MEM 639 exists is to apply computers to control devices. MEM 639 does this with
hands-on labs in programming and interfacing to gain real-world experience. MEM 639
will use the LEGO NXT Brick (i.e. a computer) and NxC programming language with motors
and sensors (i.e. control). The overall objective is to design controllers for a
2nd order system to meet desired performance and stability.
paul@coe.drexel.edu
Jump to a Lecture:
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Jump to a section: Web links and References
Week 1 - 09/24/12
Lesson Plan: Course Introduction and NxC Primer
Course motivation, overview, grading schemes and introduction to NxC programming
Handouts, slides and Homeworks
Announcements: For next lecture
- $150 Deposit: Post dated check (12/10/12) made to Drexel University.
Check returned if all hardware (e.g. NXT, cables, sensors, motors) is returned
undamaged
- Contact George Ciarrocchi for computer accounts and ID card swipe access.
Tel: 215-895-1397 or george@coe.drexel.edu
- Errata: See updated Primer notes (see above) if had trouble with USB driver or compile errors
with FormatNum (i.e. displaySquareAndSquareRoot.nxc) in NXC programs. The "updated" version of the Primer notes has text colored in
blue
Week 2 - 10/01/12
Lesson Plan: DC Motor Modeling and System ID
At heart, a DC motor is a first-order system (with voltage input and velocity output).
Modeling from basic principles and system ID from step response are compared to validate
this statement.
Handouts, slides and Homeworks
Week 3 - 10/08/12 (Columbus Day - No Lecture)
Week 4 - 10/15/12
Lesson Plan: Timers
NxC provides millisecond timers. These are needed in order to acquire data at a defined sampling times.
Timers will be used to perform system identification of an NXT motor.
Handouts, slides and Homeworks
- Lab: NxC Timers
- Homework: See Problems in Lab Timer notes (due next week)
Week 5 - 10/22/12
Lesson Plan: Open-Loop Step Reponse, Transfer Functions, and Block Diagrams
Step response to the NXT Motor revealed first-order dynamics (relating motor input and motor speed). The resulting
transfer function can be identified and can be used for simulation and analysis.
Handouts, slides and Homeworks
Week 6 - 10/29/12
Lesson Plan: Class Cancelled due to Hurricane Sandy
Handouts, slides and Homeworks
Week 7 - 11/05/12
Lesson Plan: Bode Plots, Frequency Response and Phase
Handouts, slides and Homeworks
- Lecture:
- Lab:
- Homework (due Week 09)
NB: Mid-term Next Week (Week 08)
Week 8 - 11/12/12
Lesson Plan: Mid-term Exam (based on Weeks 01-05 material)
Handouts, slides and Homeworks
Week 9 - 11/19/12
Lesson Plan: Root Locus and PID Theory
Handouts, slides and Homeworks
- Lecture:
- Lab:
- Homework (due Week 10)
Week 10 - 11/26/12
Lesson Plan: Wheeled-Inverted Pendulum (WhIP)
Handouts, slides and Homeworks
Week 11 - 12/03/12
Lesson Plan: Final Project Working Day
Handouts, slides and Homeworks
- Final Project Assignment mem639Project1203012.pdf Due Week 12 (12/10/12) (email PDF and NXC, MDL, M code files)
- Next Week:
- Closed-Book Final Exam (covering Weeks 07-10)
- Return baggie (get deposit check back): NXT Brick (with fresh batteries), motor, NXT cables, USB cable
- Return WHiP baggies: lego parts, motor, parts, wheels
Week 12 - 12/10/12
Lesson Plan: Final Exam
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:
- Benjamin Kuo's Automatic Control
is in its 7th edition and is another "bible" in the control area. Kuo goes presents the mathematics but
goes beyound the abstraction. Real world examples are applications are presented.
- Ogata's Modern Control Engineering
and Discrete-Time Control Systems
also two great books to learn control systems.
- Franklin Powell's Digital Control of Dynamic Systems
is also a well-referenced digital control systems design book
- I enjoy Astrom's Computer-Controlled Systems very
much. Astrom presents the mathematical concepts very clearly and his books are a manifestation of his many years in the field.
- Hutchings' $35.00 Interfacing With C is quite
a good book with algorithms, control theory and mathematics are presented on a high level. It is well worth the money and serves
as a good handbook covering areas such as filtering, Kalman filtering and data acquisition.
