ecen 191 new student seminar - session 10: controls controls ecen 191 new student seminar
DESCRIPTION
ECEn 191 – New Student Seminar - Session 10: Controls EARLY ELECTRONIC EXAMPLETRANSCRIPT
ECEn 191 – New Student Seminar - Session 10: Controls
Controls
ECEn 191 New Student Seminar
ECEn 191 – New Student Seminar - Session 10: Controls
WE ALREADY KNOW CONTROL
ECEn 191 – New Student Seminar - Session 10: Controls
EARLY ELECTRONIC EXAMPLE
ECEn 191 – New Student Seminar - Session 10: Controls
CONTROL EXAMPLE 1
ECEn 191 – New Student Seminar - Session 10: Controls
CONTROL EXAMPLE 2
ECEn 191 – New Student Seminar - Session 10: Controls
CONTROL EXAMPLE 3
ECEn 191 – New Student Seminar - Session 10: Controls
A CONTROLLED SYSTEM
Control Algorithm Actuators System
Sensors
Objectives
ECEn 191 – New Student Seminar - Session 10: Controls
CRUISE CONTROL SYSTEM
ECEn 191 – New Student Seminar - Session 10: Controls
BANG-BANG CONTROL
ECEn 191 – New Student Seminar - Session 10: Controls
BANG-BANG: DEADBAND
ECEn 191 – New Student Seminar - Session 10: Controls
PID CONTROL
P – Proportional
I – Integral
D – Derivative
ECEn 191 – New Student Seminar - Session 10: Controls
PROPORTIONALITY CONTROL
proportionality constant
speed
acceleration = kp(desired speed – measured speed)
desired speed
measured speed
ECEn 191 – New Student Seminar - Session 10: Controls
INTEGRATION CONTROL
integration constant
speed
acceleration = kp(desired speed – measured speed) + ki [ (desired speed – measured speed) dt]
desired speed
measured speed
ECEn 191 – New Student Seminar - Session 10: Controls
DERIVATIVE CONTROL
derivative constant
acceleration = kp(desired speed – measured speed) + ki [ (desired speed – measured speed) dt] +
kd [ d/dt (desired speed – measured speed) ]
speeddesired speed
measured speed
ECEn 191 – New Student Seminar - Session 10: Controls
OTHER SETPOINT EXAMPLES
ECEn 191 – New Student Seminar - Session 10: Controls
PATH PLANNING
start
stop
ECEn 191 – New Student Seminar - Session 10: Controls
A POSSIBLE PATH SOLUTION
start
stop
ECEn 191 – New Student Seminar - Session 10: Controls
V – Put up a slide with a picture of a self-driving car – perhaps from DARPA Grand Challenge
AUTOMATION - SELF DRIVING CAR
ECEn 191 – New Student Seminar - Session 10: Controls
PARALLEL PARKING CAR
ECEn 191 – New Student Seminar - Session 10: Controls
BYU ROBOT SOCCER
ECEn 191 – New Student Seminar - Session 10: Controls
AUTOMATION - MANUFACTURING
ECEn 191 – New Student Seminar - Session 10: Controls
ECE CAREERS - AEROVIRONMENT
ECEn 191 – New Student Seminar - Session 10: Controls
ECE CAREERS - IROBOT
ECEn 191 – New Student Seminar - Session 10: Controls
ECE CAREERS - SEGWAY
ECEn 191 – New Student Seminar - Session 10: Controls
WHAT’S NEXT
Coordinated Control Very Difficult Environments
ECEn 191 – New Student Seminar - Session 10: Controls
CONTROL CLASSES
• ECEn 380 – Signals and Systems• ECEn 483 – Design of Control
Systems• ECEn 490 – Senior Project
(Indoor Flying Robot)
ECEn 191 – New Student Seminar - Session 10: Controls
LAB EXERCISE
www.et.byu.edu/groups/newstudent/schedule.html