| Titre : | Mechatronic aeropendulum : demonstration of linear and nonlinear feedback control principles with MATLAB/simulink real-time windows target (2013) |
| Auteurs : | Eniko T. Enikov, Auteur ; Giampiero Campa, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE transactions on education (Vol. 55 N° 4, Novembre 2012) |
| Article en page(s) : | pp. 538 - 545 |
| Note générale : | Education |
| Langues : | Anglais |
| Tags : | Feedback linearization Simulink Linear feedback control Real-time windows target |
| Résumé : | 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. |
| ISSN : | 0018-9359 |
| En ligne : | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6193186&sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A6341131%29 |
