mtg 13: Course Review
• mtg 13 html
mtg 12: Research Papers
• mtg 12 html
mtg 7: Robot Vision
• lab 7 html
mtg 6: LabVIEW Embedded for Blackfin
• lab 6 html
mtg 5: VDK (visual dsp++ kernel)
• lab 5 html
• VDK manual index html
mtg 4: laser cutter
• lab 4 html
mtg 3: FPGA design/implementation
• lab 3 html
• control eng 1800-1930, pp. 96152 no link
• Xilinx Spartan 3E XC3S250E
data sheet pdf
• Xilinx Quick Start pdf
mtg 2: sensors/motors/arch/control
• lab 2 html
• control eng 1800-1930, pp. 5195 no link
• dynamic pwr mgm't, from BF537 data home page html
• sensors html
mtg 1: intro
• syllabus html
• BF-HB manual & schems no link
• BF537 manual (pages 1-13) pdf
• DSP guide zip
• control eng 1800-1930, pp. 1-50 no link
• lab 1 html files
91.548 Lab 2: Sensors, Motors, and Control
due February 8
Items with a bullet (•) require something to be turned in.
- Read Chapter 5 of the DSP Guide book (on linear systems).
- Read pages 51 95 (chapter 3 Towards an
understanding of the stability of motion) of S. Bennett's A
history of control engineering, 18001930
- • 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.
- • 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).
- • 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.
- • 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
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
Write up your findings.
Wednesday, 01-Feb-2006 17:25:58 EST