MEM 639 Real-Time Microcomputer Control I Web Page

The objective of MEM639 is to equip mechanical engineers with the necessary electronic and computer interfacing skills required to digitally control a system. As such, each 3 hour class is comprised of lectures and hands-on lab work to reinforce concepts. This course webpage will be updated weekly for three purposes. First, weekly lesson plans serve to illustrate the topics to be covered; second, hand outs, homeworks and relevant slides are posted for viewing; third, hard print and web references for further readings, as well as miscellaneous material are accessable through this site.

Given the dynamic nature of this site, 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 (preferable Version 4.0). If you don't have Acrobat installed on your PC, you can download a free version from 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 - 09/24/07

Lesson Plan: Course Introduction and LabVIEW Primer

Course motivation, overview, grading schemes and introduction to LabVIEW programming

Handouts, slides and Homeworks

Announcements: For next lecture

Synopsis:

To be added

Lecture 2 - 10/01/07

Lesson Plan: Digital Inputs and Outputs

At heart, a digital control system demands appreciating its discrete nature; a signal is either on or off. LabVIEW and the USB-6211 will be used to demonstrate digital inputs and outputs.

Handouts, slides and Homeworks

Synopsis:

To be added

Lecture 3 - 10/15/07

: Columbus Day last week

Lesson Plan: Analog Input and Output

Signal acquisition and command generation is respectfully done with analog voltage input and output. The USB-6211 will be used with a potentiometer-based sensor and to create a virtual variable power supply.

Handouts, slides and Homeworks

Synopsis:

To be completed

Lecture 4 - 10/22/07

Lesson Plan: Counters and Timers

synchronization is an important element in designing a successful PC-based controller. The USB-6211 will be used to demonstate reading optical encoder counts and generating PWM signals to actuate an hobby RC servo.

Handouts, slides and Homeworks

Synopsis:

To be Added

Lecture 5 - 10/29/07

Lesson Plan: Mid-term

The 120-minute midterm consists of two parts. The first is a traditional closed-book written exam. The second tests for LabVIEW programming and hardware interfacing.

Synopsis:

To be completed

Lecture 6 - 11/05/07

Lesson Plan: Simulation and Motor Theory

Motor driven systems can be modeled in simulation. A lecture on motor dynamics and lab on simulating systems provides the foundation towards closed-loop control design.

Handouts, slides and Homeworks

Synopsis:

To be completed

Lecture 7 - 11/12/07

 Lesson Plan: System Type and PID Theory

The tethered motorized cart is introduced in this lab. This platform will serve to meet the course final objective: the closed-loop control of a DC motor. Open loop step response is used to identify the system's time constant. Lecture on System Type and PID theory serves to prepare students in the techniques for closed-loop control.
Handouts, slides and Homeworks

Lecture 8 - 11/19/07

 Lesson Plan: Project Day

Class time is dedicated to drafting one's Project

Handouts, slides and Homeworks

Synopsis:

To be completed

Lecture 9 - 11/26/06

Lesson Plan: PID Implementation

Closed-loop PID control of the motorized tethered cart is performed in simulation and experimentally

Handouts, slides and Homeworks

Synopsis:

To be completed

Lecture 10 - 12/03/07

Lesson Plan: Project Demo

Final written project due. Demo of closed-loop PID control of the motorized tethered cart due today.

Handouts, slides and Homeworks

Lecture 11 - 12/10/07

Lesson Plan: Final Exam

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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