Project Plan Rev. 0.1 Page 12

School of Engineering Phone 503 943 7314 5000 N. Willamette Blvd. Fax 503 943 7316 University of Portland Portland, OR 97203-5798

Project Plan

Project Nuthatch: A Control System Demonstration

Contributors:

Jennifer Miller

Jason Boyce

Approvals

Name Date Name Date Signature file Date Signature file Date Dr. Albright Dr. Lillevik

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER PROJECT PLAN REV. 1.0 PAGE II PROJECT NUTHATCH

Revision History

Rev. Date Author Reason for Changes 0.1 10/22/02 J. Boyce , J. Miller Began initial draft 0.9 10/24/02 J. Boyce , J. Miller Completed initial draft 0.9.1 10/28/02 J. Boyce , J. Miller Advisor feedback 0.9.2 11/04/02 J. Boyce , J. Miller Changed Schedule 1.0 11/07/02 J. Boyce , J. Miller Advisor Feedback

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER PROJECT PLAN REV. 1.0 PAGE III PROJECT NUTHATCH

Table of Contents

Summary...... 1

Introduction...... 2

Project Overview...... 3

General Description...... 3

Deliverables...... 5

Development Process...... 8

General Approach...... 8

Assumptions...... 8

Milestones...... 8

Risks...... 9

Schedule...... 11

Resources...... 12

Personnel...... 12

Budget...... 13

Facilities...... 13

Contingencies...... 13

Time Management...... 13

Device Issues...... 13

Choice of Design Methodology...... 14

Late Arrival of Parts...... 14

Physical Parameters...... 14

Insufficient Track Length...... 14

Conclusions...... 15

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER PROJECT PLAN REV. 1.0 PAGE IV PROJECT NUTHATCH

List of Figures

Figure 1. Block Diagram of Nuthatch Product...... 4

Figure 2. Nuthatch Schedule (Part A)...... 11

Figure 2. Nuthatch Schedule (Part B)...... 12

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER PROJECT PLAN REV. 1.0 PAGE V PROJECT NUTHATCH

List of Tables

Table 1. Nuthatch Deliverables...... 5

Table 2. Key Nuthatch Milestones...... 8

Table 3. Nuthatch Project Risks...... 9

Table 4. Overall Nuthatch Budget...... 13

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER PROJECT PLAN REV. 1.0 PAGE 1 PROJECT NUTHATCH

Chapter 1 Summary

This document presents a plan for the timely completion of Project Nuthatch which is a

classic control systems problem, the inverted pendulum. Our Microsoft Project schedule

lists every task we need to accomplish, along with deadlines for completion.

The deliverables in this project include milestone documents, presentations, and design

and construction phases. The milestone documents are the Functional Specifications,

Project Plan, Design Release, and Theory of Operations. The design will be completed in

seven steps, beginning with selecting a design methodology and ending with circuit

simulation. Other design deliverables include physical dynamics, feedback diagrams,

frequency response, and circuit design. The milestones are also listed.

Our assumptions and possible related risks are clearly stated along with contingency

plans for addressing these risks. Most of the risks are related to being able to obtain parts

with desired functionality at affordable prices in a timely manner. Time management is

also a risk factor.

The project resources are described, including people and the cost of parts and materials.

Our budget is the most important part of this section. We anticipate keeping our parts and

materials budget below the $200 allowable. Our only other resource is the laboratory we

will require to do the testing of our circuit.

Chapter 2 Introduction

The purpose of this document is to inform the Project Nuthatch advisors, instructor, and

industry representative of the plan for completing the inverted pendulum project. This

document includes a functional project overview, development plan, detailed description of

the project resources, and contingencies. The development plan is composed of the

assumptions, milestones, and risks associated with Project Nuthatch. A Microsoft Project

schedule is included which outlines all the intended tasks. The required resources to

accomplish the milestones are presented. These resources include personnel, budget,

equipment, and facilities. Finally, possible alternatives to perceived problems are

discussed in the contingencies section.

After reviewing this document, the reader should have a sound understanding of the

project development process. The depth and difficulty of each individual task has been

carefully considered, and times were allotted appropriately for each. To account for

unforeseeable schedule setbacks, an attempt was made to provide slightly more time than

anticipated for each portion of the project, especially in the second semester.

This document provides an explanation of the project schedule as well as a brief

explanation of our methodology for completing the project on time. It does not include any

functional specifications, aside from a brief overview of the project as a refresher. Specifics

regarding implementation are also omitted, and will be covered in later documents.

Chapter 3 Project Overview General Description

Our vision of how project Nuthatch should look and behave is as follows. A cart with four

wheels is placed into a track. The track is comprised of two straight trenches into which

the wheels of the cart will fit. This track will constrict the movement of the cart to a single

line of motion. The cart will move forward and backward along this track with the help of a

DC motor that is connected to a pair of wheels on the cart. Located on the top center area

of the cart will be a pendulum. The pendulum will be a long rod with a pin inserted in a

hole drilled through one end of the rod. This pin will allow the pendulum to move up to

90° through one plane of motion. This plane of motion is the same plane of motion that

the cart will move in. This will enable the car to balance the pendulum.

Imagine the pendulum being perfectly erect or at 90°. If gravity is “turned on” at

time zero, the pendulum will begin to fall forward or backward and will eventually be at

90° if no action is taken. We intend to design a control circuit that will move the cart in

either direction along the track to compensate for the pendulum falling, and ultimately

balance the pendulum. In other words, by moving the cart back and forth, we can balance

the pendulum. For demonstration purposes, we will restrict the movement of the

pendulum with a couple of stops that will limit the angle the pendulum will move through.

The reason for this is so that the balancing act will begin as soon as the power switch is

turned on. This would not be possible if we started with the pendulum being horizontal.

The control system will be able to compensate for small outside disturbances to the

pendulum.

The inverted pendulum will consist of four basic building blocks: the pendulum sensor,

DC motor, control circuit, and power supply. The pendulum position sensor and the DC

motor will be attached to the cart. These building blocks will interface the control circuit.

The control circuit and power supply will be located next to the track. Please refer to the

Block Diagram (Figure 1).

Project Nuthatch solves a control systems problem that is a challenging academic

exercise for our team, but it also demonstrates to students a concept that is often hard to

visualize and understand. This project could be used as a classroom demonstration and

could be put on display for prospective students. Our hope is that the balancing act will

begin with the flip of a power switch. The only time the project will be physically handled by

a user is if the car reaches either end of the track.

Figure 1. Block Diagram of Nuthatch Product.

Pendulum Stoppers

Pendulum Sensor

Control Circuit

DC motor

Power Supply

Cart and Pendulum Movement

Deliverables

The deliverables are listed below (see Table 1), and then each item is discussed one-by- one.

Table 1. Nuthatch Deliverables.

Number Type Deliverable 1 Document Project Plan 2 Mathematical Physical Dynamics Analysis 3 Schematic Feedback Diagrams 4 Computer Aided Frequency Simulation Response 5 Schematic Circuit Design 6 Computer Aided PSPICE Simulation Simulation 7 Mathematical Defined Physical Analysis Variables 8 Document Design Release 9 Event Parts Received 10 System Component Finished Cart 11 System Component Finished Pendulum 12 System Component Finished Track 13 System Component Finished Circuit 14 Tested System Tested Circuit Component 15 Complete System Integrated System 16 Document Theory of Operations 17 Milestone Prototype Release 18 Presentation Founder’s Day Presentation

 Project Plan

A completed document describing the project plan, including a schedule.

 Physical Dynamics

A mathematical model for the dynamics of the inverted pendulum system.

 Feedback Diagrams

Classic feedback diagrams (HOLY GRAIL) describing the control of the system.

 Frequency Response

Matlab plots including Bode and root locus plots.

 Circuit Design

Design of the circuit as converted from the mathematical model.

 PSPICE Simulation

PSPICE schematic, Bode plots, and output files.

 Defined Physical Variables

Numerical values for sizes, weights, and coefficient of static friction.

 Design Release

A completed document describing the design of Project Nuthatch.

 Parts Received

All electronic and non-electronic parts received so that assembly can commence.

 Finished Cart

An assembled cart including the wheels, motor, drive train, and breadboard mount.

 Finished Pendulum

An assembled pendulum, including potentiometer, to place atop the completed cart.

 Finished Track

A completed track that restricts the cart to one plane of motion without allowing the wheels to slip.

 Finished Circuit

The feedback circuit, assembled and ready to mount to the cart.

 Tested Circuit

A circuit that has been tested with an oscilloscope and validated for the desired frequency response and stability.

 Integrated System

The cart, pendulum, and circuit assembled together and placed on the track.

 Theory of Operations

A final completed document describing the operation of Project Nuthatch.

 Prototype Release

A working prototype of Project Nuthatch.

 Founder’s Day Presentation

A presentation that concludes the Senior Design course.

Chapter 4 Development Process General Approach

The general approach of the schedule is to complete the design of the project during the first semester, receive the parts during the break between semesters, and complete the prototype by the end of the school year.

Assumptions

Listed below are the assumptions we made in our design and implementation plan.

 A small, inexpensive, accurate potentiometer is available that has correct force to angle ratio for our application

 An inexpensive, but relatively high quality motor with proper acceleration is available that can interface the wheels and the axle of the cart.

 We will be able to find tires of appropriate size that provide sufficient traction.

 The first design method we select is effective.

 Any alterations made after the system is integrated will be minor.

Milestones

Below is a table of the primary project milestones. Each item is also briefly discussed.

Table 2. Key Nuthatch Milestones.

Number Description Original Previous Present Date Date Date 1 Project Approval 10/04/02 10/04/02 10/06/02 2 Research Complete 10/23/02 10/23/02 10/23/02 3 Plan Approval 10/25/02 10/25/02 10/25/02 4 Circuit Design 11/27/02 11/27/02 11/27/02 5 Design Release 12/06/02 12/06/02 12/06/02 6 Parts Received 01/15/03 01/15/03 01/15/03 7 Theory of Operations 02/14/03 02/14/03 02/14/03 Approval 8 System Integration 03/03/03 03/03/03 03/03/03

9 Testing Complete 04/02/03 04/02/03 04/02/03 10 Prototype Release 04/04/03 04/04/03 04/04/03 11 Founder’s Day 04/07/03 04/07/03 04/07/03 12 Final Written Report 04/25/03 04/25/03 04/25/03

1. Project Approval is accomplished upon the completion and approval of the Functional Specifications Revision 1.0 document.

2. Research will be complete when we have found the necessary information to begin the design of Project Nuthatch.

3. Plan Approval is the movement of this document to revision 1.0.

4. Completion of circuit design, including a schematic, Bode plots, and root locus plots.

5. Documentation of the completed design, including mathematical modeling, simulations, and circuit layout.

6. Arrival of all necessary parts.

7. Completed document (Revision 1.0) including the functionality, design, and operation of Project Nuthatch.

8. All system components have been completed and combined to create the overall system. This is not a prototype since the system has not been tested.

9. Tests and modifications on the system are complete.

10. A fully functional prototype is available for demonstration.

11. Founder’s Day Presentation has been delivered.

12. Our final written report is complete and submitted.

In this section, we will discuss anticipated risks affecting our project.

Table 3. Nuthatch Project Risks.

Nu Se Description m ve be rit r y

1 Hi Time management gh

2 Hi Device issues

3 Me Choice of design methodology diu m

4 Lo Late arrival of parts w

5 Hi Physical parameters gh

6 Me Insufficient track length diu m

1. We have little time to design because we have spent a considerable amount of time on documentation, presentations, meetings, etc.

2. Device issues include potentiometer size, cost, force-to-angle ratio, motor-to-axle interface, and sufficient motor acceleration. If any device is too expensive or has improper physical properties, then our project will not work correctly. Currently, we are assuming we can find compliant devices at low prices.

3. Choosing proper method of feedback design. Do we learn new analytical methods or use the classic but complicated methods?

4. If critical parts arrive late, then our schedule will be pushed back.

5. Physical parameters of components must be proportional to one another. The mass of the pendulum must be concentrated at the end of the pendulum. The mass of the cart must be much greater than the mass of the pendulum so that the movement of the pendulum will not exert too much force on the cart.

6. The track must be long enough to allow the cart sufficient movement to balance the pendulum without reaching either end.

Schedule

Figure 2. Nuthatch Schedule (Part A).

Figure 3. Nuthatch Schedule (Part B).

Resources

This section outlines the resources we will use. This includes people, capital, and materials.

Personnel

 Jennifer Miller: Student designer and current project manager.

 Jason Boyce: Student designer.

 Dr. Robert Albright: Primary project advisor.

 Dr. Peter Osterberg: Secondary project advisor.

 Howard Voorheis: Industry representative.

Budget

Table 4. Overall Nuthatch Budget.

Category Description Number Rate Amount

Salary Subtotal $144,000 Name Months $/Month Jason Boyce 8 $9,000 $72,000 Jennifer Miller 8 $9,000 $72,000

Parts and Subtotal $195 Materials Item Amount Price Pendulum 1 $10 $10 Cart 1 $50 $50 Motor 1 $50 $50 Potentiometer 1 $50 $50 Electronics 1 $30 $30 Breadboard 1 $5 $5

 Salaries are based on $9,000 per month including benefits.

 The cart cost includes all materials required for building the cart, including the wheels, track, mounting components, and flag.

 The electronics cost includes the cost of all the discrete components required to build the feedback control circuit.

Facilities

We will need access to an electronics laboratory that contains a DC power supply and an oscilloscope.

Contingencies

Below we have listed possible back-up plans we will use if we experience any of the risks we listed earlier in the document.

Time Management

If there is not enough time to complete the design this semester, we will most likely receive a poor grade. The only possible back-up plan would be to request an extension into Christmas Break.

Device Issues

If the devices are too expensive, we may either build our own or spend some of our own money. We will only be able to build our own if time permits and if we have the necessary

expertise. If any of the devices we need are not available, we will have no choice but to build our own.

Choice of Design Methodology

If our chosen Root Locus Compensator method does not work, we will attempt to use another method, such as PID, Frequency Response, or State Space.

Late Arrival of Parts

If the parts do not arrive on time, we will try to purchase the parts locally.

Physical Parameters

If any of the parts do not work correctly with the other parts in the system, we will have to adjust the size and weight of the parts during our testing phase.

Insufficient Track Length

The length of the track may be extended if the cart too often reaches the ends of it and this causes malfunction.

Chapter 5 Conclusions

Upon completing the schedule for Project Nuthatch, we are very confident that the project

will be completed on time. Our schedule includes a list of milestones and tasks to

complete by certain dates, and resources are assigned to each item. As long as we follow

this schedule, we will be able to meet every deadline.

We realize that it is possible, and quite probable, that some of our risks will become

problems in the future. However, we also believe that our contingency plans are sound

enough to meet our prototype deadline.

We are pleased with our current parts and materials budget, as it does not exceed $200.

Most of our components are inexpensive, with the potentiometer and motor posing the

largest costs. The costs we presented in the budget table are probably slightly higher than

the costs we will actually incur. This will allow for some slight fluctuation in the budget

without exceeding the limit or cutting our salaries.

UNIVERSITY OF PORTLAND SCHOOL OF ENGINEERING CONTACT: JENNIFER MILLER