ECSE 4962 Control Systems Design  Spring 2004

 

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)

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

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

Classroom:                JEC 4304 (some shop hours in CII 2307)

 

Course Outline

 

Week #

Date

Activity

Group Meetings (Slides)

Shop Hours (in JEC 4304 unless specified otherwise)

1

1/13
1/14

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

1/20

1/21

Work on conceptual design

Modeling of dynamical systems Amplifier, motor, encoder

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

 

Work on conceptual design: brainstorming, literature survey.

3

1/27

1/28

Conceptual Design Memo due  (1/28)

 

Work on model development

Use of MATLAB and Simulink in simulation

Conceptual Design Review with instructor and TA

 

Work on full project proposal

4

2/3

2/4

Work on full project proposal

Real-time programming using MATLAB/Simulink/RTW/xPC target

 

Assignment of experimental system and hand out keys to CII 2037 (in CII 2037)

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

5

2/10

2/11

Work on full project proposal

Parameter estimation, friction estimation and compensation

Review progress of project proposal (in CII 2037) with instructor and TA

Review of lab note book

 

Model identification and validation

Familiarize with hardware

6

2/18

Project Proposal due  (2/18)
Work on final design

 

No class

Project Proposal Presentation (2/18): Each team presents to the entire class the scope of the project, approach, initial modeling result (appr. 10 min, 5 slides per group)

7

2/24

2/25

 

A brief tutorial on control design

Review progress of project (in CII 2037) with instructor and TA

 

Develop Simulink diagram based on model

Develop controller and test in simulation

Controller tuning

8

3/2

3/3

 

More on control

Review progress of project (in CII 2037) with instructor and TA

Review of lab note book

 

Develop Simulink diagram based on model

Develop controller and test in simulation

Controller tuning

9

3/16

3/17

Testing, programming

Mechanical design

Review progress of project (in CII 2037) with instructor and TA

 

Apply controller to the experiment .

10

3/23

3/24

Progress Report  due (3/24)

Completion of construction

Control design example

Progress Review (3/24): Each team presents to the whole class the final design (appr. 10 min, 7-8 slides per group).

Controller tuning

11

3/30

3/31

Tuning and testing

Misc. notes on control

No class

12

4/6

Tuning and testing

 

No meeting (send email updating progress)

Review progress of project (in CII 2037) with instructor and TA

Review of lab note book

 

Continue testing of code on mechanism

13

4/13

4/14

Demonstration (4/14)

Guidance on report writing and presentation

Final demonstration: (in CII 2037) Each team will have 20 minutes to demonstrate their final system (each team should prepare a demo script)

14

4/20

4/21

Final presentation (4/21)

Course evaluation

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

15

4/27

4/28

Final report due (4/28)

Lab note book due (4/28)

 

 

 

        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)

 

Guidelines for 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 2003, each team should provide, and justify, a rank ordered list of three top choices of assembled systems (see http://www.cat.rpi.edu/~wen/ECSE4962S03/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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Email: wen@cat.rpi.edu