vii
TABLE OF CONTENTS
CHAPTER
1.
2.
TITLE
PAGE
TITLE
i
DECLARATION
ii
DEDICATION
iv
ACKNOWLEDGEMENTS
v
ABSTRACT
vi
ABSTRAK
vii
TABLE OF CONTENTS
viii
LIST OF FIGURE
xi
LIST OF SYMBOL
xiii
LIST OF APPENDICES
xiv
INTRODUCTION
1
1.1
Background
1
1.2
Problem Statement
2
1.3
Objective of Project
3
1.4
Scope of Project
4
1.5
Significant of Project
4
1.6
Thesis Outline
5
LITERATURE REVIEW
6
2.1
Review of previous research in NCS
6
2.2
Description of Network Control System
8
viii
2.2.1
Field Bus
9
2.2.2
Delay in Network Control System
10
2.2.3
Network Induced Delay in NCS
13
2.2.3
Packets Dropouts
14
2.2.4
Effects of delays in the loop
15
2.2.6
NCSs Structures
15
2.3
Control Area Network (CAN)
17
2.4
TRUETIME Toolbox
17
2.4.1
19
Adding disturbing traffic over the
network
2.5
3.
Inverted Pendulum
19
METHODOLOGY
22
3.1
Project Implementation
22
3.2
Inverted Pendulum
24
3.2.1 Rotary Inverted Pendulum SRV02-Series
27
3.2.2 RIP Mathematical Modelling
28
3.3
3.4
3.2.2.1 Free Body Diagram Method
30
3.2.2.2 Lagranian Formulation method
33
3.2.2.3 Output Torque formulation
34
3.2.2.4 Linearization
35
3.2.2.5 State Space representation
35
Controller Design
38
3.3.1 Open Loop Poles
39
3.3.1 Linear Quadratic Regulation (LQR)
39
3.3.2 Observer Based control
40
Simulink modelling
44
3.4.1 Simulink Model of Linearize Plant
44
3.4.2 Simulink Model of Non Linearize Plant
45
3.4.3 Verification Linear and Non Linear Simulink
46
model
47
ix
3.4.4 Full State Feedback Control Simulink Model
48
3.4.5 Full State Estimator control Simulink model
49
3.4.6 NCS Full State Feedback Control Simulink
50
Model
3.4.6 NCS Full State Estimator Control Simulink
51
Model
4.
RESULT AND DISCUSSION
51
4.1
51
Verification of the linear model against the
nonlinear model
4.2
Verification System with Controller
53
4.3
RIP Full State Feedback With and Without
55
NCS
4.4
4.5
Configuration With Delay State Variable
57
4.4.1 Gain Matrix Selection, K
59
RIP Full State Estimator With NCS
60
4.5.1 Configuration With Bandwidth
62
Network Disturbance
4.6
5.
Summary
63
CONCLUSION AND FUTURE WORKS
65
5.1
Conclusion
65
5.2
Future Works
66
REFERENCES
68
Appendices A-D
71-76
x
LIST OF TABLES
TABLE NO.
TITLE
PAGE
3.1
List of the terminology used in IPC
24
3.2
RIP Symbol description parameter
30
3.3
Typical parameter configuration of the system
37
4.1
Summary of the step response with and without NCS
57
4.2
Summary of the step response for different K value
60
4.3
Summary of the step response for FSF and FSE
61
4.4
Differentiation of the system with and without network traffic
63
xi
LIST OF FIGURES
FIGURE NO.
TITLE
PAGE
1.1
Example of a NCS application
2
1.2
Response feedback control system subject to delay in loop
3
2.1
Block diagram of a typical NCS.
7
2.2
Configuration and network delays for NCS formulation
7
2.3
NCS with various system components (controllers, actuators,
9
sensor etc.,)
2.4
Network connection(a) typical connection.(b) connection via
10
filed bus
2.5
Configuration of network topologies
10
2.6
A Typical Networked Control System
11
2.7
Timing Diagram of NCS Delay Propagation
12
2.8
Time Delay in NCS (Number 1,2,3…8 represent the a sequence
13
of data packets to be send to the controller).
2.9
Missing Data due to packet Drop Out
14
2.10
Data Out of Oder due to packet Drop Out
15
2.11
System performance degradations caused by delays in the loop
15
2.12
(a) Direct Structure of NCS, (b) Hierarchical Structure of NCS
17
2.13
CAN Bus Data Frame
18
2.14
TRUETIME Block Library
19
2.15
Block Kernel of interference
19
xii
2.16
The Broomstick Balancing Problem
20
2.17
Inverted Pendulum on Cart Problem
20
2.18
Real-world example that relates behaviour of an inverted
21
pendulums problem.(a): Rocket MAXUS 1 in starting position,
(b): Segway self-balancing vehicle.
3.1
Project implementation flow chat
23
3.2
free-body diagrams of the two elements of the inverted
24
pendulum system
3.3
Quanser-SRV-02 Rotary Inverted pendulum
28
3.4
Simplified model of the rotary inverted pendulum system
29
3.5
Free Body Diagram of the rotary inverted pendulum system
31
3.6
Full state feedback control system
38
3.7
Full State estimator using observer base design
41
3.8
The implementation of observer design
43
3.9
Linearize model of Rotary Inverted Pendulum
45
3.10
Non-Linear model of Rotary Inverted Pendulum
46
3.11
Verification of linear and non-linear plant
47
3.12
Full State Feedback Simulink design
48
3.13
Full State Estimator Simulink design
49
3.14
Conceptual design of the full state feedback
49
3.15
Conceptual design of the Observer system with NCS
50
4.1
Overlapped plot of Linear and Non-Linear model, theta θ
52
4.2
Overlapped plot of Linear and Non-Linear model, alpha α
52
4.3
Overlapped plot of alpha α and theta θ
53
4.4
Network scheduling signals
54
4.5
With and without NCS step response
55
4.6
Focusing step response over shoot
56
4.7
Focusing step response undershoot
56
4.8
State feedback is delay in the system, τs
57
4.9
Applying execution time 0.06 second to the system
58
4.10
Applying execution time 0.06 second to the system
59
xiii
4.11
Differentiate the step response of the each setting of K.
60
4.12
Step response of the FSF versus FSE
61
4.13
Step response of the FSF versus FSE with interferences.
62
4.14
System with Rate of CAN speed reduce to 125k (bits/s)
63
5.1
Propose controller for future work
65
5.2
Proposed Two Rotary Inverted pendulum system for future
66
work
xiv
LIST OF SYMBOLS
ℎ
Vt
-
Length of the pendulum
-
Mass of the pendulum arm
-
Mass of the pendulum arm
-
Servo gear angle
-
Pendulum angle
-
Distance of pendulum
-
Pendulum inertia
-
Velocity of Pendulum centre x-direction
-
Velocity of Pendulum centre y-direction
-
Standard gravity
-
Gearbox efficiency
-
Motor efficiency
-
Motor torque constant
-
Back emf constant
-
Total gearbox ratio
-
Cylinder differential pressure
-
Motor armature resistance
xv
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
RIP Full State Feedback Control with NCS
71
B
RIP Full State Estimator Feedback Control with NCS
73
C
MATLAB source code for nonlinear RIP parameter
75
D
MATLAB source code for RIP controlled with NCS
76