EE 3151 Control Systems -- Fall Semester 2017 Laboratory Experiments
Lab TA: Allan Bekkala, Email: bekka003@d.umn.edu
Location: MWAH 141
Lab Hours: 9:00 AM - 11:50 AM and 1:00 - 3:50 PM, Tuesday
Office Hours: TBA
- Experiment #1: Modeling I: Motor Static Relations, Motor Parameter
Estimation
- Experiment #2: Modeling II: Dynamic Modeling (Bumptest, Model Fitting)
- Experiment #3: Position Control I: PD vs. PI Controls, System Performance,
Qualitative Properties of Controller Design to Specifications
- Experiment #4: Position Control II: Tracking Ramp Signals, Response to Load
Disturbances
- Experiment #5: Speed Control I: Qualitative Properties of PI Control,
Ziegler-Nichols Tuning, Set-Point Weighting, PI Controller Design
- Experiment #6: Speed Control II: Integrator Windup Protection, Tracking Ramp
Signals, Response to Load Disturbances
- Experiment #7: Inverted Pendulum Control
- Experiment #8: Haptic Ball and Beam Control
Laboratory Objectives
The objective of "Modeling" is to develop an
understanding of modeling for control design and to practice modeling skills
using the DC Motor Control Trainer.
The objective of "Position Control" is to develop
an understanding of PID control of motor angle, how it works, and how it can
be tuned to meet specifications.
The objective of "Speed Control" is to develop
an understanding of PID control (applied to speed), how it works, and how it
can be tuned to meet required specifications.
The objectives of Experiments 7 and 8 are to explore the
stability control design of the closed-loop systems (inverted pendulum, ball and beam).
Instructions
All the lab experiments will be conducted in 141 MWAH.
Pre-Laboratory Assignments: The lab handout will be distributed in class
one week ahead of its scheduled lab session. You need to complete the
"Grey" Boxes (solutions) indicated in your lab handout.
The pre-laboratory assignments must be completed before you are allowed
in to the laboratory session and run the actual experiment.
There are two results summary tables that should be completed. The first
table called the Pre-Labaratory Assignment Results Table should be
completed after all the pre-lab assignments are done. Information from this
table is required to perform the experiment. Please check with your lab TA
to make sure that your table has been properly and fully completed before
you perform the actual experiment.
The second table in your handout, called the In-Laboratory
Results Table, should be completed during the in-laboratory session. This
table will help you keep track of your lab results in a concise manner. The
table is used to compare theoretical parameters and results with experimentally
obtained values. Please be sure to check with your lab TA that the table has
been properly and fully completed before you leave the in-laboratory
session.
Reference: Karl J. Astrom, Jacob Apkarian, and Herve Lacheray,
USB QICii Laboratory Student Workbook, DC Motor Control
Trainer (DCMCT) (Document # 627), Quanser.