From 'system modeling' to 'controller hardware testing' in three hours: a robotic arm controller design lab using MATLAB Real Time Windows Target to reinforce classical control theory

摘要

A 3 hour hands-on lab experience was designed to give students the opportunity to model, design and test a controller for a nonlinear electro-mechanical robot-arm system as a culminating project in mechanical engineering controls course. Students used linearization to model a nonlinear pendulum DC servo system using first principles. They used experimental frequency response data to derive a numerical transfer function model. Next they used analytical techniques including root locus and Simulink modeling to design a PID controller. Finally they tested their controller design using a hardware-in-the-loop system with MATLAB's real-time windows target system to assess the performance of their controller. The entire process was started and completed in one three hour lab period. The goals of the exercise were to give students the chance to complete an entire control system design cycle from modeling to hardware testing in one sitting, incorporate as many of the course concepts as possible and give the students a practical understanding of the application of the theory. Assessment was conducted using pre and post online quizzes testing conceptual understanding of the major topics such as linearization, frequency response, and the effect of proportional, integral and derivative control. The assessment indicate a significant improvement in understanding of the theory and positive attitudes regarding the experience.