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mtg 2: sensors/motors/arch/control
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91.548 Lab 2: Sensors, Motors, and Control

due February 8


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Reading/Writing Assignment

  1. Read Chapter 5 of the DSP Guide book (on linear systems).

  2. Read pages 51 – 95 (chapter 3 – “Towards an understanding of the stability of motion”) of S. Bennett's A history of control engineering, 1800–1930

  3. Based on these readings, refer back to the system you discussed in the first session (or pick another one, if you don't want to revisit the first one for whatever reason [e.g., you thought of another you would rather think about]).

    Think about the variables that characterize your system and how they relate to each other. Do they have linear relationships? Quadratic or other? If not linear, do they have obvious distinct operating regions that can be readily linearized? Explain.

Implementation Project

  1. Look over Chapter 2 of the DSP Guide, especially the part on digital noise generation. Write code to generate white and/or pink noise. (Research [i.e., Google] them to understand what they are).

  2. We have a variety of robot sensors: touch, light, "ET" distance sensor, IR reflectivity. Get a couple of different sensors working with the HB and controlling a motor. Describe what you did.

  3. We will have at least one set-up of a motor with a quadrature shaft encoder, which measures rotational position with extremely high accuracy. Build a proportional-derivative controller that servos to a setpoint position. Perturb the motor and watch it snap back. Play with the following parameters and observe the following other characteristics:

    Parameters. position gain, velocity gain, intertial load on the motor.

    Characteristics. static position error, stability/oscillations, overshoot, lag.

    You probably want to have some code that records position vs. time. You can use the VDSP++ View tools to graph this and see what's happening (in addition to directly experiencing it with your hands).

    Write up your findings.

Last modified: Wednesday, 01-Feb-2006 17:25:58 EST by fr...@...uml.edu