Project Plan Rev. 0.1 Page 12

Project Plan Rev. 0.1 Page 12

Project BNuthatch

University of Portland / School of Engineering Phone 503 943 7314
5000 N. Willamette Blvd. Fax 503 943 7316
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 15

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 15

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 15

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 15

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 15

Project nuthatch

Chapter / Summary
1

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.

University of Portland School of Engineering Contact: Jennifer miller

Project Plan Rev. 1.0 Page 15

Project nuthatch

Chapter / Introduction
2

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.

University of Portland School of Engineering Contact: Jennifer miller

Project Plan Rev. 1.0 Page 15

Project nuthatch

Chapter / Project Overview
3

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.

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 Analysis / Physical Dynamics
3 / Schematic / Feedback Diagrams
4 / Computer Aided Simulation / Frequency Response
5 / Schematic / Circuit Design
6 / Computer Aided Simulation / PSPICE Simulation
7 / Mathematical Analysis / Defined Physical 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 Component / Tested Circuit
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.

University of Portland School of Engineering Contact: Jennifer miller

Project Plan Rev. 1.0 Page 15

Project nuthatch

Chapter / Development Process
4

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.

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

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

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

n  The first design method we select is effective.

n  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
Date / Previous
Date / Present
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 Approval / 02/14/03 / 02/14/03 / 02/14/03
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.

Risks

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

Table 3. Nuthatch Project Risks.

Number / Severity / Description
1 / High / Time management
2 / High / Device issues
3 / Medium / Choice of design methodology
4 / Low / Late arrival of parts
5 / High / Physical parameters
6 / Medium / Insufficient track length

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.