Homework 1.1: Cruise control for a car. Consider the problem in Lecture 1/Example 1.2. Determine appropriate numerical values for this problem. Study open loop control and closed loop control (Proporitonal, Kp) with Matlab/Simulink. Discuss the effect of disturbance on the control. Fp: Pushing force (from engine) Fd: Distrubance Fd=0 Fd=-mgsin DEU-MEE 5017 Advanced Automatic Control

Homework 1.2: PID cruise control for a car. Consider the problem in Lecture 1/Example 1.2. The vehicle mass and viscous damping coefficient and the other system parameters are given below. Determine appropriate numerical Kp, Kd and Ki values for this problem for case a and b according to the stated desired response criteria. Study closed loop control with MatLab/Simulink. m=1000kg B=50Ns/m Ke=45N/deg Ka=2.5deg/V Ks=0.36Vs/m vref=90km/h Fp: Pushing force (from engine) Fd: Distrubance Fd=0 Fd=-mgsin Desired response criteria: -Overshoot should be less than %10 -Steady state error should be less than %2 -tss settling time should be less than 5 seconds. a) For =0° determine Kp, Kd and Ki parameters b) For =5° determine Kp, Kd and Ki parameters Note: Operating voltage of sensor and actuator is between 0-24V. The vehicle can reach at most the speed of 240km/h. DEU-MEE 5017 Advanced Automatic Control Assoc.Prof.Dr.Levent Malgaca, Fall 2015