TY - JOUR
T1 - Mechatronic aeropendulum
T2 - Demonstration of linear and nonlinear feedback control principles with MATLAB/simulink real-time windows target
AU - Enikov, Eniko T.
AU - Campa, Giampiero
N1 - Funding Information:
Manuscript received September 29, 2011; revised January 27, 2012; accepted March 30, 2012. Date of publication May 01, 2012; date of current version October 26, 2012. This work was supported by the NSF under Grants 0856761 and 0927661 E. T. Enikov is with the Department of Aerospace and Mechanical Engineering, College of Engineering, University of Arizona, Tucson, AZ 85721 USA (e-mail: [email protected]). G. Campa is with Mathworks, Inc., El Segundo, CA 90245 USA. Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TE.2012.2195496
PY - 2012/11
Y1 - 2012/11
N2 - This paper presents a low-cost hands-on experiment for a classical undergraduate controls course for non-electrical engineering majors. The setup consists of a small dc electrical motor attached to one of the ends of a light rod. The motor drives a 2-in propeller and allows the rod to swing. Angular position is measured by a potentiometer attached to the pivot point. A custom-designed circuit board produces the controlled voltage input to the motor. The target board is powered and communicates with the PC through its USB port using a virtual RS-232 port. A simple MATLAB/Simulink module has been created to read the pendulum angle and send a command signal to the motor. The module is based on Real-time Windows Target software, which allows a sampling rate of up to 200 Hz. Students are able to design and test classical PID and phase lead-lag controllers, as well as modern controllers, including state-space controller design combined with feedback linearization. A semester-long series of assignments is described that can be carried out without the need for a specialized laboratory or teaching assistants. The project was tested in a classical control systems design class of senior-level mechanical engineering students. Student feedback and survey data on the effectiveness of the modules are also presented.
AB - This paper presents a low-cost hands-on experiment for a classical undergraduate controls course for non-electrical engineering majors. The setup consists of a small dc electrical motor attached to one of the ends of a light rod. The motor drives a 2-in propeller and allows the rod to swing. Angular position is measured by a potentiometer attached to the pivot point. A custom-designed circuit board produces the controlled voltage input to the motor. The target board is powered and communicates with the PC through its USB port using a virtual RS-232 port. A simple MATLAB/Simulink module has been created to read the pendulum angle and send a command signal to the motor. The module is based on Real-time Windows Target software, which allows a sampling rate of up to 200 Hz. Students are able to design and test classical PID and phase lead-lag controllers, as well as modern controllers, including state-space controller design combined with feedback linearization. A semester-long series of assignments is described that can be carried out without the need for a specialized laboratory or teaching assistants. The project was tested in a classical control systems design class of senior-level mechanical engineering students. Student feedback and survey data on the effectiveness of the modules are also presented.
KW - Feedback linearization
KW - Linear feedback control
KW - Real-time control
KW - Real-time windows target
KW - Simulink
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U2 - 10.1109/TE.2012.2195496
DO - 10.1109/TE.2012.2195496
M3 - Article
AN - SCOPUS:84898829777
SN - 0018-9359
VL - 55
SP - 538
EP - 545
JO - IEEE Transactions on Education
JF - IEEE Transactions on Education
IS - 4
ER -