1. EE/CS 480 Fall 2007 1February, 2008 University of Portland School of Engineering Project Blue Heron Educational Ball and Beam Feedback Control System Team Bryan Weber David Kim Thomas Neveu Advisors Dr. Osterberg, Dr. Albright Industry Representative Mr. Mike DeSmith Intel

2. EE/CS 480 Fall 2007 2February, 2008 University of Portland School of Engineering Overview Introduction Scorecard Additional Accomplishments Plans Issues/Concerns Conclusions

3. EE/CS 480 Fall 2007 3February, 2008 University of Portland School of Engineering Introduction Blue Heron: An example of an analog control system using a ball and beam feedback control system

4. EE/CS 480 Fall 2007 4February, 2008 University of Portland School of Engineering Scorecard Significant progress on transfer function mathematics and closed loop feedback analysis Built Mini Beam Prototype Wrapped the Nichrome wire around the threaded rod

5. EE/CS 480 Fall 2007 5 Scorecard Continued Updated MATLAB step response for a more critically damped response Used MATLAB results to determine some resistor and capacitor values for our circuit Shortcoming: Have not put the new resistor values in the physical circuit University of Portland School of Engineering February, 2008

6. EE/CS 480 Fall 2007 6February, 2008 University of Portland School of Engineering Additional Accomplishments Built the beam potentiometer –Tested as a POT and works!

7. EE/CS 480 Fall 2007 7 Diagrams February, 2008

8. EE/CS 480 Fall 2007 8 Diagrams Cont. February, 2008

9. EE/CS 480 Fall 2007 9 MATLAB Old Step EDU>> s=tf('s') Transfer function: s EDU>> p=.2/s^2 Transfer function: 0.2 --- s^2 EDU>> m=20/(s*(1+.125*s)) Transfer function: 20 ------------- 0.125 s^2 + s EDU>> pid=10+10*s*(1+.4*s) Transfer function: 4 s^2 + 10 s + 10 EDU>> a=p*m*pid Transfer function: 16 s^2 + 40 s + 40 ------------------ 0.125 s^4 + s^3 EDU>> t=a/(1+a*1) Transfer function: 2 s^6 + 21 s^5 + 45 s^4 + 40 s^3 --------------------------------------------------------- 0.01563 s^8 + 0.25 s^7 + 3 s^6 + 21 s^5 + 45 s^4 + 40 s^3 EDU>> step(t,0:.001:5)

10. EE/CS 480 Fall 2007 10 MATLAB New Step Transfer Function: 0.84 s^6 + 7.77 s^5 + 8.662 s^4 + 2.1 s^3 ------------------------------------------------------------------------------------------ 0.01563 s^8 + 0.25 s^7 + 1.84 s^6 + 7.77 s^5 + 8.662 s^4 + 2.1 s^3

11. EE/CS 480 Fall 2007 11February, 2008 University of Portland School of Engineering Plans Overall Goal: Replace resistors and capacitors in circuit, and mount large beam to base to finish plant Move completion date for the Final Report up (tentative) Refine MATLAB step response Test Mini Prototype

12. EE/CS 480 Fall 2007 12February, 2008 University of Portland School of Engineering Milestones Number DescriptionOriginal Date Previous Date Present Date 1Product Approval10/05/07 2Functional Specifications Approval10/05/07 3Plan Approval11/09/07 4Circuit Design11/25/07 01/21/08 5Design Review Approval12/07/07 6Order Electronics12/08/07 7Plant Built12/14/07 03/9/08 8Motor Received01/26/08 02/29/0802/20/08 9Test Circuit for Frequency Response02/15/08 2/15/083/9/08 10System Integration02/15/08 2/15/083/9/08 11TOP Approval02/22/08 12Build and Testing Completed03/10/08 3/10/08 13Prototype Approval04/04/084/04/08 14Founder’s Day04/08/08 4/08/08 15Post Mortem04/23/08 4/23/08 16Final Report04/25/08 4/25/08

13. EE/CS 480 Fall 2007 13February, 2008 University of Portland School of Engineering Concerns/Issues To get an even better response we can add an inner feedback loop around the motor measuring the angle of the motor This is not necessary and will only be considered if time is available after our original design is working

14. EE/CS 480 Fall 2007 14February, 2008 University of Portland School of Engineering Conclusions Making significant progress Built mini prototype, full size beam, and close to determining final resistor and capacitor values We are still on schedule

15. EE/CS 480 Fall 2007 15February, 2008 University of Portland School of Engineering Questions?