Week 1 - Course Overview; Mechanical Design; Circuits Review
Description of the main objectives of the class, the organization
of the lab and the final project. Review of steering mechanisms, propulsion methods and 3D printing.
Quick review of circuits.
Suggested reading
- System Dynamics Ch. 6: Electrical and Electromechanical Systems
Homework (Optional)
Homework #1
Homework #1 - Solution
Week 2 - Intro to Arduino Programming; Data Acquisition
Suggested reading
- System Dynamics p. 563-564 Digital control systems
Week 3 - Intro to Time and Frequency Domains; Filters
Suggested reading
- System Dynamics Ch. 8: System Analysis in the Frequency Domain
Homework (Optional)
Homework #2
Homework #2 - Solution
Week 4 - Intro to Statistics and Controls; Power control with Mosfets; How DC Brushed Motors Work;
Suggested reading
- System Dynamics Ch. 6.5,6.6: Electric Motors
- System Dynamics Ch. 9.5 Introduction to Block Diagrams
- System Dynamics Ch. 10.1, 10.2, 10.3 Introduction to Feedback Control Systems
DC Brushed motor explanation
DC Brushed motor movie
DC Brushed motor animation
Characteristics of DC motors
DC motor calculations
Mathematical modeling of DC motors
Useful conversion
Inside a servomotor
Inside a servomotor 2
Homework (Optional)
Homework #3
Homework #3 - Solution
>
Week 5 - P-type and PI-type controllers; Second Order Systems
Lazytown the Mine song
Suggested reading
Homework
Homework #4
Homework #4 - Solution
Week 8 - Experimental Design; Mathematical Modelling
Week 9 - Experimental Verification
Week 10 - Final Project: Section Competitions