Abstract:
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 e...Show MoreMetadata
Abstract:
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.
Published in: IEEE Transactions on Education ( Volume: 55, Issue: 4, November 2012)
Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ, USA
Eniko T. Enikov (M'10) received the M.S. degree from the Technical University of Budapest, Budapest, Hungary, in 1993, and the Ph.D. degree from the University of Illinois at Chicago in 1998, both in mechanical engineering.
As a Postdoctoral Associate with the University of Minnesota, Minneapolis, he has worked on several projects in the area of microassembly, capacitive force sensing. Currently, he is an Associate Profess...Show More
Eniko T. Enikov (M'10) received the M.S. degree from the Technical University of Budapest, Budapest, Hungary, in 1993, and the Ph.D. degree from the University of Illinois at Chicago in 1998, both in mechanical engineering.
As a Postdoctoral Associate with the University of Minnesota, Minneapolis, he has worked on several projects in the area of microassembly, capacitive force sensing. Currently, he is an Associate Profess...View more
Mathworks Inc., El Segundo, CA, USA
Giampiero Campa (M'00) received the Laurea degree in electrical engineering and Ph.D. degree in robotics and automation from the University of Pisa, Pisa, Italy, in 1996 and 2000, respectively.
He has also worked with the Industrial Control Centre, Strathclyde University, Glasgow, U.K., in 1995, and with the Department of Aerospace Engineering, Georgia Institute of Technology, Atlanta, in 1999. From 2000 to 2008, he has se...Show More
Giampiero Campa (M'00) received the Laurea degree in electrical engineering and Ph.D. degree in robotics and automation from the University of Pisa, Pisa, Italy, in 1996 and 2000, respectively.
He has also worked with the Industrial Control Centre, Strathclyde University, Glasgow, U.K., in 1995, and with the Department of Aerospace Engineering, Georgia Institute of Technology, Atlanta, in 1999. From 2000 to 2008, he has se...View more
Contents Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ, USA
Eniko T. Enikov (M'10) received the M.S. degree from the Technical University of Budapest, Budapest, Hungary, in 1993, and the Ph.D. degree from the University of Illinois at Chicago in 1998, both in mechanical engineering.
As a Postdoctoral Associate with the University of Minnesota, Minneapolis, he has worked on several projects in the area of microassembly, capacitive force sensing. Currently, he is an Associate Professor with the Aerospace and Mechanical Engineering Department, University of Arizona, Tucson, where he established the Advanced Micro- and Nanosystems Laboratory. His research is focused on the design and fabrication of microelectromechanical systems (MEMS) as well as developing theoretical models of multifunctional materials used in MEMS. His group at the University of Arizona has an ongoing research program on tactile displays, electrostatic micro-grippers for assembly of MEMS, and nanoassembly of macromolecules using electrostatic fields, as well as development of MEMS-compatible wireless sensing platforms with biomedical applications.
Dr. Enikov is a member of the professional societies of ASME and ASEE.
Eniko T. Enikov (M'10) received the M.S. degree from the Technical University of Budapest, Budapest, Hungary, in 1993, and the Ph.D. degree from the University of Illinois at Chicago in 1998, both in mechanical engineering.
As a Postdoctoral Associate with the University of Minnesota, Minneapolis, he has worked on several projects in the area of microassembly, capacitive force sensing. Currently, he is an Associate Professor with the Aerospace and Mechanical Engineering Department, University of Arizona, Tucson, where he established the Advanced Micro- and Nanosystems Laboratory. His research is focused on the design and fabrication of microelectromechanical systems (MEMS) as well as developing theoretical models of multifunctional materials used in MEMS. His group at the University of Arizona has an ongoing research program on tactile displays, electrostatic micro-grippers for assembly of MEMS, and nanoassembly of macromolecules using electrostatic fields, as well as development of MEMS-compatible wireless sensing platforms with biomedical applications.
Dr. Enikov is a member of the professional societies of ASME and ASEE.View more
Mathworks Inc., El Segundo, CA, USA
Giampiero Campa (M'00) received the Laurea degree in electrical engineering and Ph.D. degree in robotics and automation from the University of Pisa, Pisa, Italy, in 1996 and 2000, respectively.
He has also worked with the Industrial Control Centre, Strathclyde University, Glasgow, U.K., in 1995, and with the Department of Aerospace Engineering, Georgia Institute of Technology, Atlanta, in 1999. From 2000 to 2008, he has served as faculty with the Flight Control Group, Department of Aerospace Engineering, West Virginia University (WVU), Morgantown. His research at WVU involved system identification, adaptive and nonlinear control, fault-tolerant systems, machine vision, and sensor fusion, especially applied to unmanned aerial vehicles (UAVs). Since January 2009, he has worked with MathWorks, Inc., as the Technical Evangelist for the US West Coast area.
Giampiero Campa (M'00) received the Laurea degree in electrical engineering and Ph.D. degree in robotics and automation from the University of Pisa, Pisa, Italy, in 1996 and 2000, respectively.
He has also worked with the Industrial Control Centre, Strathclyde University, Glasgow, U.K., in 1995, and with the Department of Aerospace Engineering, Georgia Institute of Technology, Atlanta, in 1999. From 2000 to 2008, he has served as faculty with the Flight Control Group, Department of Aerospace Engineering, West Virginia University (WVU), Morgantown. His research at WVU involved system identification, adaptive and nonlinear control, fault-tolerant systems, machine vision, and sensor fusion, especially applied to unmanned aerial vehicles (UAVs). Since January 2009, he has worked with MathWorks, Inc., as the Technical Evangelist for the US West Coast area.View more
