DESIGN & DEVELOPMENT OF A SOFTWARE

TOOL FOR ANALYSIS OF THE

CHARACTERISTICS OF INSTRUMENTED
RECTILINEAR OPEN LOOP CONTROL
SYSTEM

MOHAIMEN SIDDIQUE
REZAUL KARIM NAYEEM
SADMAN SADID

B.Sc. ENGINEERING THESIS

DEPARTMENT OF AERONAUTICAL ENGINEERING

MILITARY INSTITUTE OF SCIENCE & TECHNOLOGY
DHAKA, BANGLADESH

MARCH 2022
SIDDIQUE • NAYEEM • SADID B.Sc. ENGG. THESIS MIST • AE • 2022
 DESIGN & DEVELOPMENT OF A SOFTWARE TOOL FOR
ANALYSIS OF THE CHARACTERISTICS OF INSTRUMENTED
RECTILINEAR OPEN LOOP CONTROL SYSTEM

MOHAIMEN SIDDIQUE (SN. 201822046)

REZAUL KARIM NAYEEM (SN. 201822043)
SADMAN SADID (SN. 201822035)

A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree of

Bachelor of Science in Aeronautical Engineering

DEPARTMENT OF AERONAUTICAL ENGINEERING

MILITARY INSTITUTE OF SCIENCE & TECHNOLOGY
DHAKA, BANGLADESH

MARCH 2022
 ABSTRACT

DESIGN & DEVELOPMENT OF A SOFTWARE TOOL FOR ANALYSIS OF THE

CHARACTERISTICS OF INSTRUMENTED RECTILINEAR OPEN LOOP CONTROL
SYSTEM

Spring mass damper system (SMD) is a basic tool for the understanding of open and closed loop
control systems. SMD can be widely applied in all control systems especially aircraft flight
dynamics for aerospace engineers' understandings. This project was to develop an instrumented
open loop SMD for acquiring the data for analysis towards system identification and
characterization. In order to develop the hardware, the initial work included the design of all the
requisite components in the Solidworks, matching with procured of the shelf components from the
market and integrating a system of components in one unit. This was the stepping stone for the
fabrication and development of hardware for the control system. The instrumentation of the device
included quantity two LVDT as position sensors, an actuator and a NI DAQ to interface with
sensors and motor. The actuator is made to hit the mass of SMD and cause a change in its position
with time. This evolution of position with time is captured through the sensor onto a device using
Labview Software. The software introduces and enables interfacing with the hardware. Further, it
allows picking up to data by the user and entering to a computation block panel for getting the
output in the form of component parameter and system characterization. The user would be able
to change the component of SMD and observe the change in the behavior of the output.

.
 সারসংক্ষেপ

DESIGN & DEVELOPMENT OF A SOFTWARE TOOL FOR ANALYSIS OF

THE CHARACTERISTICS OF INSTRUMENTED RECTILINEAR OPEN LOOP
CONTROL SYSTEM

স্প্রং ভর ড্যাম্পার পদ্ধস্প্ি (system) নন- স্প্িড্ব্যাক (open) এবং স্প্িড্ব্যাক (closed) লুপ (loop) স্প্নয়ন্ত্রণ
ব্যবস্থা (control system) বুঝার জন্য একটি ম ৌস্প্িক টুি। এই পদ্ধস্প্িটি ব্যাপকভাক্ষব অস্প্িকাংশ স্প্নয়ন্ত্রণ
ব্যবস্থায় প্রক্ষয়াগ করা মেক্ষি পাক্ষর স্প্বক্ষশষ কক্ষর স্প্ব াক্ষনর উড়াি (flight) গস্প্িস্প্বদ্যা (dynamics) বুঝার
মেক্ষে। এই প্রকল্পটিক্ষি নন- স্প্িড্ব্যাক এবং স্প্িড্ব্যাক পদ্ধস্প্ির সনাক্তকরণ এবং ববস্প্শক্ষের িরণ বুঝার জন্য
িথ্য (data) সংগ্রহ (acquisition) পদ্ধস্প্ি উন্নি করা হক্ষয়ক্ষে। েন্ত্রাংশ প্রস্তুক্ষির মেক্ষে, প্রাথস্প্ কভাক্ষব
উপাদানসমুক্ষহর সস্প্িড্ওয়াককস (solidworks) স্প্ড্জাইন করা, বাজার িব্ধ সা গ্রীর সাক্ষথ স্প্ড্জাইন স্প্ স্প্িক্ষয়
মনওয়া এবং প্রাপ্ত উপাদানসমূহক্ষক একীভূি (assemble) করা হক্ষয়ক্ষে। েন্ত্রাংশ প্রস্তুক্ষির মেক্ষে এই ক্রক্ষ র
অনুসরণ স্প্েি াইিিিকস্বরূপ। এক্ষেক্ষে স্থানচ্যযস্প্ি (displacement) মসন্সর (sensor), একটি অযাকচ্যক্ষয়টর
এবং িথ্য সংগ্রক্ষহর জন্য ন্যাশনাি ইন্সট্রুক্ষ ন্ট (NI DAQ) কাড্ ক ব্যবহার করা হক্ষয়ক্ষে। অযাকচ্যক্ষয়টরটি ভরক্ষক
আঘাি কক্ষর স্থানচ্যযি করার জন্য বিস্প্র করা হক্ষয়ক্ষে। স ক্ষয়র সাক্ষপক্ষে ভক্ষরর এই স্থানচ্যযস্প্ি ল্যাবস্প্ভউ
(Labview) সিটওয়্যাক্ষরর াধ্যক্ষ স্প্নণ কয় করা হক্ষয়ক্ষে। সিটওয়্যারটি েন্ত্রাংক্ষশর সাক্ষথ স ন্বয় করক্ষি
সে । উপরন্তু এটি ব্যবহারকারীক্ষক িথ্য বাোই এবং িা কস্প্ম্পউক্ষটশনাি ব্লক প্যাক্ষনক্ষি অন্তর্ভকক্ত করা এবং
স্প্সক্ষেক্ষ র ববস্প্শক্ষের আকাক্ষর িিািি প্রকাশ করক্ষি পাক্ষর। ব্যবহারকারী স্প্রং ভর ড্যাম্পার ব্যবস্থার
উপকরণ পস্প্রবিকক্ষনর দ্বারা িিািক্ষির পস্প্রবিকন প্রিযে করক্ষি পারক্ষব।

ii
 ACKNOWLEDGMENTS

Firstly, we would like to express our sincere gratitude to the Almighty, the most merciful
for bestowing us with will, ability and patience to complete our thesis work. We
acknowledge our deep gratitude and appreciation to our supervisor Gp. Capt. Karthikeyan
sir, IAF, Senior Instructor, Department of Aeronautical Engineering (AE), Military
Institute of Science and Technology (MIST) for his enthusiastic guidance, valuable
suggestions, constant encouragement and help all along the thesis work. The project
wouldn’t have reached the completion stage without his timely advice and impeccable
knowledge.

Sincere thanks to Tanjim Hassan Jim & the laboratory members for their prompt and
generous assistance in every stage during staying at MIST.

Finally, the authors are highly indebted to his parents, who had support them at every stage
and brought them to this level and hence their special thanks are due to them. The authors
would like to thank their families for their understanding, encouragement and patience that
they have shown during the course.

iii
 TABLE OF CONTENTS

ABSTRACT i
সারসংক্ষেপ ii
ACKNOWLEDGEMENTS iii
TABLE OF CONTENTS iv
LIST OF FIGURES vii
LIST OF TABLES ix
LIST OF MAIN NOTATIONS x
CHAPTER 1: INTRODUCTION
1.1 General 1
1.2 Background of the Study 2
1.3 Statement of the Problem 5
1.4 Objectives 5
1.5 Scopes 5
1.6 Structure of the Thesis 6
CHAPTER 2: LITERATURE REVIEW
2.1 Background 7
2.2 Development of electromechanical systems 7
2.3 Development of damper 8
2.4 Development of control method 8
2.5 Software and sensor development 11
CHAPTER 3: DESIGN OF RECTILINEAR PLANT OF OPEN LOOP CONTROL
SYSTEM
3.1 SolidWorks Design 15
3.2 1st Prototype Design 15
3.3 Final Prototype Design 16
CHAPTER 4: METHODOLOGY
4.1 General 23
4.2 Platform of Software Tool Development 23
4.3 Circuit Connection Analysis 23

iv
 4.4 Identifying Actuator’s Position 24
4.5 Operating the Actuator 24
4.6 Data Acquisition 26
4.7 Assess the SMD System’s Characteristics 26
CHAPTER 5: ANALYSIS, INTERPRETATION OF DATA & VALIDATION
5.1 Background 30
5.2 Data Analysis and Interpretation Due To Changing Mass Bar & 31
Validation
5.3 Data Analysis and Interpretation Due To Changing Damper & 34
Validation

CHAPTER 6: RESULT & DISCUSSION

6.1 Result 37
6.2 Discussion 37
CHAPTER 7: CONCLUSION
7.1 Conclusion 39
7.2 Recommendations 39
REFERENCE 40

v
 LIST OF FIGURES

Figure 1.1: L298 Double H-Bridge Motor Driver 3

Figure 1.2: Hardware of DAQ Measurement NI-USB 6009 4

Figure 1.3: Analog & Digital Input and Output channel of NI-USB 6009 4

Figure 3.1: 1st prototype of the rectilinear plant 15

Figure 3.2: Design of the final prototype of the rectilinear plant 17

Figure 3.3: Design of motor 17

Figure 3.4: Design of the base of the plant 18

Figure 3.5: Design of LVDT sensor 18

Figure 3.6: Design of linear guideway 18

Figure 3.7: Design of the mass on the holding bracket 19

Figure 3.8: NI-DAQ USB 6009 Model 19

Figure 3.9: Design of one of the parts of the force actuator mechanism 20

Figure 3.10: Design of the force actuator mechanism with the rod 20

Figure 3.11: Design of another part of the force actuator mechanism 21

Figure 3.12: Design of spring 21

Figure 3.13: Design of power box 22

Figure 3.14: Design of damper 22

Figure 4.1: Whole Circuit Connection at a Glance 23

Figure 4.2: Working Flowchart of Identifying Actuator’s Position 25

Figure 4.3: Furthest position’s voltage < Current position’s voltage 25

Figure 4.3: Furthest position’s voltage > Current position’s voltage 25

Figure 4.4: Data Acquisition from Mass Position Graph of Underdamped

Oscillations 26

Figure 4.5: Spring Mass Damper System 27

vi
Figure 4.6: Underdamped Oscillation 27

Figure 5.1 Sample of Data Collection by Using Input & Output Panel 30

Figure 5.2: Effect of damping coefficient while increasing mass & other
parameters spring stiffness and damper are constant. 32

Figure 5.3: Effect of natural frequency while increasing mass & other parameters
spring stiffness and damper are constant 33

Figure 5.4: Effect of Sigma, 𝞂 while changing damper & other parameters spring
stiffness and mass are constant 35

Figure 5.5: Effect of angular velocity while changing damper & other parameters
spring stiffness and mass are constant 36

vii
 LIST OF TABLES

Table 5.1: Data Collection of Changing Mass Bar with Input Panel 31

Table 5.2: Data Collection of Changing Mass Bar with Output Panel 31

Table 5.3: Data Collection of Changing Damper with Input Panel 34

Table 5.4: Data Collection of Changing Damper with Output Panel 35

Table 6.1: Summarization of Results 37

viii
 LIST OF MAIN NOTATION

SMD Spring Mass Damper

LabVIEW Laboratory Virtual Instrument Engineering Workbench
NI -DAQ National Instruments Data Acquisition
LVDT Linear Variable Differential Transformer
T Time period
t Amplitude at specific time
K Spring constant
M Mass
C Damper
ᵹ Damping ratio
D Damping coefficient
S Transfer function

𝜔𝑛 Angular velocity

𝜔𝐷 Damped natural frequency

n Difference between peak/valley number

fD Damping Frequency
fn Natural Frequency
PWM Pulse With Modulation
ms milisecond

ix
 CHAPTER 1
INTRODUCTION

1.1 General

What are the mysteries or mechanisms that enable a person to apply brakes to a car or an
airplane's wheels, how the suspension of vehicles, accelerometer (Flight Test Instrument),
landing gear, control surfaces and dynamic stability (Dutch Roll/ Porpoise Landing/
Autorotation) of an aircraft work? Well, the simple answer to all of the questions here, is
an Spring Mass Damper (SMD) system, that is comprised of spring, mass and damper. The
interesting fact is that most of the dynamic systems like the systems having oscillatory
motion or vibration and the shock-absorbing system all can be conceptually framed as SMD
system to easily understand the function of that system, most importantly analyze their
characteristics, smooth data acquisition and find out their limitations.

Suppose, think about a complex situation like an airplane having the center of gravity (CG)
moving ahead of the aerodynamic center, how the performances will be changed or how
the aircraft will react? As CG is ahead of the aerodynamic center, a moment will be
generated to make the aircraft pitch down. But the elevator will make it balanced and stable
by generating another moment in opposite direction. This complex situation can also be
analyzed easily by assuming it as an SMD system. How? In the longitudinal axis, the
aircraft’s inertia is actually mass here and the elevator works like a damper which is
resisting to make the system stable and balanced. If a more complex situation is thought of
like a dutch roll, a pure practical example of the SMD system will be seen. Suppose, a
disturbance creates a roll to right, tilting the lift vector and wind will come more straight to
the right-wing which enables to generate more lift. This extra lift generated by the wing
surface will make the aircraft come back towards its level which is exactly acting like a
spring restoring motion. As yaw stability is weaker, restoring yaw moment by rudder comes
later than the restoring rolling moment which is exactly working like a damper. Here, the
rudder tries to dissipate the unbalanced condition.

Basically, in every engineering field, SMD is a very simple system to understand the
complex dynamic system. That’s why it is very widely used and framed in many
engineering and dynamic applications.

1
1.2 Background of the Study

A control system is comprised of components (electrical, mechanical, pneumatic, hydraulic

or combination of any of these ) designed to collaborate closely in order to achieve a
specific goal. This system must be reliable, accurate and able to respond quickly. Based on
feedback, the control system is classified as open loop (not having feedback) and closed
loop (having feedback). In a closed loop, a comparison is made between the output or
controlled variable and the input or reference variable in order to lessen the error whereas
in an open loop, there is no such feedback or comparison that occurs (Harrison & Bollinger,
1969).

Rectilinear system or SMD system, a mechanical system, consisted of spring, mass and
damper. Very simply, mass is nothing but storing energy. Spring restores the motion to try
to make the system equilibrium. Damper just absorbs or dissipates energy to make the
unbalanced system to be balanced (Kulkarni, 2016). In any dynamic system, whatever
stores the energy, restores the motion to try to make the system equilibrium and absorbs or
dissipates energy to make the unbalanced system can be considered as mass, spring and
damper respectively. Then characteristics analysis, understanding the behavior, function or
limitation of that dynamic system will be very easy.

Solidworks software was used to design all requisite components with proper dimensions
in order to develop, procure and fabricate the hardware. The actuator is made basically to
hit the mass to change the position of mass with respect to time. DC motor has been used
to make the actuator. The motor controllers and the motors are linked via motor drivers.
The motor requires a large quantity of power, but the microcontroller circuit (NI-USB
6009) is only able to provide a little amount of voltage (0-5 volt). The low-voltage signal
must be converted into an appropriate high-voltage signal to drive a motor by a motor
driver.

In this project, the L298 model, a dual H-Bridge motor driver, was employed. Its primary
function is to regulate the speed of the dc motor by pulse width modulation and to alter the
direction of rotation via the H bridge. It supports the simultaneous operation of two dc
motors. The two pins "ENA" and "ENB" control the motor's speed. When the "ENA" pin
is active, pins "INA" and "INB" are enabled to change the direction of the motor connected
to "Output 1 & Output 2" but when the "ENB" pin is enabled, pins "INC" and "IND" are

2
 Fig. 1.1: L298 Double H- Bridge Motor Driver

enabled to change the direction of the motor linked to "Output 3 & Output 4". The positive
wire of the power supply is connected to "VCC" and the negative wire to "GND". While
switching the transistor in the H Bridge Circuit, about 2V is lost due to internal voltage
drop. Finally, the dc motor receives a voltage that is 2V less than the voltage supplied by
the power source. The microcontroller's low voltage is transformed to the requisite high
voltage to run the dc motor in this circuit. (ElectroDuino, 2022).

Linear Variable Differential Transformer (LVDT) works on “Transformer principle” and

is also called an inductive transducer of the Electromechanical kind that transforms linear
displacement to equivalent AC electrical signals (StudiousGuy, 2022). In this project, the
“KTR11 100mm Displacement Transducer” is used to calculate, capture the changing
position of mass with respect to time and transform it into an equivalent electrical signal.

Data acquisition is actually a process to measure any physical or electrical phenomena like
current, voltage, pressure, sound or temperature, etc. It is comprised of below things to
work together to collect data.

a) Hardware of DAQ measurement (NI USB-6009)

b) Programmed software with a computer (Labview) and
c) Sensors

3
 Fig. 1.2: Hardware of DAQ Measurement NI-USB 6009 (National Instrument, 2004
2015)

Fig. 1.3: Analog & Digital Input and Output channel of NI-USB 6009 (National
Instrument, 2004-2015)

The National Instruments Data Acquisition (NI DAQ) is a multipurpose control device that
can be used for both analog input-output(8 Single-ended AI, 2 AO) and digital input-output
(12 DIO). It has also a 32-bit counter. It is connected and accessed through National
Instrument Measurement and Automation Explorer (NI MAX) tool. Then it is integrated
with the environment of graphical programming software called Laboratory Virtual
4
Instrument Engineering Workbench (Labview) which allows picking the data to analyze
the characteristics or to command to execute by users and enables users to get the output
with a smooth interface (Haugen, 2008).

1.3 Statement of the Problem

Several SMD systems have been seen but it is kind of challenging to obtain data and exact
record or compute the physical phenomena (Changing of mass location with respect to
time) and from those captured phenomena, further calculations (Damping Coefficient,
Natural Frequency, etc.) must be done properly. Additionally, the actuator must be
controlled in a precise manner from the user interface. To address these issues, an user-
friendly software tool must be developed that enables actuator control and data acquisition
sequentially. Thus, the project's purpose is to design and develop a user-friendly software
tool for controlling the actuator, data acquisition and analyzing the SMD system's
properties. The graphical programming language platform “Labview” will be used to
develop this user-friendly software tool.

1.4 Objectives

The objectives of this project were set as follow based on the above discussion:

a) To gain knowledge about the characteristics, working principle, degree of freedom,

mode, the transfer function of the SMD system.
b) To design and develop a user-friendly software tool for data acquisition and further
calculation in a very precise manner.
c) To analyze the characteristics, understand the function and find out the limitation
of complex dynamic system easily through SMD system.
d) To be familiar with the function of associated instruments (L298 Motor Driver,
LVDT and NI-USB 6009) required to make the SMD system.
e) To learn how to integrate a software tool with the hardware of the SMD system.

1.5 Scopes

The scopes were set as follows:

5
 a) To use the whole SMD system with software integration as lab equipment for the
students.
b) To use stepper motor with initialization to make the system more precise.
c) To visualize a more complicated dynamic system by increasing the degree of
freedom in the SMD system.
d) To use as closed loop system with feedback.

1.6 Structure of the Thesis

a) Introduction: This chapter introduces the instrumented rectilinear open loop

control system's idea, fundamentals and background. Additionally, it defines the
problem statement and proposes a solution. The purposes and scopes of the project
have been outlined here briefly. Finally, it illustrates the framework of the thesis.
b) Review of Related Literature: The review of scholarly materials on the open-loop
rectilinear plant represents current knowledge while also identifying pertinent
theories, methodologies, and research gaps.
c) Design of Rectilinear Plant of Open Loop Control System: This chapter
demonstrates how rectilinear plant is designed with solidworks software. This is the
stepping stone for manufacturing.
d) Methodology: This chapter describes the method used to identify the actuator's
location, operate the actuator, acquire data, and evaluate the SMD system's
properties.
e) Analysis, Interpretation of the Data & Validation: How data is collected,
analyzed and what is their interpretation and how they are validated with theory are
shown in this chapter.
f) Result and Discussion: This chapter discusses whether the objectives of this
project are fulfilled or not.
g) Conclusions and Future Recommendation: Recommendation of the possibility
of future study is addressed in this chapter.

6
 CHAPTER 2
LITERATURE REVIEW

2.1 Background

A rectilinear plant represents a control system that consists of mass, spring and damper
elements. Projects involving rectilinear plants are not entirely novel. Previous research can
provide an overall picture of how much progress has been made in this field.

2.2 Development of Electromechanical Systems

A spring-mass system consisting of 2 masses and 3 springs was developed. The system had
a linear guideway giving motion in one direction and an eccentric mechanism actuator which
used a DC motor of a brush geared type. A reflective type photo-interrupter was there which
detected the motion of the mass and a GP1A16R OPIC Photo-interrupter having encoder
function that detected the angular movement of motor. For controlling the motor bi-
directionally an L298N motor driver was used. An algorithm based circuit was used for
discerning and a voltage sensor for monitoring the voltage output. The whole system was
made to experiment by data acquisition and plotting graphs thus better understanding the
control theory and its system (Agreement, 2008). The term “Switched Stiffness” was
introduced to define the stiffness switching from the equilibrium state of a semi-active
control system. Structural vibration was proposed between two distinct values. One for
moving away and another for returning to the equilibrium point. Velocity and position
feedback was required but the absence of velocity sensor made it harder to calculate by
differentiating the position signal with intervention of noise and signal phase-lag.
Implementation of output feedback variable observer solved the problems regarding
velocity measurement(Ramaratnam & Jalili, 2006). A cam profile was designed that will
reduce the vibration induced by motion of a rectilinear plant. It was done by command
smoothing technique which is a command modification technique of real-time used in
machines controlled by computer with natural frequency, ω, and damping ratio, ζ (Liang &
Huang, 2014). A nonlinear discontinuous H∞ controller for a rectilinear plant was developed.
The plant was made to have some under actuation that was configured to have coulomb
friction increased with viscous friction and a dead zone model of backlash. The controller
was developed for achieving stabilization around the desired position for the system (Juma

7
& Werner, 2012a). Asymptotic output tracking with vibration cancellation was achieved by
using differential flatness along with sliding mode control for a nonlinear vibrating system.
The final was to control the under-actuated mass with two degrees of freedom which was
affected by variable excitation frequencies. This vibration control scheme was good enough
against harmonic vibrations and frequencies that lead to mechanical resonance(Control et
al., 1999).

2.3 Development of Damper

In previous rectilinear plants, dampers of various specifications were used. A discrete-time

internal mode control (IMC) filter for a mass-spring-damper system was designed. The
system was having damping properties that are poor. It was designed to eliminate
disturbance at the input or output which improved the performance of closed-loop.
Diophantine equations were used on the filter. (De Keyser et al., 2017). A device called
magnetorheological (MR) damper with dual advantages of sensing force and displacement
was developed to control closed loop structural vibration. It was integrated with a
piezoelectric force sensor and a LVDT transducer. MR fluid containing seized magnetic
particles was filled into MR dampers. Therefore, its damping coefficient was variable
depending on the input current. As a result, it was able to be in passive or active mode
within milliseconds based on the vibration amplitude. With the help of sensing while
damping function, it was able to implement closed-loop feedback control in real time
structural vibrations(Lam et al., 2010).

2.4 Development of Control Method

The method used to operate a control system has a large impact on its performance. To
achieve the desired results, control methodology needs to be specified. A discrete-time
higher-order sliding mode (DHOSM) control for a rectilinear plant was designed. The plant
was a closed loop one. The weighted moving average method was used for the algorithm.
The purpose of it was to reduce system order and vibration of high frequencies thus also
gaining stability towards disturbances that might occur in future and uncertainties (Sharma
& Janardhanan, 2019). ADHOSM (Adaptive Discrete-time Higher Order Sliding Mode)
controller was proposed to achieve higher order sliding mode in accompany with gain-
adaptation with lack of knowledge of disturbance bound. Adaptive law was introduced to

8
reduce overestimation regarding the switching gain. Though the proposed strategy was
estimated for better performance via simulation, was resulted in overall lesser control
efforts. ADHOSM controller with output feedback was desired as future work to boost the
practical performance of the proposed method(Sharma & Sivaramakrishnan, 2019). A
control laboratory that was automated for the learning of the fundamentals of
electromechanical systems like a spring-mass-damper system was developed. The
laboratory could be used measuring different parameters of the system while understanding
the effect of damping of control systems for both open and closed loop. Controllers like
Proportional Derivative Controller (PID) could be made for further modification to the
system while also having a program that was menu-driven for the system for data
acquisition, plotting, etc. for the user (Chandrasekara & Davari, 2004). A heuristic
controller which implemented the notion of fuzzy logic was designed. It was designed for
controlling dynamic systems that were non-linear such as a rectilinear plant with the
inverted pendulum. Its simulations were done beforehand using MATLAB or SIMULINK
(Rivera & Cox, 2009).Experiments were done with a PID controller applied on FPGA and
a controller based on smart fuzzy logic. The controllers were applied on a rectilinear plant
for controlling vibration, thus concluding that the combination of fuzzy PI and fuzzy PD
was the best for removing vibrations (Fang, 2011). Experiments were done of a linear
quadratic-regulator control (LQR) and a PID control on a rectilinear plant of a higher order
plant that had multiple masses, springs and dampers. The configurations were adjustable
and could be further controlled by SIMULINK and C programming thus verifying the
advanced control theory (Wang & Fu, 2015). A robust algorithm for improving the
performance of a 1st order sliding mode control was designed. It was applied to a system of
2nd order such as a mass-spring-damper system. The algorithm had a discontinuous velocity
observer for lessening the time to reach the sliding surface. It also had a 2nd-order low-pass
Butterworth filter for dealing with the perturbations that are external and parameter
uncertainties (Rascón, Peñaloza-Mejía & Castro, 2016). A positive position feedback
controller was used on a mechanical plant having a spring-mass vibration absorber in
addition to also a beam type vibration absorber which was a cantilever type. It was
designed for vibration compensation, thus increasing the robustness , terminating frequency
vibrations or resonating frequencies occurring simultaneously (Rios-Gutierrez & Silva-
Navarro, 2008). A robust dynamic output feedback controller was designed. It was added
to a sliding surface of dynamic systems that were uncertain which required the solution of
a Linear Matrix Inequality (LMI) and Bilinear Matrix Inequality (BMI) problems. The
9
controller was later experimented on a plant of 2 mass , 1 spring system having variable
type stiffness (Juma & Werner, 2012b). On-line algebraic identification was implemented
to determine the parameters and estimate the signals of a vibrating system. Instead of
asymptotic, an algebraic method was used in the case of parameter identification.
Estimation of viscous damping, mass, and stiffness was achieved by implementing
algebraic identification with the help of position measurements only. Stabilization of the
system’s response was done asymptotically by assembling algebraic identification with an
equivalent controller which at the same time reduces harmonic vibrations. These resulted
in an adaptive-like controller with fast, accurate, and robust response against external
vibrations and unknown parameters(Beltrán-Carbajal & Silva-Navarro, 2013). A discrete
higher-order sliding mode (DHOSM) control which was an optimum one that was designed
for its application to an uncertain discrete linear time-invariant (LTI) system. The
minimization of the index of quadratic performance was used in it. The algorithm was
further modified for the width reduction of the DHOSM band which was finally validated
on a rectilinear plant (Das & Lewis, 2010). The vibrations of a rectilinear plant were
controlled using Proportional Integral Differential (PID) controller and controller based on
fuzzy logic. The PID controller was implemented on a field programmable gate array
(FPGA) which was used as a platform for data acquisition. Later the controllers were
improved to a more intelligent type by the combination of both fuzzy PI and fuzzy PD
(Kumar, Rana & Kumar, 2011). An investigation was done whether PID(proportional-
integral-derivative) or FLC(fuzzy logic controller) was more capable of suppressing the
vibration of the feedback controller. A LabView simulation was used to process the data
input from NI USB 6008 card. Though both of the controllers were found to be good, the
robustness of the FLC was better(Rajeswari & Lakshmi, 2011). A control algorithm of a
robust type for a rectilinear plant was developed. The plant had two carts attached together
with a spring which also had an inverted pendulum having a slosh tank. The configuration
was done for simulating the takeoff of a space vehicle. The LabVIEW program was used
for the phase margin and damping ratio for determining the matrix of feedback gain
(Wilson, 2019). The application of algebraic identification approach was introduced to
achieve signal estimation and parameter in a system affected by exogenous vibrations. The
frequency and amplitude of external vibration were estimated by using only position
measurements. Adaptive-like sliding mode scheme was helpful in combined with algebraic
identification to stabilize the system response asymptotically as well as attenuate the
harmonic vibrations. This control scheme can give precise, robust, and fast results against
10
parameter uncertainty, vibration, and exogenous perturbations(Navarro et al., 2008). A
stochastic discrete higher-order sliding mode control (SDHOSM) was designed. It was
designed for stabilizing a stochastic system of uncertainty which was simulated in a
rectilinear power plant for validation (Sharma et al., 2017). An LMI based robust H2 output
feedback controller was developed. It was applied to a problem of an ACC benchmark of
a rectilinear plant where the tuning of the controller was done by the method of K-S
iteration (Farag & Werner, 2002).

2.5 Software and Sensor Development

To automate the operation of a control system, suitable software development is required.

This development is achievable if the data acquisition, analog to digital conversion,
computer processing and calculation is done with great precision and accuracy. LabView
interface along with LVDT and DAQ card were used to develop an Autonomous Ground
Vehicle System (AGVS). The system was capable of remote operation. DAQ is NI 6221
was used for data acquisition from different sensors such as LVDT for displacement and
Piezoelectric pressure sensor for pump line pressure. To process the acquired data and give
command a closed loop LabView program was used. Addition of PID controller helped to
eliminate the unexpected overshoot and improve the rise time simultaneously(Atef et al.,
2012). LVDT was employed to detect the displacement of the inverted pendulum-type
balance used in Diverging Cusped Field (DCP) thruster. In this project, only analog inputs
from LVDT were given to NI 6009 for data acquisition. A LabView interface was
developed to monitor the system by computer inputs(Tartler & Martinez-Sanchez, 2010).
Vibration sensors along with GSM were employed to develop automatic traffic incident
detection system. NI USB-6008 was used for data acquisition from vibration sensors to PC.
LabView software algorithm did the further processing of incident detection by
accumulating acquired data with GSM information to locate the place of incident and take
rescue measures(Al-Shara, 2017). A LabView program was developed to evaluate its
advantages in a real-time control system over dSPACE. In this process, data acquisition
was done by NI PXI 1031(with built-in NI PXI 8186 controller) and NI USB 6252. It was
found that the combination of NI controller with LabView was better as the process of data
acquisition was simple. LabView also offered good producer-consumer architecture and
separation-of-concern phenomena that provided the user to allow small changes in interface
or hardware without any modifications in other subsystems(Witherspone, 2014). This paper

11
emphasized on high-speed analog input data acquisition using the LabView environment.
NI USB 6211 card was preferred to collect data from the LVDT sensor. Sensor precision
for linear displacement measurement was estimated up to 0.01mm. ANN (Artificial Neural
Network) was used to avoid the non-linearity of LVDT sensor in MATLAB(Engineering,
2015). A control system for a Sensorized Trolley was developed to achieve automatic rail
alignment. LVDT sensors were used to give input to NI USB 6008 card. Further processing
and calculation were done on a LabView interface using the phenomena “shared
variables”(Bosso et al., 2016). A flow indicating controller was developed in PC-based
LabView software. The rotameter used for the controller was modified based on LVDT
sensor. The LVDT was found linear within the desired flow range. overall, the proposed
design was perceived as reliable and cost-effective(Mandal et al., 2018). NI USB 6211 was
employed to digitize the acquired analog data from force balancing seismometers. The NI
card was able to give a voltage range of ±10V with 250k samples/second. Computer
processing in LabView was successful for closed-loop application(Weber, 2009). cDAQ
9174 with embedded NI 9234 module was instrumented to measure the acceleration of
electromagnetic actuator(Nandamuri, Singh & Gavade, 2015). Real-time data acquisition
was done by NI DAQ 6009 card to develop a hybrid system that can generate power from
wind and solar radiation. Different VIs were generated in LabView software to manage the
system. The NI card was also used to track solar ray's direction and simultaneously the
motor's rotation(Muqeet, Begum & Ishaqui, 2014). A LabView VI was developed in order
to internally calibrate LVDT displacement sensors of a novel system. It offered good
calibration facilities with adequate technical feasibility(Lagozzino, Simic & Dudkiewicz,
2019). Beam's deflection and vibration were evaluated using LVDT sensors. Data
acquisition was done by giving analog input into NI DAQPAD 6015. Input vibration and
output results were processed in LabView software with suitable graphical
presentation(Abou-Hanna et al., 2006). An automatic calibration phenomenon was
introduced to detect linearity errors for LVDT sensors. This method was implemented in
both LabView and MATLAB software to evaluate the stabilization of the step angle of a
stepper motor(George et al., 2016). A control system was developed based on FPGA (field
programmable gate array) hardware and LabView software for data acquisition chip NI
PCI-7831R(Samanta & Turner, n.d.). LabView interface along with LVDT and DAQ card
were used to develop an Autonomous Ground Vehicle System (AGVS). The system was
capable of remote operation. DAQ is NI 6221 was used for data acquisition from different
sensors such as LVDT for displacement and Piezoelectric pressure sensor for pump line
12
pressure. To process the acquired data and give command a closed loop LabView program
was used. Addition of PID controller helped to eliminate the unexpected overshoot and
improve the rise time simultaneously(Atef et al., 2012). LVDT was employed to detect the
displacement of the inverted pendulum-type balance used in Diverging Cusped Field (DCP)
thruster. In this project, only analog inputs from LVDT were given to NI 6009 for data
acquisition. A LabView interface was developed to monitor the system by computer
inputs(Tartler & Martinez-Sanchez, 2010). Vibration sensors along with GSM were
employed to develop automatic traffic incident detection system. NI USB-6008 was used
for data acquisition from vibration sensors to PC. LabView software algorithm did the
further processing of incident detection by accumulating acquired data with GSM
information to locate the place of incident and take rescue measures(Al-Shara, 2017). A
Morphin wing was developed with a flexible upper surface to generate different airfoil
shapes. Actuators of smart memory were used along with different pressure sensors to form
the desired airfoil shapes. NI USB 6210 card that has 16 analog input capabilities was
instrumented for data acquisition. For both open and closed loop configurations, the
actuator's position feedback was collected from LVDT sensors(Popov et al., 2010). A
PCMCIA-bus based National Instruments DAQ-Card6024E card was developed. It is a
card for data acquisition that can be used to collect on-site data and also be used in
LabVIEW for getting data of real time with high precision and accuracy. So it created an
integrated environment between hardware and software (Shafer, 2010). A state-of-the-art
control laboratory was developed for enforcing advanced theories. Some of the theories
were assignment of Eigen structure, linear quadratic Gaussian control having loop transfer
recovery, identifying parameters etc. By using MATLAB or SIMULINK it was developed
on a rectilinear plant (Winter, 2015). Experimentations and analysis unified the theoretical
and experimental knowledge of the control systems. The experiments were done on plants
like the spring-mass-damper system, pendulum that were rotary inverted and also used the
National Instruments LabVIEW for acquisition of data and integration of hardware and
software (Bishop et al., 2006). A web-based learning program of system dynamics and
control was developed. The program had simulations using MATLAB or SIMULINK and
was given remote access by LabVIEW’s panel which is remote via the internet. Then a
model of 3D was developed for the system by MSC Visual Nastran 4D. The program’s
goal was the individual’s gain of knowledge about simulating, designing, solving
engineering problems that were based on real world. Further making changes to controllers
of prototype for a dynamic system such as a rectilinear plant having multiple masses,
13
springs and dampers (Kypuros & Connolly, 2005). A remote lab using National
Instruments and LabVIEW was developed. The lab’s goal was that the individuals could
gain access and be able to have near hands-on experience of different control systems such
as a rectilinear plant via the Internet. The lab would be used for experimentation, data
collection, and learning the basics of dynamic systems and control which reduced the cost
of expensive of equipments and need for extra laboratory space (Cox et al., 2010). A
measurement application by using National Instruments USB-6008 was developed.
LabVIEW and NI-DAQmx were used on the application. The application was used for
acquisition of data , controlling any instrument, logging of data and the applications of
measurement analysis (Bogdan, 2009).

14
 CHAPTER 3
DESIGN OF RECTILINEAR PLANT OF OPEN LOOP CONTROL SYSTEM

3.1 Background

For developing any software first and foremost a 3D visualization of the parts and
mechanisms of how the system should be is needed. It gives a basic idea of exactly what
code to develop and which type of motion is needed to be given to the mechanism.

3.2 1st Prototype Design

So based on this need the 1st prototype of the dynamic system was developed. All the
measurements were assumed as it was a very early design that visualized the basic concept
of the system.

Fig. 3.1: 1st prototype of the rectilinear plant

15
The 3D structure of the prototype system was developed using “SolidWorks 2018”. The
early model had a force actuator that moved via a belt-pulley mechanism. The mass was
placed above the linear guideway mechanism which was able to move freely due to very
low friction. There was also 1 damper connected to the other side of the mass bracket and
an LVDT sensor that would detect the linear motion of the mass which would eventually
give amplitude and time readings for further calculations. All the rods were attached to the
mass as close to the center as possible.

But later it was decided that this configuration wouldn’t be able to produce the desired
results. So a lot of parts of the mechanism were changed and redesigned using the “Solid
Works” software.

3.3 Final Prototype Design

Fig. 3.2: Design of the final prototype of the rectilinear plant

16
The final design was done by eliminating all the problems of the previous prototype. The
force actuator was changed to a reciprocating type where it can deliver the maximum
amount of force with fewer losses. The friction was further used by a smaller version of a
linear guideway system. The motor was changed to a more powerful DC motor that was
connected below the base with the actuator. A motor driver was there to drive the motor or
changed its direction which was connected to the motor and the command to the driver was
coming from the “NI-DAQ USB 6009” data acquisition card. A second LVDT sensor was
attached to the force actuator for initializing the position of the actuator. The spring was
connected to the mass with a spring holder attached to the base along the line of the linear
guideway. The linear guideway with the mass was kept the same as before as it didn’t cause
any problem. The damper was modified to a bigger one to get the proper amount of
damping. The amount of damping could be controlled by blocking the holes at the far end
of the damper. The power box was embedded in the base box which powered the motor
and the LVDT. The voltage was turned down using a step down device. The spring was
changed to a one with a very low spring coefficient and had a good amount of compression
and tension.

Fig. 3.3: Design of motor

17
Fig.. 3.4: Design of the base of the plant

Fig. 3.5: Design of LVDT sensor

Fig. 3.6: Design of linear guideway

18
Fig. 3.7: Design of the mass on the holding bracket

Fig. 3.8: NI-DAQ USB 6009 Model

19
Fig. 3.9: Design of one of the parts of the force actuator mechanism

Fig. 3.10: Design of the force actuator mechanism with the rod

20
Fig. 3.11: Design of another part of the force actuator mechanism

Fig. 3.12: Design of spring

21
Fig. 3.13: Design of power box

Fig. 3.14: Design of damper

22
 CHAPTER 4
METHODOLOGY

4.1 Background

Our goal was to acquire accurate data and correctly interpret or compute physical
phenomena (Changing mass location over time), and from these recorded phenomena,
further calculations (Damping Coefficient, Natural Frequency, etc.) must be done. To
address these problems, there must be a user-friendly software program capable of
sequentially

a) identifying actuator’s position

b) operating the actuator
c) data acquisition and
d) assess the SMD system's characteristics.

4.2 Platform of Software Tool Development

The user-friendly software solution was developed using the graphical programming
language platform "LabVIEW”. It is very important to understand the circuit connections
between all of the physical components at first in order to accomplish all of these tasks.

4.3 Circuit Connection Analysis

Fig. 4.1: Whole Circuit Connection At a Glance

23
LVDT 2 was used to determine the precise position of the actuator by using the electrical
signal from ai1 (Analog Input Port 1). Users will provide commands using the "Labview"
interface to activate the actuator to strike the mass via the NI USB 6009's digital output
port1/line1. The mass displacement will be determined using an analogous electrical signal
generated by the sensor LVDT 1's mechanical motion through ai0 (Analog Input Port 0).
L298 motor driver is connected between the actuator and NI-USB 6009 to raise the voltage
enough to operate the actuator. The actuator receives a voltage that is 2V less than the
voltage supplied by the power source due to internal voltage drop. Power Source is directly
connected to the L298 motor driver.

4.4 Identifying Actuator’s Position

LVDT2 was used to determine the position of the actuator. "Do not start actuator"
was displayed with a red light until it reached the furthest distance from the mass location.
When it reached the furthest point, the white light "Start actuator" appeared. Essentially,
the logic of this system is based on comparing the electrical voltage signal from LVDT2 to
the voltage signal from the furthest point from the mass position. When the actuator reached
its maximum distance, "Start actuator" appeared with white light, indicating that users are
now only allowed to start the actuator at that moment. The algorithm behind identifying the
actuator's position is shown in Figures 3.2, 3.3 & 3.4.

4.5 Operating The Actuator

The actuator was driven by a direct current motor. It runs at 400 revolutions per minute and
is powered by a 12-volt battery. Due to the open-loop nature of our system, we needed just
one hit from a single spin of the DC motor. Thus, a while loop with a timer was used to
regulate the DC motor for a single rotation. It took 60/400 = 0.15 seconds, which is
theoretically 150 milliseconds. As a result, the timer's minimum value was 150
milliseconds. However, after much testing and iteration, it was determined that 250
milliseconds was requisite for a flawless strike on the mass. The actuator was then
controlled by a 250 ms timer with a while loop. Additionally, we utilized the delay function
to control the boolean (True/False) value, since "True" is used to start the DC motor and
"False" is used to stop it. Thus, when the "Start Actuator" button was pressed, "True" was
activated and "False" was 250 milliseconds away. When "False" was entered, the timer

24
stopped the while loop and prevented it from continuing. Thus, the final boolean value
input was "False," and the actuator ceased operating after one rotation.

Continuously comparing the

electrical voltage signal between the
current position of actuator & the
voltage signal of the furthest point of
actuator from the mass position

Print “Don’t start

the actuator”
with red light

Furthest position’s
voltage > Current
position’s voltage? NO

Yes

Print “Start the

actuator” with
white light

Stop

Fig. 4.2: Working Flowchart of Identifying Actuator’s Position

25
 Fig. 4.3: Furthest position’s voltage < Current position’s voltage & Furthest position’s
voltage > Current position’s voltage respectively.

4.6 Data Acquisition

LVDT1 continuously monitors the mass position and generates equivalent electrical
signals. A program was built to collect this electrical signal so that further analysis of SMD
system parameters could be done conveniently. As our system is an open loop,
underdamped peaks/ valleys of oscillation were observed based on

a) changing or varying different mass

b) changing or varying different spring constant
c) changing or varying damper

Fig. 4.4: Data Acquisition From Mass Position Graph of Underdamped Oscillations.

26
4.7 Assess the SMD System's Characteristics

Data analysis enables us to learn about the system's characteristics. Additionally, it assists
us in validating the system. Separate proportional or inversely proportional relationships
are established throughout the data analysis part, which essentially depicts the system's
unique characterization by isolating it from others. As our objective is data acquisition, we
can simply assess how the damping coefficient, natural frequency, and damping ratio
change when mass, spring constant, and damper are varied. That is why we must begin by
recognizing the Spring Mass Damper mechanism.

Fig. 4.5: Spring Mass Damper System

The differential equation for the general Spring Mass Damper system is

ⅆ2 y ⅆy
M +C + ky = 0 (4.1)
ⅆt2 ⅆt

ⅆ2 y C ⅆy 𝐾
Or, + + y=0
ⅆt2 M ⅆt 𝑀

ⅆ2 y ⅆy
Or, + 2 ᵹ ωn + ωn 𝑦 = 0
ⅆt2 ⅆt

By replacing through transfer function “s”, the characteristics equation is and the roots are

Or, s 2 + 2 ᵹ wn s + wn2 = 0

−2ᵹ wn ±√4 ᵹ 2 w2n −4 w2n

Or, s =
2

Or, s = −ᵹωn ± ωn √1 − ᵹ2

27
 Or, s = - σ ± +j ωⅆ (4.2)

[Where, σ = ᵹωn & Damped Natural Frequency, ωⅆ = ωn √1 − ᵹ2 ]

Therefore, the complete solution of the general differential equation is

y= e−σt ( C1 sin ωⅆ t + C2 cos ωⅆ t ) (4.3)

This solution is oscillatory, but the amplitude steadily decreases due to the negative
exponential component. This is seen in Figure 3.7.

Fig. 4.6: Underdamped Oscillation

Value of σ :

By choosing any 2 peak’s/Valley’s amplitude,

y (t1 ) Ae−σt1 cos (ωd t1 − σ )

=
y (t2 ) Ae−σt2 cos (ωd t2 − σ )

y (t1 )
Or, ln = −σt1 + σt 2 = σ(t 2 − −t1 )
y (t2 )

1 y (t1 )
σ= × ln (4.4)
T y (t2 )

28
 Where,
y (t1 ) = Amplitude at the time "t1 "
y (t 2 ) = Amplitude at the time “t 2 ”
t 2 − t1
T = Time Period =
n

n = Difference between peak /valley number

1
Damping Frequency (𝐟𝐝 ) : fⅆ = (4.5)
T

fd
Natural Frequency (𝐟𝐧 ) : fn = (4.6)
√1−ᵹ2

Damping Ratio (ᵹ) :

From Equation (ii), σ = ᵹωn

Or, σ T = ᵹωn T

1
Or, σ T = ᵹ × 2π fn ×
fd

2πᵹ fn
Or, σ T =
fn √1−ᵹ2

σ 2 T2
Or, = ᵹ2
4π2 +σ2 T2

1
Or, ᵹ = 2
(4.7)
√1+( 2π )
σT

Angular Velocity (𝛚𝐧 ) : ωn = 2 π fn (4.8)

Damping Coefficient (D) : D = 2 ᵹ ωn (4.9)

From Equation 3.4 to 3.9, they were programmed in software to determine and assess the
properties of the SMD system.

29
 CHAPTER 5
ANALYSIS, INTERPRETATION OF DATA & VALIDATION

5.1 Background

After being hit by the actuator, the LVDT1 continuously generates equivalent electrical
signals corresponding to the mechanical motion of mass. It was important to develop a
software tool to record this electrical signal in order to do a more detailed analysis of the
SMD system's properties precisely and smoothly, as well as to verify the system's validity.
Due to the fact that our system is an open loop, we observed underdamped oscillation of
peaks and valleys in three scenarios

a) changing or varying different mass

b) changing or varying different spring constant
c) changing or varying damper

Equations 3.4 to 3.9 were programmed in software to determine and assess the properties
of the SMD system

Fig. 5.1: Sample of Data Collection By Using Input & Output Panel

30
5.2 Data Analysis and Interpretation Due To Changing Mass Bar & Validation

The mass of housing is 0.06074 Kg. Every mass bar weighs 0.050 kg. Firstly, the actuator
hit only the mass housing, data was collected through given input and further for each hit
by the actuator, every time, 1 mass bar was added and taken the data after hit and observed
the effect of increasing mass. Tables 5.1 and 5.2 summarize the data collection and indicate
which values were provided as input and which values were obtained as output as a result
of increasing the mass bar.

Table 5.1: Data Collection of Changing Mass Bar With Input Panel

Input Panel
[Mass of Housing = 0.06074 Kg]

Mas Total Amplitud Amplitude t_1 t_2 Difference Time

s of Mass, e , y_t1 , y_t2 between Period,
Bar M (Kg) peak/valley T
(Kg) ,n

0 0.06074 6.89836 5.38361 0.2662 0.44789 1 0.18169

0.05 0.11074 6.8623 5.45574 0.40141 0.6 1 0.19859
2
0.1 0.16074 8.59344 7.29508 0.49437 0.70986 1 0.21549
3
0.15 0.21074 6.97049 5.56393 0.30845 0.54507 1 0.23661
9
0.2 0.26074 7.00656 5.6 0.3338 0.58732 1 0.25352
1
0.25 0.31074 7.07869 5.56393 0.43099 0.70563 1 0.27464
8
0.3 0.36074 7.18689 5.6 0.39718 0.68873 1 0.29154
9
0.35 0.41074 7.15082 5.63607 0.36761 0.67606 1 0.30845
0.4 0.46074 7.22295 5.67213 0.59155 0.91268 1 0.32112
7
0.45 0.51074 7.29508 5.7082 0.40563 0.73944 1 0.33380
3
0.5 0.56074 6.68197 5.41967 0.38873 0.73099 1 0.34225
5

31
 Table 5.2: Data Collection of Changing Mass Bar With Output Panel

Output Panel

Sigma, σ Damping Damping Natural Angular Damping

Ratio, ᵹ Frequency, Frequency, Velocity, ωn Coefficient,
fd fn D
1.3645470 0.03942773 5.50388023 5.50816324 34.6088104 2.72909405
3 6 6 8 4

1.1550032 0.03648176 5.03544956 5.03880380 31.6597380 2.31000641

1 8 5 2 2 6
0.7601127 0.02606056 4.64052196 4.64209858 29.1671656 1.52022546
3 2 6 1 6
0.9525052 0.03584741 4.22620330 4.22892134 26.5710964 1.90501042
1 8 6 3 2
0.8838725 0.03564082 3.94444641 3.94695405 24.7994437 1.76774512
6 2 7 8 5 1
0.8767009 0.03829388 3.64102414 3.64369672 22.8940217 1.75340194
7 2 7 5 3 9
0.8557461 0.03967660 3.42995517 3.43265813 21.5680271 1.71149230
5 8 7 7 7
0.7717296 0.03785808 3.24201653 3.24434232 20.384804 1.54345937
8 7 4
0.7526578 0.03843912 3.11403276 3.11633591 19.5805160 1.50531564
2 1 6 3 2 3
0.7348538 0.03901041 2.99577894 2.99806106 18.8373732 1.46970764
2 9 7 7
0.6117600 0.03330504 2.92179807 2.92341989 18.3683889 1.22352004
2 5 5 1 1 4

How their behavior was truly influenced, what was the overall effect, some graphs were
established to facilitate in interpretation based on these tables.

Damping Coefficient (D) vs Mass(M), When Spring Stiffness

0.06074, & Damper are Constant 0.36074,
2.729094054 0.11074,
2.310006416 0.21074, 0.26074, 1.711492307
3
1.905010422
Damping Co-efficient, D

1.767745121 0.51074,
2 1.469707647

1
0.16074, 0.31074, 0.46074, 0.56074,
1.520225466 0.41074,
0 1.753401949 1.505315643 1.223520044
1.54345937
0 0.1 0.2 0.3 0.4 0.5 0.6
Mass (Kg)

Fig. 5.2: Effect of damping coefficient while increasing mass & other parameters spring
stiffness & damper are constant

32
 k 1
From equation 4.9, D = 2 ᵹ ωn = 2 ᵹ √ . So, D ∝ √ . So, Theoretically,
M M
Damping Coefficient is inversely proportional to mass which is visualized through the
graph above found by practical experimentation. So, the system is validated.

Natural Frequency(fn) vs Mass(M), When Spring Stiffness and Damper

are constant
6
0.11074, 0.36074,
5.038803802 0.21074, 3.432658137
4.22892134
5
0.46074,
0.26074,
3.116335913
3.946954058
Natural Frequency, fn

4
0.51074,
0.16074, 2.99806106
4.642098581
3

0.41074,
2 0.31074, 3.24434232 0.56074,
0.06074, 3.643696725
2.923419891
5.508163248
1

0
0 0.1 0.2 0.3 0.4 0.5 0.6
Mass (Kg)

Fig. 5.3: Effect of natural frequency while increasing mass & other parameters spring
stiffness and damper are constant

k 1
We know, ωn = 2π fn = √ . So, fn ∝ √ . So, Theoretically, Natural
M M

Frequency is inversely proportional to mass which is visualized through the graph above
found by practical experimentation. So, the system is validated.

33
5.3 Data Analysis and Interpretation Due To Changing Damper & Validation

There were 4 holes in the damper. Firstly, the actuator hit constant mass, data was collected
without closing any holes through given input and further for each hit by the actuator, every
time, 1 hole of the damper was closed and taken the data after actuator hit and observed the
effect of closing holes of the damper. Tables 5.3 and 5.4 summarize the data collection and
indicate which values were provided as input and which values were obtained as output as
a result of changing damper.

Table 5.3: Data Collection of Changing Damper with Input Panel

Input Panel

Dampin Mas Total Amplitu Amplitude t_1 t_2 Differen Time

g Hole s of Mass, de at at time, ce Period,
Closed Bar M time, y_t2 between T
(Kg) (Kg) y_t1 peak/vall
ey, n

0 0.1 0.161 6.50164 5.31148 0.4985 0.68451 1 0.1859

9 2

1 0.1 0.161 6.39344 5.34754 0.3084 0.49014 1 0.1816

5 9

2 0.1 0.161 6.5377 5.31148 0.5028 0.69296 1 0.1901

2 4

3 0.1 0.161 6.50164 5.34754 0.5154 0.70141 1 0.1859

9 2

4 0.1 0.161 6.46557 5.20328 0.2957 0.48169 1 0.1859

8 2

34
 Table 5.4: Data Collection of Changing Damper with Output Panel

Sigma, σ Damping Damping Natural Angular Damping

Ratio, ᵹ Frequency, fd Frequency, fn Velocity, Coefficient, D
ωn
1.08751 0.03216 5.3788 5.38159 33.8135 2.17501

0.98319 0.02842 5.50388 5.5061 34.5959 1.96638

1.09243 0.03304 5.25925 5.26213 33.0629 2.18485

1.05111 0.03109 5.3788 5.3814 33.8124 2.10223

1.16829 0.03455 5.3788 5.38202 33.8162 2.33657

Sigma(𝞂) vs Changing Damper, When Spring Stiffness and Mass are

constant
1.2 4, 1.168286472

1.15
2, 1.092425652

0, 1.087507393
1.1
Sigma, 𝞂

1.05

3, 1.051113738
1
1, 0.983190173

0.95
0 0.5 1 1.5 2 2.5 3 3.5 4
Changing Damper

Figure 5.4: Effect of Sigma, 𝞂 while changing damper & other parameters spring stiffness
and mass are constant

35
From Equation 4.9, D = 2 ᵹ ωn . Again, σ = ᵹωn . So, D ∝ σ Theoretically,
Damping Coefficient is proportional to the value of sigma, 𝞂 which is visualized through
the graph above found by practical experimentation. So, the system is validated.

Angular Velocity Vs When Spring Stiffness and Mass are

constant
40 4, 33.81619767
35
30
Angular Velocity

25 3, 33.81235235
0, 33.81350328
20
15 1, 34.59587304
10 2, 33.06292582
5
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Changing Damper

Fig. 5.5: Effect of angular velocity while changing damper & other parameters spring
stiffness and mass are constant

Theoretically, ωn is constant throughout the process while changing damper which is

visualized through the graph above found by practical experimentation. So, the system is
validated.

36
 CHAPTER 6
RESULT AND DISCUSSION

6.1 Result

The rectilinear open-loop control system's ultimate outcome can be divided depending on
its various functions. Each function has its own region in which to produce results and
grow. The first task was to determine the precise position of the force actuator and to
initialize it. When the actuator was in its initial state, the strip will fill up and show the
command of "Start actuator" with white light. The second objective was to operate the
actuator for a certain amount of time such that it hit the mass just once. For this purpose,
the motor needs to be run with a speed of 400rpm for 150 milliseconds. But the collision
between the mass and the actuator caused the required time to increase. It needed
approximately 250 milliseconds to operate. After that, the oscillation of the mass occurred.
This oscillation introduced voltage difference in the LVDT1. The data was then captured
by LabView software via the NI USB 6009 card. Further calculations were performed in
LabVIEW software to establish the features such as Value of σ, Damping Frequency (fd),
Natural Frequency (fn), Damping Ratio (ᵹ), Angular Velocity (𝜔𝑛 ), and Damping
Coefficient (D).

Table 6.1: Summarization of Results

Objective Status
Actuator’s position identification Successful
Operating the actuator Successful
Data acquisition Successful
SMD system's characteristics calculation Successful

6.2 Discussion

Certain limitations were there while developing the software which are as follows:

a) As the platform of the LabVIEW software were totally new to us it took a lot of
trial and error to actually develop the code in a short time and the end results
couldn’t validate all the equations.

37
b) The code for the initialization process of the actuator couldn’t be executed as the
rotational inertia of the DC motor kept putting the code inside the while loop. So
instead of initializing it kept on rotating.
c) The actuator had to be put to the initial position manually by hand due to not being
able to execute the algorithm.
d) Due to mechanical constraints the desired number of oscillations of the mass
couldn’t be obtained which effected the end results.
e) The speed of the motor couldn’t be controlled.

38
 CHAPTER 7
CONCLUDING REMARKS

7.1 Conclusion

This paper shows the design and development of a software to operate an open loop
rectilinear plant with the use of NI-DAQ USB 6000. The development process started with
the 3D modelling of the system using Solid Works to visualize what type of algorithms
need to be used to actually operate the system. After that the algorithms and logics were
developed in the LabVIEW software and the system was able to run successfully. Thus the
value of the damping coefficient was obtained from the data acquisition card which
validated the governing equations. An EXC file of the software interface was created so
that the software would be able to run in any other computers. Our end goal was to develop
it as a laboratory experiment so that the students would be able perform experiments and
gather data from it which will validate the theories they learned of the dynamic systems
and control.

7.2 Recommendations

Some developments can be made for further improving the system and the software which
are as follows:

a) The use of a stepper motor would eliminate the execution problem of the
initialization algorithm.
b) The speed and direction could be controlled with the introduction of a PWM
controller.
c) An updated version of the NI-DAQ can be obtained so that it could be used with
the stepper motor.
d) A more flexible spring with a more frictionless smooth system would produce more
accurate results.
e) Different more advanced software could be used for designing the interface of the
software more compact and pleasing to the eye.

39
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