MEM 351 Dynamic Systems Lab Web Page - Summer 2008

Lecture Tue 13:00 - 13:50 (Curtis Rm. 341)

Lab Wednesday (MEM UG Lab)
Section 1 (09:00 - 11:50) | Section 2 (12:00 - 14:50) | Section 3 (15:00 - 17:50)

Covers advanced experimental methods in mechanical engineering in the areas of dynamic systems and control. Includes experiments on sensors, actuators, microcomputer data acquisition and control, and the analysis and design of feedback control systems. Such experiments are designed to develop technical skills in conducting experiments and analyzing data, to produce several distinct outcomes required by the accrediting body, (Criteria 3 a-k), to contribute to the MEM educational objectives, and to satisfy professional components specified by ASME.

The course home page will be updated frequently. Students should habitually view this site, at least weekly. Lesson plans and post-class synopsis are posted for both student preparation and feedback of the material covered. Documents are posted as Adobe PDF files which are viewable with Acrobat Reader which is freely available at Adobe's website.

paul@coe.drexel.edu


Jump to a Lecture: 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11

Jump to a section: Web links and References


Lecture 1 - 07/01/08

Lesson Plan: System Dynamic Equations of Motion General introduction to the course, syllabus, assessment, lab group formation

Handouts, slides and Homeworks

Announcements: For next lecture

Synopsis: Lecture presented ABET A-thru-K criteria and MEM 351 role in MEM curricula.


Lecture 2 - 07/08/08

Lesson Plan: Block Diagrams, Transfer Functions, Poles and Zeros

The dynamic equations of motion for the damped compound pendulum were introduced in the last lecture. These equations be expressed graphically (block diagrams), and mathematically (e.g. transfer functions). In essence, the dynamics are expressed by pole and zero locations.

Handouts, slides and Homeworks


Lecture 3 - 07/15/08

Lesson Plan: State-space Realizations

Linear algebra enables equations to be packaged into matrices. This results in compact representations of the system's differential equations. Such compactness facilitates controller design and system analysis.

Handouts, slides and Homeworks


Lecture 4 - 07/22/08

Lesson Plan: System Identification

Experimental data is analyzed to form a model of the real-world system. Here, NI-DAQ and LabVIEW are used to acquire angle data in order to model the pendulum's transfer function.

Handouts, slides and Homeworks


Lecture 5 - 07/29/08

Lesson Plan: Matlab and Simulink tools for Dynamic Response

The previous lab excercised the capture of experimental data - the goal being system modeling. With a model in-hand, software packages like Matlab/Simulink can be used for simulations; input responses, disturbance reaction and controllers/compensators can all be designed and tested in simulation. Here, a Matlab and Simulink primer is given to introduce such software tools.

Handouts, slides and Homeworks


Lecture 6 - 08/05/08

Lesson Plan: Pole Placement Control

There are many different control systems. Pole placement is one method that uses state feedback to obtain desired transient response.

Handouts, slides and Homeworks


Lecture 7 - 08/12/08

Lesson Plan: Pole Placement and PID Simulation

POle placement theory was covered in Lecture 6. Simulink and Matlab are used to design and implement a pole placement controller for the damped compound pendulum. This is then contrasted with a PID controller.

Handouts, slides and Homeworks


Lecture 8 - 08/19/05

Lesson Plan: PID Experimental Implementation

Simulink and Matlab were used to design and implement a controllers for the damped compound pendulum. The results (i.e. gain tuning) will be implemented in a real-world system.

Handouts, slides and Homeworks


Lecture 9 - 08/26/08

Lesson Plan: Course Review

The last lab achieved the course objective of designing a controller to achieve the desired output with desired steady-state error and desired transient response. Throughout the course, a damped compound pendulum, was the system that was explored. Such a system is not unique and the underlying techniques (i.e. system ID, modeling, simulation and real-world controller implementation) can be applied to other systems in the same method.

Handouts, slides and Homeworks


Lecture 10 - 09/02/08

Lesson Plan: Final Report Due

No lectures or labs. Hard copy printout of final report due to TA this week.

Handouts, slides and Homeworks


Basic Electronics

There are plenty of on-line resources on electronics at all levels. Some deal with specific topics while others are more general. Some excellent newsgroups are: sci.electronics.misc, comp.robotics.misc, comp.arch.embedded, sci.electronics.basics, sci.electronics.design and sci.electronics.misc. These newsgroups are very friendly and helpful in answering questions in all areas of electronics. Some useful web links are

My first electronics project was building a joystick for my Atari 400 computer when I was in highschool. I began by going to my local Radio Shack and buying a solderless breadboard, some wire and Forrest Mim's "Getting Started in Electronics". This $5.00 book is still sold at Radio Shack (part no. 276-5003) and I find it excellent for both the amateur and experienced electronics hobbyist. Other books are:


Control Theory

Control theory often means different things to different people. For some, control entails just turning something on or off. For others, it is mathematically abstract; a tool for those who enjoy manipulating linear and non-linear differential equations and matrices. I've found that latter is easier to appreciate if you keep you eye on the big picture and the math often follows much easier. Some webpages are:

Some general control systems theory books that I've enjoyed are:


Computer Interfacing

Much of what will be learned in MEM 639 will involve computer interfacing. The web is abound with references.

Some books that are useful are:

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