ECEE4638: Control Systems Lab

(See D2L for Spring 2015 Dates)

Last Revision: 1/3/2015 by HHH

 

Instructor: Harry H. Hilgers
TA: Chadi Abdel-Samad

TA: Arnold Braker


Tu or Th 12 - 2:30 PM

Tu or Th 3:30 - 6:00 PM

ITLL HP Lab Plaza

Control system design and analysis with experience both in real hardware and computer simulation. Emphasis is placed on the entire control system design cycle - modeling the system, synthesizing a controller, conducting simulations, analyzing the design to suggest modifications and improvements, and implementing the design for actual testing.

Requirements

1.      Prerequisites

a.     ECEN 2250, Intro to Circuits and Electronics

b.     ECEN 2260, Circuits as Systems

c.      APPM 2360, Linear Algebra and Differential Equations

d.     ECEN 3300, Linear Systems

e.     ECEN 4138/5138, Control Systems Analysis

2.     Group Lab Reports

3.     Participation

a.     Non- participation (meaning that you are not carrying your weight in your group) will NOT be tolerated and will come with consequences.

4.     ITLL computer access (we will take the required tour on the first lab period)

Group Lab Reports

Lab reports will be written in groups. They should

a.     be short.

b.     address the tasks assigned in the lab

c.      provide reasonable indication that you understood the lab.

They should not be reflections of having successfully followed a long series of seemingly arbitrary steps. Although that is unfortunately occasionally a component of this lab, the objective of this course is to help you to think independently about how to approach a control design problem. Your lab write-ups will be graded not only on the tasks you achieved and the plots you turn in, but also in your description of why you chose those plots, what you think the relevant questions are, and what problems you encountered.

Resources/Material

1.     ECEE 4638

a.      ECEE4638 Current Manual

b.     ECEE4638 OLD Manual

c.      ECEE4638 LabVIEW Tutorial (same as Lab 0)

2.     LabVIEW

a.      LabVIEW Student Tutorials

 

SCHEDULE

Week

Dates

See D2L

Description

Assignment

1

LabVIEW Tutorial

Lab 0

2

Introduction to Simulation in LabVIEW

Lab 1

3

Simulation of Torsional Disk System (TDS)

Lab 2

5

System Identification of the TDS

Lab 3

7

Open-Loop and PID Control Design

Lab 4

9

Root Locus Design

Lab 5

11

Frequency Domain Design

Lab 6

13

State-Space Design

Lab 7

All semester

PDR

CDR

FDR

An analog compensator design

Lab 8

(see below)

Last Day of Classes

 

 

 

Lab 8 – Analog compensator design for a second order BP “plant”.

1.      You will be given the analog schematic for a three op-amp state variable filter with three outputs: LP, HP, and BP. The BP center frequency is around 4 kHz.

2.      Even though the filter has three outputs, you will ONLY be using the board’s Band-Pass output.

3.      First you will build this “plant” using your own components and bread board (available at the ECEN parts store).

4.      Your TA will give you the list of parts that I used when I built this state variable filter board about 8 years ago.

5.      You will then design and build a compensator with the objective of achieving a “flat” closed loop frequency response from around 100 Hz to around 10 kHz. “Flat” means that the closed loop gain must stay within ± 3 dB between the 3 dB–down frequencies of 100 Hz and 10 kHz.

6.      On the PDR date I want to see the complete schematic of your final design while your closed loop hardware build should be substantially completed at the CDR date.

7.      Your lab report needs to include schematics, block diagrams, a gain root locus, the OL and CL Bode plots.

8.      Each group will have to demonstrate the final design to a TA or me on or before the FDR date.

9.      In the past I have only built this state variable filter on a breadboard. I have never used it as a “plant” and then wrapped a loop around it. But I always thought that would be a fun experiment. So all of you will be the showing whether or not the stated flat CLBW requirements can even be met.

10.  Recall that during the fall theory class we talked about to always see if the plant can be altered to make the compensator design as easy, simple and inexpensive as possible.

11.  This means that in the end you find out that it cannot be done with using “standard” and “normal sized” components, then you will have to tell me how to change the plant so it can be done.

12.  So this lab it is not just some “canned” school lab. It is an example of a true real world experiment of a given system that is not behaving the way your customer wants it to behave. However, in order to do this in a laboratory environment, we have replaced some mechanical system with an easier to realize electronics version.

I think it can be done. Have fun with it. Here is my initial result. I don’t know if my compensator is realizable with practical valued components, but that is where you all come in. You tell me.

Plant Transfer Function

1257 s

------------------------

s^2 + 1257 s + 6.317e008

 

PLANT

COMPENSATOR

 

 

CLOSED LOOP