596. Washington, DC: U.S.
Patent and Trademark Office.
[10] Sasaki, K. (2016). U.S. Patent No. 9,284,768. Washington, DC: U.S. Patent and
Trademark Office.
[11] Chung, M. Y., & Liao, Y. C. (2016). U.S. Patent Application No. 14/736,987.
[12] “Introduction to PID Control Introduction the Three-Term Controller”, Find at:
http://ee.sharif.edu/~industrialcontrol/introduction_to_PID.pdf. (12 June 2020).
[13] “Comparative study of P, PI and PID controller for speed control of VSI-fed induction
motor”, Find at: https://www.ijedr.org/papers/IJEDR1402230.pdf. (2014).

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