1 / 13

Structural control competition

Structural control competition. July 17 th , 2009. The Pendubot. Equilibrium Positions. Equilibrium Position for Lab I and II. Equilibrium Position for Competition. Simulink Model. Schedule. July 16 th : Structural Control Lab I (1:00pm to 5:00pm).

Download Presentation

Structural control competition

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Structural control competition July 17th, 2009

  2. The Pendubot

  3. Equilibrium Positions Equilibrium Position for Lab I and II Equilibrium Position for Competition

  4. Simulink Model

  5. Schedule July 16th: Structural Control Lab I (1:00pm to 5:00pm) July 17th: Structural Control Lab II (1:00pm to 5:00pm) July 20th: Open Lab Time (6:00pm to 8:00pm) July 21st: Open Lab Time (6:00pm to 8:00pm) July 22nd: Open Lab Time (1:00pm to 5:00pm) July 23rd: Open Lab Time (1:00pm to 3:00pm) July 23rd: On-Site Evaluation (3:00pm to 4:30pm)

  6. Scoring Criteria • 40% On-Site Evaluation • 10% for each challenge • July 23rd from 3:00pm to 4:30pm • 60% Presentation • 15% for each challenge • July 24th in conjunction with Wireless Sensors presentations

  7. On-Site Evaluation ScheduleECE Control Lab, July 23rd • Team 1: 3:00pm • Team 2: 3:10pm • Team 3: 3:20pm • Team 4: 3:30pm • Team 5: 3:40pm • Team 6: 4:00pm • Team 7: 4:10pm • Team 8: 4:20pm

  8. PresentationsSiebel Center, Room 1404, July 24th • Wireless Sensors Competition, 9:00 am to 11:00am • Team 1: 9:00am • Team 2: 9:15am • Team 3: 9:30am • Team 4: 9:45am • Team 5: 10:00am • Team 6: 10:15am • Team 7: 10:30am • Team 8: 10:45am • Lunch Break, 11:00am to 12:00pm

  9. PresentationsSiebel Center, Room 1404, July 24th • Structural Control Competition, 12:00pm to 1:45pm • Team 1: 12:00pm • Team 2: 12:15pm • Team 3: 12:30pm • Team 4: 12:45pm • Team 5: 1:00pm • Team 6: 1:15pm • Team 7: 1:30pm • Team 8: 1:45pm • Leave for Hardy’s Reindeer Ranch at 3:00pm

  10. Challenge 1: Swing-Up Control • Have been making use of partial feedback linearization type swing-up control • Develop swing-up control based on a PD controller

  11. Challenge 2: Velocity Estimation • Replace discrete differentiation scheme with a transfer function to calculate derivative • Note that H = s is an unstable transfer function • Investigate effect of pole location

  12. Challenge 3: Kalman Filter/LQG Control • Use Kalman Filter to estimate unknown states • Implement with LQG control

  13. Challenge 4: Alternative Controller • Freedom to select new type of controller • Consideration will be given to the type of controller (degree of difficulty) and success of implementation • Use intelligent controller design • Use literature • Online • Engineering Library on Springfield Avenue

More Related