ECSE 4460 Control Systems Design  Spring 2006

 

Instructor:                 John T. Wen, wenj at rpi dot edu, x 6156 (CII 8015)

TA:                             Rafael Quintanilla, quintr at rpi dot edu  x 2973 (CII 8123)

Secretary:                  Jeanette Young, x 8744 (CII 8015)

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

Lab Hours                 W 6:00pm-9:00pm (CII 8208 or JEC 4304)

Classroom:                JEC 4304

 

Course Outline

 

Week #

Date

Activity

Group Meetings (Slides)

Shop Hours  (in JEC  4304 unless specified otherwise)

1

1/17
1/18

Form project teams

Start deciding on the project

Introduction

Description of projects

Steps in control systems design

Demonstration of a controlled pan-tilt mechanism

Get to know teammates

2

1/24

1/25

Work on conceptual design

Technical report writing (guest lecture by Prof. Lee Odell of Dept. of Rhetoric and Composition)

Reading assignment:

Contrastive pair of writing from Burt Swersey’s class

Contrasting project proposals from past CSD courses

Annotated design memo: designmemoannotated.pdf

Discussion of project goal, motivation, and scope with instructor and TA

 

Work on conceptual design: brainstorming, literature survey.

3

1/31

2/1

Conceptual Design Memo due  (2/1)

 

Work on model development

Discussion of conceptual design. Mechanical design (by Rafael)

Conceptual Design Review with instructor and TA

 

Work on full project proposal

4

2/7

2/8

Work on full project proposal

Modeling of dynamical systems Amplifier, motor, encoder

Assignment of experimental system (in CII 8208)

Model development (friction id, open loop time response, amplifier, sampling effect)

5

2/14

2/15

Work on full project proposal

Using LabView for real-time control and data acquisition


Friction Identification

 

Review progress of project proposal (in CII 8208) with instructor and TA

Review of lab note book

 

Model identification and validation

Familiarize with hardware

6

2/22

Project Proposal due  (2/22)
Work on final design

 

No class

Review progress of project proposal (in CII 8208) with instructor and TA

 

Develop Simulink diagram based on model

Develop controller and test in simulation

7

2/28

3/1

 

Parameter identification

Project Proposal Presentation (3/1) in JEC 4304: Each team presents to the entire class the scope of the project, approach, initial modeling result (appr. 10 min, 5 slides per group)

 

Controller tuning

8

3/7

3/8

 

Review of control design

Review progress of project (in CII 8208) with instructor and TA

 

Develop Simulink diagram based on model

Develop controller and test in simulation

Controller tuning

9

3/21

3/22

Testing, programming

More on control

Review progress of project (in CII 8208) with instructor and TA

Review of lab note book

 

Apply controller to the experiment .

10

3/28

3/29

Progress Report  due (3/29)

Completion of construction

State space method

 

Progress Review (3/29): Each team presents to the whole class the final design (appr. 10 min, 7-8 slides per group).

Controller tuning

11

4/4

Tuning and testing

Progress review (in CII 8208)

No meeting

12

4/11

4/12

Tuning and testing

 

Review of progress report (in CII 8015)

Review progress of project (in CII 8208) with instructor and TA

13

4/18

4/19

Get ready for final demonstration

Guidance on final demonstration,  report writing and final presentation. Course evaluation.

Review progress of project (in CII 8208) with instructor and TA

 

14

4/25

4/27

Demonstration (4/25) Prepare a 1-2 page demo script to hand out to class.

Final demonstration: (in CII 8208)  Each team will have 20 minutes to demonstrate their final system (each team should prepare a demo script)

No meeting

15

5/2

5/3

Final presentation (5/3)

Prepare a 2-3 min video as part of your demonstration.

 

No meeting

Final presentation: Each team presents the overall approach and final result (appr. 20 min, 12-14 slides)

 

5/8

Final report due (12pm 5/8)

Lab note book due (12pm 5/8)

Project CD due (12pm 5/8): include all reports, presentations, simulation and real time codes, CAD drawings etc., video

 

 

 

·        Each report MUST contain a statement of relative contribution of the team members.

·        All team members must participate in the group presentations.

·        Design review and final oral presentations must be in PowerPoint (or similar).

·        Conceptual design memo, project proposal, progress report, and final report must be typed and bound (e.g., in a three-ring folder/binder) in the specified format described below.

 

General pointers on writing style (based on the experience from the previous time this course was offered)

 

Brief hints on oral presentations (by Prof. Lee Odell)

 

Guidelines for final oral presentation (written for the final presentation, you may adopt it for other presentations in the course).  Video footages of the demonstration are greatly encouraged for the final demonstration.  The instructor will provide video camera and video editing equipment.

 

Conceptual Design Memo should follow the guideline for conceptual design memo.  It should contain project motivation, broad specification, design constraints, broad description of design approach and tasks, and anticipated challenges.  Since we are constrained to the assembled systems from Spring 2004, each team should provide, and justify, a rank ordered list of three top choices of assembled systems (see http://www.cats.rpi.edu/~wenj/ECSE4962S05/slides.htm for a complete list of reports and presentations related to these systems).  Based on the design memo, one of the assembled systems will be assigned to each team.

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Design Proposal should follow the guideline for project proposal.  It should include the background, motivation, objective of the project, preliminary (but quantitative) specification, proposed design strategy and plan of action to achieve the stated objective, procedure for testing and verification, estimated cost, and project schedule.

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Design Progress Report should follow the guideline for progress report.   It should include quantitative specification, detailed model (sampled-data model, friction, saturation, amplifier dynamics), model validation results,  initial control design and simulation results, and comparison with the project schedule.

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Final Project Report should following the guideline for final report.  The technical portion should contain modeling, control design and tuning, simulation results, and experimental results.

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