ECSE 4962 Control Systems Design  Spring 2003

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

TA:                             Ben Potsaid, potsaid@cat.rpi.edu x 2973 (CII 8123)

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

Lecture Hour:           W 9:00am-11:00am

Lab Hours                 TW 5:00pm-6:20pm

Classroom:                JEC 4304

Course Outline

Week #

Date

Activity

Lecture Hour

Shop Hours

1

1/15

Form project teams

Start deciding on the project

Introduction

Steps in control systems design

Demonstration of a controlled pan-tilt mechanism

2

1/21

1/22

Work on conceptual design

Modeling of dynamical systems

Informal presentation of project goal and problem statement (1/22) (appr. 10 min /group).

Work on conceptual design: brainstorming, literature review.

3

1/28

1/29

Conceptual Design Memo due  (1/29)

Work on quantitative design specification and preliminary design

Use of MATLAB and Simulink in control design

Informal Conceptual Design Review (1/28): Each team presents conceptual design (appr. 15 min/group).

Work on preliminary design: initial math model

4

2/4

2/5

Preparation for project proposal

Continue with preliminary design: simulation

5

2/11

2/12

Amplifier, motor, encoder
Linearization and basic control design

Informal Preliminary Design Review (2/11): Each team presents the preliminary design (appr. 15 min/group)

Work on final design: include sampling, friction, amplifier in model

6

2/19

Project Proposal due  (2/19)
Work on final design

More on control -- nonlinear compensation, trajectory generation

Continue with final design: simulation, controller tuning

7

2/25

2/26

Design review (2/25, 2/26)

Mechanical design

Semi-Formal Final Design Review (2/25, 2/26): Each team presents the final design (appr. 20 min/group)

Order parts (gear, motor)

8

3/4

3/5

Progress Report  due (2/26)

Experiment construction

Data acquisition and real-time control

Controller tuning

9

3/18

3/19

Testing, programming

Still more on control: linearized vs. nonlinear closed loop systems.  Real-time programming of ARCS using MATLAB/Simulink/RTW

Controller tuning

10

3/25

3/26

Completion of construction

Parameter estimation, friction estimation

Putting system together

Start constructing real-time code via Simulink/Real-Time-Workshop.

11

4/1

4/2

Tuning and testing


Continue testing of code on mechanism

12

4/8

Tuning and testing

Controller optimization

Develop script for demonstration

13

4/15

4/16

Demonstration (4/16)

Guidance on report writing and presentation
Course evaluation

Each team will have 20 minutes to demonstrate their final system

14

4/22

4/23

Final presentation (4/22, 4/23)


Final presentation: Each team presents the overall approach and final result (30 min each)

15

4/29

4/30

Final report due (4/30)

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

Each team member must give at least one presentation.

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

Proposal, progress report, and final report must be types and bound (e.g., in a three-ring folder/binder).

Conceptual Design Memo should contain project goal, problem statement, applications, similar types of products, sketches (3-6 pages)

Format:

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Design Proposal should follow the guideline for project proposal.  The technical portion should include quantitative specification, simplified model, simulation, initial control design, initial component sizing.

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Design Progress Report should follow the same format as the final report (See guideline for project proposal) but include the preliminary results.  Make sure that the report contains quantitative specification, detailed model (sampled-data model, friction, saturation, amplifier dynamics), simulation, control design, final component sizing.

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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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Email: wen@cat.rpi.edu