MT-452L Control Systems Lab

Group Members Muhammad Waleed Tariq

Muhammad Faiq Nasir
Saud Mubashir
Registration Numbers 201111
201075
201147
Class BEMTS - VII - B

Instructor’s Name Anam Maqbool

Session F20
 CEA Report
Objectives:
The primary goal of this engineering project is to conduct thorough research, modeling, design,
simulation, and analysis of a practical pressure control loop within a mechatronics system. The
specific objectives include:

 Model and Simulate:

Develop a comprehensive model and simulation of the pressure control loop, capturing the
design considerations and system response accurately.

 Design and Integrate Control Strategy:

Devise an effective control strategy specifically tailored for the pressure control loop,
considering factors such as system dynamics and response characteristics.

 Perform Analysis:
Conduct a detailed analysis of the pressure control loop, both with and without the integrated
control strategy, to assess the system's performance under various conditions.
This project necessitates:

 Depth of Analysis Required:

Tackle challenges that may not have straightforward solutions, demanding abstract thinking
and originality in the analysis to formulate suitable models for the pressure control loop.

 Depth of Knowledge Required:

Utilize research-based knowledge, especially at the forefront of the professional discipline, to
inform the modeling and design process. Employ a fundamentals-based, first principles
analytical approach for a robust understanding of the pressure control loop dynamics.
By adapting these objectives, the focus is shifted to the specific context of a pressure control
loop while maintaining the core elements of research, modeling, design, simulation, and
analysis within the mechatronics framework.

1. Complex Engineering Problem Outcomes:

In this course, the activity is mapped to CLO1, CLO2 and CLO3, and your performance in this
complex engineering problem will play an important role in their attainment. Course Learning
Outcomes are reproduced below:
2. Problem statement:
The field of prosthetic technology continually strives to improve user experience, particularly in
addressing challenges associated with variations in residual limb volume. In this sub-project, we
focus on the integration of our Vacuum-Assisted Suspension (VAS) system, a cornerstone of our
Final Year Project, with the renowned Proportional-Integral-Derivative (PID) control technique.
The core issue we aim to tackle is the dynamic nature of internal pressure within the prosthetic
socket, stemming from fluctuations in residual limb volume.
 Progress 1

Abstract
In this sub-project, we begin the process of integrating our Vacuum-Assisted Suspension (VAS)
system—a crucial part of our larger Final Year Project—with a Proportional-Integral-Derivative
(PID) control technique. The prosthetic socket's internal pressure will be dynamically managed
by the PID control system, which is renowned for its accuracy and versatility. This will help to
solve the dynamic issues presented by variations in residual limb volume. This abstract explores
the creative use of the PID control technique, emphasizing how flexible and sensitive it is in
offering users a customized prosthesis experience that is unmatched.

Objectives
 Developing a Closed Loop Control System for Pressure Control.
 Tuning for Dynamic Response
 PID Algorithm and Control Development
 Testing and Validation of PID Control

Methodology
Write possible solution to design the project crude form. Use literature and internet to search
existing solutions. Present at least two different design approaches.

Workflow
Block diagram

Design Requirements
Software
 MATLAB (for PID Calculations and Tuning)

Hardware
 Vacuum Pump
 Pipe
 Arduino
 Gasket/Seals etc
 Pressure Sensor
 Socket (Analogy)

Cost Estimation
Give a rough estimate. See Table 1
Table 1: Cost Analysis

No. Item Cost (Rs)

1 Vacuum Pump 500
2 Gaskets/ Seals 500
3 Pressure Sensor 2000
4 Socket (Analogy) 1000
5 Arduino 2000
 Progress 2
Description:
Our MATLAB-based modeling focuses on a pressure control loop, integral to our project for
ensuring a comfortable fit for prosthetic leg users. The system regulates pressure within the
prosthetic socket, enhancing user experience by providing a secure and snug fit. This critical
component optimizes socket functionality, contributing significantly to our goal of improving
the quality of life for prosthetic leg users.

Simulation Results:

Figure 1: Model Pic

Figure 2: Without PID Response

Figure 3: Model with PID

 Figure 4: Response with PID without tuning

Analysis:
It is clear from our analysis that adding a Proportional-Integral-Derivative (PID) controller is
essential to getting the required performance results. The system fails to reach the set point in
the absence of the PID controller, suggesting a control deficit. This finding emphasizes how
crucial PID control is to our model of pressure management.

The introduction of the PID controller results in notable enhancements. Not only does the
system hit the set point, it does so quite precisely, completely removing overshoot. This is
essential for preserving stability and avoiding undesirable changes in pressure levels.
Furthermore, the 6second settling period demonstrates how well the controller works to quickly
restore a steady-state condition to reach the set point.
 Progress 3
Mathematical Modeling:
Matlab Code:
clear
clc
syms d;
% Dimensions for the chamber: a = 3mm, b = 2.5mm.
% Dimensions for the valve: a = 0.75mm, b = 0.25mm (not shown here).
a = 3e-3;
b = 2.5e-3;
% Poisson ratio of silicon: 0.28
pratio = 0.28;
% Young's modulus: 170GPa
E = 170e9;
% Diaphragm thickness: 10um
h = 10e-6;
I = h^3/12;
D = E*I/(1-pratio^2);
% pressure "p" = 100 torr
p = 100*133.3;
% Deflection caused by the load applied on the tether directly, "wr1".
r = b;
c1 = (1-d^2/a^2)*((1-b^2/a^2)-1/2*(1-r.^2/a^2));
c2 = b^2/a^2*(1-d^2/a^2)*log(d./r);
c3 = (2*b^2/a^2-d^2/a^2-r.^2/a^2)*log(a/d);
c4 = -2*b^2/a^2*log(a/d)*log(a./r);
w = (2*pi*d*p)*a^2/(8*pi*D)*(a^2/(a^2-b^2))*(c1+c2+c3+c4);
wr1 = double(int(w,b,a));
% Deflection caused by the load applied on the piston, "wr2".
d2 = b;
c12 = (1-d2^2/a^2)*((1-b^2/a^2)-1/2*(1-r.^2/a^2));
c22 = b^2/a^2*(1-d2^2/a^2)*log(d2./r);
c32 = (2*b^2/a^2-d2^2/a^2-r.^2/a^2)*log(a/d2);
c42 = -2*b^2/a^2*log(a/d2)*log(a./r);
wr2 = (pi*b^2*p)*a^2/(8*pi*D)*(a^2/(a^2-b^2))*(c12+c22+c32+c42);
% Total deflection, "wr".
wr = double(wr1+wr2)
% Results:
% 2.1413um for the valve; 12.402um for the chamber
% for 100 torr pneumatic actuation
Result:

DC Motor Modeling
Modeling Equations

Physical Parameters
 (J) moment of inertia of the rotor 0.01 kg.m^2
 (b) motor viscous friction constant 0.1 N.m.s
 (Ke) electromotive force constant 0.01 V/rad/sec
 (Kt) motor torque constant 0.01 N.m/Amp
 (R) electric resistance 1 Ohm
 (L) electric inductance 0.5 H
Simulink Model

Output Graph
 Progress 4
Hardware Implementation
Hardware
Simulink for Arduino Connected I/O Implementation
P=1.6
D=5

Results
Transient Response
Steady State Response

Conclusion
In conclusion, our CEP successfully implemented a pressure control loop within a closed
chamber using PID correction. Through a combination of theoretical understanding and practical
application, we harnessed Arduino microcontrollers, vacuum pumps, and BMP280 pressure
sensors to achieve precise control.
Notably, the use of Hardware-in-Loop (HIL) with Simulink facilitated the real-time
implementation of control algorithms on Arduino, ensuring seamless communication with the
hardware components.
In summary, our project demonstrated the successful application of control system principles in a
practical setting. The use of PD control, Arduino microcontrollers, and HIL with Simulink
showcased our ability to address real-world challenges and underscored the interdisciplinary
nature of control engineering.