ECSE 4460 Control Systems Design  Spring 2005

 

Instructor:                 John T. Wen, wenj@rpi.edu x 8744 (CII 8213)

TA:                             Rafael Quintanilla, quintanilla@cat.rpi.edu  x 2973 (CII 8123)

Secretary:                  Melissa Reardon, melissa@ecse.rpi.edu x 6313 (JEC 6049)

Group Hours:            T 8:30am-9:50am

Lab Hours                 W 6:00pm-9:00pm

Classroom:                JEC 4304

 

 

Meeting Slides


1/18:  Introduction

1/25:  Modeling

 

          An article on encoders
          Motor datasheet
          Amp datasheet
          Encoder datasheet

 

E-book from RPI library: Robot mechanisms and mechanical devices illustrated by Paul E. Sandin:  good basic introduction on motors, sensors, and a bit on control

 

2/1:      Continue with modeling and discussion of conceptual design memo

            Example Simulink diagram pansim.mdl , initialization file pantiltmodel.m

2/2:      Conceptual Design Memos Team 1  Team 2  Team 3  Team 4  Team 5

2/8:      Brief introduction of MATLAB and Simulink and friction identification

 

papers on velocity estimation and friction compensation:

G. Liu: velocity estimation

G. Liu and A.A. Goldenberg: friction compensation

Astrom: friction modeling and compensation

Astrom: limitation of control

 

2/15:    xPC Target tutorial   mdl files: team1  team2  team3  team4  team5

      To get the simulink blocks for digital inputs and outputs go to: 
          Simulink Library Browser ... xPC Target ... Digital Input ... Measurement
          Computing ... PCI-DAS 1602 16
        and
          Simulink Library Browser ... xPC Target ... Digital Output ... Measurement
          Computing ... PCI-DAS 1602 16

 

3/1:      Proposal and parameter identification

 

3/2:      Proposal presentations: team1  team2  team3  team4  team5

           

            Written proposals: team1  team2  team3  team4  team5

 

3/15:    Introduction/Review of Control Design

 

PID tuning guide (pages 3 and 4) for industrial controllers (mostly for process control, but applicable to motion as well) .

 

3/22:    Mechanical design  (by Rafael Quintanilla)

 

            Some references:

 
http://www.mines.edu/fs_home/jsteele/411/Lectures/L09ShaftsKeysSplinesVibs/L18ShaftDesign.pdf
 
http://pergatory.mit.edu/2.75/2_007%20Lectures/Topic%20%205%20Power%20Transmission%20Components%20FOR%20WEB.pdf
 
Robert L. Norton, "MECHANICAL DESIGN - An Integrated Approach", 2nd edition, Prentice-Hall 2000
 
3/29:    More on control (velocity estimation, feedback linearization, and trajectory generation) init.m velfilter.m  trajgen.m sigmoid.m trapgen.m scurvegen.m sineprofile.m
 
3/30:    Progress report presentations: team1  team2  team3  team4  team5
            
            Written progress reports: team1  team2  team3  team4  team5
 
4/12:    State space design method and guideline on final demonstration, final presentation, and final report

4/20:    Final demo scripts  team1  team2  team3  team4  team5

4/27:    Final presentations  team1 team2 team3 team4 team5

5/4:      Final report  team1 team2 team3 team4 team5

            videos team1  team1 gravity cancellation team2 team3 team4 team5


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Email: wenj@rpi.edu