June 14, 2015
June 14, 2015
June 17, 2015
26.798.1 - 26.798.16
From system modeling to controller hardware testing in three hours: arobotic arm controller design lab using MATLAB Real Time Windows Target to reinforce classical control theoryA 3 hour hands-on lab experience was designed to give students the opportunity tomodel, design and test a controller for a nonlinear electro-mechanical robot-arm systemas a culminating project in mechanical engineering controls course. Students usedlinearization to model a nonlinear pendulum DC servo system using first principles. Theyused experimental frequency response data to derive a numerical transfer function model.Next they used analytical techniques including root locus and Simulink modeling todesign a PID controller. Finally they tested their controller design using a hardware-in-the-loop system with MATLAB’s real-time windows target system to assess theperformance of their controller. The goals of the exercise were to give students thechance to complete an entire control system design cycle from modeling to hardwaretesting in a single three hour lab, incorporate as many of the course concepts, and give thestudents a practical understanding of the application of the theory. Assessment wasconducted using pre and post online quizzes testing conceptual understanding of themajor topics such as linearization, frequency response, and the effect of proportional,integral and derivative control.
Birdsong, C. (2015, June), From "System Modeling" to "Controller Hardware Testing" in Three Hours: A Robotic Arm Controller Design Lab Using MATLAB Real Time Windows Target to Reinforce Classical Control Theory Paper presented at 2015 ASEE Annual Conference & Exposition, Seattle, Washington. 10.18260/p.24135
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