bradley university department of electrical and computer engineering senior capstone project

Bradley UniversityBradley UniversityDepartment of Electrical and Computer EngineeringDepartment of Electrical and Computer Engineering

Senior Capstone ProjectSenior Capstone Project4/27/20064/27/2006

Active Suspension System(ACTSS)

Project Advisors:Mr. Steven Gutschlag

andDr. Winfred Anakwa

Presented by:Blake Boe

andTyson Richards

OutlineOutlineI.I. Project SummaryProject Summary

II.II. Functional DescriptionFunctional Description

III.III. System Block DiagramSystem Block Diagram

IV.IV. ResultsResults

V.V. Future WorkFuture Work

VI.VI. QuestionsQuestions

Project SummaryProject Summary

Purpose:Purpose:Minimize the accelerating force on a Minimize the accelerating force on a mass by canceling the disturbance mass by canceling the disturbance with a linear actuator.with a linear actuator.

Project SummaryProject Summary

Objectives:Objectives:

• Integration of the following hardwareIntegration of the following hardware• Linear Actuator – IDC EC2 seriesLinear Actuator – IDC EC2 series• H-Bridge – MSK 4227H-Bridge – MSK 4227

• PSPICE model of the H-bridgePSPICE model of the H-bridge

• Simulink model of linear actuator and Simulink model of linear actuator and motormotor

Project SummaryProject Summary

Objectives:Objectives:

• Redesign existing active suspension systemRedesign existing active suspension system• Replace pneumatic actuator with electric linear Replace pneumatic actuator with electric linear

actuatoractuator

• Implement open and closed loop controllersImplement open and closed loop controllers• Center actuator stroke (open loop)Center actuator stroke (open loop)• Reset actuator stroke (open loop)Reset actuator stroke (open loop)• Disturbance cancellation (closed loop)Disturbance cancellation (closed loop)

Project SummaryProject Summary

Applications:Applications:• Car suspensionCar suspension• Tractor seatTractor seat

Project SummaryProject Summary

Benefits:Benefits:

• Enhance vehicle rideEnhance vehicle ride

• Reduce operator fatigueReduce operator fatigue

• Improve operator performanceImprove operator performance

Blake Tyson

Located hardware Located hardware

U-Controller isolation circuitry U-Controller isolation circuitry

Simulink modeling Simulink modeling

PSPICE H-Bridge model Designed software controllers

Motor protection circuitry

Hardware Implementation

Project SummaryProject Summary

Division of Labor:Division of Labor:

Functional DescriptionFunctional Description

Functional DescriptionFunctional Description

Motor

LinearActuator

Mass

Rotating Camshaft

Position Sensor

Vertical degree of freedom

Vertical degree of freedom

UpperPlatform

LowerPlatform

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

Motor

Mass

Functional DescriptionFunctional Description

• 14.1 in/sec • Continuous operation • 30 lbf load

• High voltage reduced current motor

• (160V – 20A)

Specifications Physical features

• 6 in stroke• Parallel mount

Functional DescriptionFunctional Description

x

OutlineOutlineI.I. Project SummaryProject Summary

II.II. Functional DescriptionFunctional Description

III.III. System Block DiagramSystem Block Diagram

IV.IV. ResultsResults

V.V. Future WorkFuture Work

VI.VI. QuestionsQuestions

System Block DiagramSystem Block Diagram

Active Suspension System

Camshaft Disturbance

Upper PlatformPosition

System Block DiagramSystem Block Diagram

Controller – Micropac 535

Position Sensor

CamshaftDisturbance

Upper Platform Position

Set Point

+

+-

Plant – Active Suspension

System

UpperPlatform Position

Controller Block DiagramController Block Diagram

A/D ConverterMicroprocessor

80C535Set Point PWM

PositionSensor

System Block DiagramSystem Block Diagram

Controller – Micropac 535

Position Sensor

CamshaftDisturbance

Upper Platform Position

Set Point

+

+-

Plant – Active Suspension

System

UpperPlatform Position

Plant Block DiagramPlant Block Diagram

Motor driving the linear actuator

Linear actuator

PWMUpper Platform

PositionH-Bridge

H-Bridge SchematicH-Bridge Schematic

H-Bridge Typical System SchematicH-Bridge Typical System Schematic

Plant Block DiagramPlant Block Diagram

Motor driving the linear actuator

Linear actuator

PWMUpper Platform

PositionH-Bridge

Model of Linear ActuatorModel of Linear Actuator

Simulation of Linear ActuatorSimulation of Linear Actuator

Linear Acceleration [m/sLinear Acceleration [m/s22]]Linear Velocity [m/s]Linear Velocity [m/s]

(160V Step Input)(160V Step Input)

ResultsResults

•Fully integrated software and hardware Fully integrated software and hardware systemsystem

•Functional proportional controllerFunctional proportional controller

Future WorkFuture Work

•More complex control algorithmMore complex control algorithm• Variable gain proportional controllerVariable gain proportional controller• Lag - Lead controllerLag - Lead controller

•Compare experimental results to Simulink Compare experimental results to Simulink ModelModel

QuestionsQuestions