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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).

andrew-slater
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Structural control competition

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  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

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