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Four Hardware Experiments for Advanced Dynamics and Control

Bradley T. Burchett

Department of Mechanical Engineering, Rose-Hulman Institute of Technology, Terre Haute, IN 47803

Abstract

The faculty of the mechanical and electrical engineering departments at Rose-Hulman Institute of Technology have developed many experiments for system modeling and control. In this work, we present the development of additional experiments intended to broaden the repertoire of courses in which the controls lab hardware is used. First, we capitalize on previous modeling experiments using both step response and frequency response to precisely identify the parameters of linear and radial hanging crane models. Second, students use the stable model obtained through frequency response to form the open-loop unstable model of the plant in inverted pendulum mode. They then apply Ackermann's formula to obtain the state feedback gains to place the closed loop poles at locations suggested by the professor. Third, we present a state feedback control experiment based on a two degree of freedom mass-spring system with rigid body mode. Control of this device is analogous to control through a flexible manipulator, except that the system is simplified to one-dimensional motion. Fourth, we show a proposed modeling and parameter identification laboratory for a graduate level dynamics course. Students are required to develop the system non-linear kinematic equations, then apply LaGrange's formulae to obtain two degree of freedom kinetic equations. They are then expected to obtain experimental response data, and provide precise estimates of system physical parameters through matching theoretical response with experimental.

Introduction

We have developed a series of four advanced modeling and control labs for use in the senior level introductory controls course and the graduate level advanced dynamics course. The ECP Model 210 Rectilinear Control System (ECP210) and the ECP Model 205 Torsional Control System (ECP205)1 are used for these experiments. These commercially available plants are precisely instrumented mechanical systems that are user configurable for a wide variety of degrees of freedom and plant parameters. Although very different in appearance, the components of stiffness, inertia and damping are completely analogous between the systems, and using both in the lab provides an opportunity to emphasize the concept of system analogy. That is, the form of the state space models is identical, only the parameters and units change when moving from rectilinear to torsional and back. The ECP210 and ECP205 are shown in Figures 1a and 1b respectively.

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Burchett, B. (2006, June), Four Hardware Experiments For Advanced Dynamics And Control Paper presented at 2006 Annual Conference & Exposition, Chicago, Illinois. 10.18260/1-2--592