Control-II: from Digital Control to Mechatronics to Smart Mechatronics

1. Control-II: from Digital Control to Mechatronics to Smart Mechatronics YangQuan Chen(1) and Wenbin Yu(2) (1)Center for Self-Organizing and Intelligent Systems (CSOIS), Dept. of Electrical and Computer Engineering, Utah State University E: yqchen@ece.usu.edu; T: (435)797-0148; F: (435)797-3054 W: http://www.csois.usu.edu/people/yqchen (2) Advanced Structures Lab, Dept. of Mechanical and Aerospace Engineering Utah State University, http://www.mae.usu.edu/faculty/wenbin/ 4:10-4:20 pm, April 15, 2005. Speaker: YangQuan Chen The 2005 Annual American Society for Engineering EducationRocky Mountain Section (ASEE/RMS) ConferenceApril 15 – 16, 2005

2. Outline • Introduction – Systems Controls at Utah State University • Digital Control • Mechatronics • Smart Mechatronics • Concluding Remarks Control-II: from Digital Control to Mechatronics to Smart Mechatronics

3. Utah State University Located in Logan, Utah, USA 80 miles North of Salt Lake City 22,000 students study at USU’s Logan campus, nestled in the Rocky Mountains of the inter-mountain west CSOIS is a research center in the Department of Electrical and Computer Engineering Control-II: from Digital Control to Mechatronics to Smart Mechatronics

4. CSRA (control systems, robotics, automation) Center for Self-Organizing and Intelligent Systems • CSOIS is a research center in USU’s Department of Electrical and Computer Engineering that coordinates most CSRA (Control Systems, Robotics and Automation) research • Officially Organized 1992 - Funded for seven years by the State of Utah’s Center of Excellence Program (COEP) • Horizontally-Integrated (multi-disciplinary) • Electrical and Computer Engineering (Home dept.) • Mechanical Engineering • Computer Science • Vertically-integrated staff (20-40) of faculty, postdocs, engineers, grad students and undergrads • Average over $2.0M in funding per year since 1998 • Three spin-off companies since 1994. Control-II: from Digital Control to Mechatronics to Smart Mechatronics

5. ODIS On Duty in Baghdad “Putting Robots in Harm’s Way, So People Aren’t” Control-II: from Digital Control to Mechatronics to Smart Mechatronics

6. CSRA/CSOIS Courses • Undergraduate Courses • MAE3340 (Instrumentation, Measurements); ECE3640 (Laplace, Fourier) • MAE5310/ECE4310 Control I (classical, state space) • MAE5620 Manufacturing Automation • ECE/MAE5320 Mechatronics (4cr, lab intensive) • ECE/MAE5330 Mobile Robots (4cr, lab intensive) • Basic Graduate Courses • MAE/ECE6340 Spacecraft attitude control • ECE/MAE6320 Linear multivariable control • ECE/MAE7330 Nonlinear and adaptive control • ECE/MAE6350 Robotics • Advanced Graduate Courses • ECE/MAE7350 Intelligent Control Systems • ECE/MAE7360 Robust and Optimal Control • ECE/MAE7750 Distributed Control Systems Control-II: from Digital Control to Mechatronics to Smart Mechatronics

7. Control-I: Control SystemsControl-II: Digital Control • ECE5310: Control-I: Control Systems (3cr.) • Continuous time dynamic systems and controls • Some light labs • ECE5320: Control-II: Digital Controls (3cr.) • Discrete-time dynamic systems and controls • Sampled data systems • Some light labs Control-II: from Digital Control to Mechatronics to Smart Mechatronics

8. ECE5320: Mechatronics (4cr. Lab intensive) • Since 2003 Spring. Pilot offering as an ECE Special Topic course ECE5930/6930. 15 students • 2004 Spring: formal offering, 14 students • 2005 Spring: 31 students! Control-II: from Digital Control to Mechatronics to Smart Mechatronics

9. Credit: K. Craig Control-II: from Digital Control to Mechatronics to Smart Mechatronics

10. Three basic modules • Module-1: ntroduction/sensor/actuators/interface electronics/signal conditioning/calibration/rapid prototyping/ (6 weeks) • Module-2: Digital control system fundamentals/modeling and system identifications (4 weeks) • Module-3: Digital Controller Design Techniques (5 weeks) Control-II: from Digital Control to Mechatronics to Smart Mechatronics

11. Requirements • Monthly quiz (total 4) • 6 labs • Sensor/Actuator (Interfacing, Calibration, Frequency Domain Characterization, MATLAB Serial Interface, Serial LCD Display) • Modeling of DC Motor System by GP-6 Analog Computing • System Identification – Nonparametric method using correlation analysis (Using GP-6 as plant emulator) • System Identification – Least Squares Estimation  (Using GP-6 as plant emulator) • System Identification of DC Motor by Least Squares Estimation • DC Motor Position Regulation Using Relay Feedback Tuned PID Controller • DC Motor Position Tracking Control via Interval Model Principle. • 2 MAD projects (modeling/analysis/design) Control-II: from Digital Control to Mechatronics to Smart Mechatronics

12. Emphasis • Mechatronic synergistic concept • Rapid prototyping of real time control systems • Complete “closed-loop” exposure to sensor/actuator/signal conditioning/system ID/ digital controller/PID/implementation issues • Hand-on! • Light coverage of • PLC/iDCS/LabView/nonlinearities/ Control-II: from Digital Control to Mechatronics to Smart Mechatronics

13. Mechatronics plants (from Quanser) • 1. Ball and Beam experiment with SRV02 (manual, video, all-files.zip).2. Rotary Flexible Link with SRV02 (manual, video, all-files.zip).3. Rotary Flexible Joint with SRV02 (manual, video-1, video-2, all-files.zip).4. Self-erecting Rotary Motion Inverted Pendulum with SRV02 (manual, image, all-files.zip).5. Heat Flow Experiment - First order modelling & Control (manual, all-files.zip).6. Quanser Engineering Trainer (QET) (manual-1, manual-2, manual-3, all-files.zip ). Control-II: from Digital Control to Mechatronics to Smart Mechatronics

14. We have the whole set (Rotary family)! Control-II: from Digital Control to Mechatronics to Smart Mechatronics

15. More plants and more options • Coupled tanks • Fractional horse power dynamometers • Omni-directional smart wheel test rig (tele-operable) • Solar tracking system etc. • Thanks to Utah Governor’s Engineering Initiative (2004, 2005)! Control-II: from Digital Control to Mechatronics to Smart Mechatronics

16. “Smart Mechatronics” • NSF proposal • CCLI A&I: Smart Mechatronics • YangQuan Chen (PI) and Wenbin Yu • “Smart Mechatronics” is to introduce smart materials-based sensors and actuators and the related signal processing and control challenges into the undergraduate mechatronic course which is offered for both electrical engineering and mechanical and aerospace engineering seniors to better prepare the students’ global competitiveness. We believe this is a novel A&I effort. The PIs will develop teaching modules and labs on “smart mechatronics” which will be beneficial to engineering undergraduate students in both Electrical and Computer Engineering (ECE) and Mechanical and Aerospace Engineering (MAE) departments. Control-II: from Digital Control to Mechatronics to Smart Mechatronics

17. Rationale • “We strongly believe that our next-generation civil, mechanical and military systems will heavily depend on smart materials to further improve the performance. Therefore, it is critical for us to start training our students for the future work force right now. It is right time to shift the traditional mechatronics to “smart mechatronics” with adequate exposure to smart materials and smart material based transducers.” • from the proposal. Control-II: from Digital Control to Mechatronics to Smart Mechatronics

18. Proposed changes in “Mechatronics” • Overview of smart materials and smart mechatronics; Challenges in signal processing and high performance control of smart mechatronic systems ( 1 week) • Smart material based sensors (1 week) • Smart material based actuators ( 1 week) Control-II: from Digital Control to Mechatronics to Smart Mechatronics

19. MAE/ECE 5000 Adaptive Structures and Systems • Course • Introduction to smart materials (taught by Dr. Yu) • Mechanics of smart structures (taught by Dr. Yu) • Vibration of smart structures (taught by Dr. Yu) • Multibody dynamics of systems including smart structures (taught by Dr. Yu) • Introduction to mechatronics and control (taught by Dr. Chen) • Simulation and control of smart mechatronics (taught by Drs. Yu & Chen) • Labs/Projects • Deformation of a smart beam under electrical loading (computer simulation) • Vibration of a circular crystal quartz plate (computer simulation) • Multibody simulation of a smart system (computer simulation) • Control of smart mechatronics (hands-on lab experiments) • Design and build a smart mechatronic system (computer simulation and hands-on lab experiments) Control-II: from Digital Control to Mechatronics to Smart Mechatronics

20. Concluding Remarks • Introduced the evolution of ECE5320 Control II course from “Digital Control” to “Mechatronics” to “Smart Mechatronics”. • “Smart Mechatronics” might be the future direction. Control-II: from Digital Control to Mechatronics to Smart Mechatronics

21. Acknowledgements • Quanser – many discounts! • Dept. Head Tamal Bose – funding support! • Mechatronics Class students – good feedback • IEEE USU Student Chapter – Toys&us Award 2004. • Kevin Moore: for initiation of the change of Control II at Utah State University • Kevin Craig, RPI ME Mechatronics Control-II: from Digital Control to Mechatronics to Smart Mechatronics

22. Thank you! • Q/A session Control-II: from Digital Control to Mechatronics to Smart Mechatronics