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 Website and original documents Copyright © 2007, 2008 by Theodore P. Pavlic CC-BY-NC 3.0 License |
 
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Office Hours: Tuesday/Thursday, 8:30AM–10:30AM (alternatively, you can e-mail me for an appointment)Syllabus: PDFTo make sure I get your e-mail, begin the subject with ECE557: or at least put 557 somewhere in the subject. An automatic filter will make sure your mail gets to me ASAP (rather than being marked as spam).
The text is available in The Ohio State University Bookstore. It has not been significantly changed since 1998, and so used or borrowed copies will typically be fine.Schedule: Due to hardware and time constraints, Labs 8 and 9 are combined in Week 8.
Week Date Topic 1 June 19 Lab 1: Introduction to Data Acquisition (DAQ), dSPACE, and Simulink 2 June 26 Lab 2: Introduction to Digital Signal Processing (DSP) 3 July 3 Lab 3: Time Domain System Identification for a DC Servo 4 July 10 Lab 4: Gain Compensation and Feedback for a DC Servo 5 July 17 Lab 5: Lag Compensation for Speed Control of a DC Servo 6 July 24 Lab 6: Lead Compensation for Position Control of a DC Servo 7 July 31 Lab 7: Tuning a Proportional-Integral-Derivative (PID) Controller 8 August 7 Labs 8 AND 9: Position Control for a Flexible Joint and a Flexible Link 9 August 14 In-class exam: theory and practice
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SOURCE CODE: I use LaTeX to generate the digital documents that I use for this class. I also export a public slice of my source control (i.e., docs but no tests) to the web so that you can view the source directly. Check out http://hg.tedpavlic.com/ece557/ to see the source "code" for the lab resources.
LICENSING AND REUSE: Unless otherwise expressly stated, all original material of whatever nature created by Theodore P. Pavlic and included in this website and any related pages, including its archives, is protected by copyright and licensed under a Creative Commons Attribution-Noncommercial 3.0 United States License ("CCPL"). Use of this website is expressly conditioned upon the user’s acceptance of the terms and provisions of the CCPL. Use of this site and any of the materials thereon constitutes acceptance of the CCPL by the user. Students enrolled in ECE 557 may reuse or modify portions of the materials without attributing the content to its original author so long as it is being used to generate a submission to the original author (e.g., the use of a schematic on a lab report to be submitted to T. Pavlic); otherwise, this web page URL, the URL of the source document, or the author’s name can be cited as the source of the work.
The book likes to do a lot of copying. There is no need to copy the whole file structure into v if you don’t want to. Additionally, those getfield calls are not necessary because Data is a simple field name. So an alternative is:load filename; % Loads file structure into filename v = filename; % Copies filename structure to v t = getfield(v.X(1), 'Data'); % Copies X time vector into t y1 = getfield(v.Y(1), 'Data'); % Copies Y(1) vector into y1 y2 = getfield(v.Y(2), 'Data'); % Copies Y(2) vector into y2 mean( y1( find( t >= 4 ) ) ) % Average of Y(1) for time after 4 s mean( y1( t >= 4 ) ) % Equivalent averaging statement
In fact, we can get rid of all copying and a few lines.load filename; % Loads file into filename t = filename.X(1).Data; % Copies X time vector into t y1 = filename.Y(1).Data; % Copies Y(1) vector into y1 y2 = filename.Y(2).Data; % Copies Y(2) vector into y2 mean( y1( t >= 4 ) ) % Average of Y(1) for time after 4 s
load filename; % Loads up filename mean( filename.Y(1).Data( filename.X(1).Data >= 4 ) ) % A mean shortcut
The results from this simulation should match your lab data much better than your pre-lab simulation. (note: nearly identical code is used in the PID.m script linked above)%% Fast book plant: plant_num = [1], plant_den = [0.0026 0.1081 0] %% Slow lab plant: plant_num = [1], plant_den = [0.0039 0.1081 0] % The plant plant = tf( plant_num, plant_den ); % The PI part of the PID controller PIcontroller = tf( [Kp Ki], [1 0] ); % The filtered derivative part of the controller (in lab, a = 200) Gdf = tf( [Kd 0], [1/a 1] ); % The plant modified by the filtered derivative plantGdf = plant/(1+Gdf*plant); % The "open loop" system now includes the differentiator sysdf = PIcontroller*plantGdf; % Generate a time vector with 1000 points from 0 to 0.5 seconds t = linspace(0,0.5,1000); % Calculate the expected output, error, and control signals y = step( sysdf/(1+sysdf), t ); e = step( 1/(1+sysdf), t ); u = step( PIcontroller/(1 + plant*(PIcontroller + Gdf)), t ); % note: filteredPIDcontroller = PIcontroller + Gdf
Reports should be written from the following point of view: the reader is knowledgeable on the subject of electronics but knows little of your project. You must, therefore, explain your project in the most organized, economical fashion possible. This is good practice as this will, most likely, be the point of view for your monthly/quarterly/yearly reports in industry. This neatness and readability of your report is a significant factor as well as the actual contents. You should try to explain to the reader how the different parts of this circuit work in a clear and organized fashion.
For myriad reasons, professional technical documents are rarely produced with popular programs like Microsoft Word. In areas that are highly influenced by mathematics (e.g., engineering), the free TeX typesetting system dominates. Many TeX (pronounced "tech") users prefer the LaTeX suite of macros to simplify common typesetting tasks.
TeX documents, like the source code for computer programs, start as text files that are later "compiled" into their final document form. Thus, many people feel that TeX typesetting is more like programming than it is like using standard word processing tools.
I am happy to assist students by e-mail. However, all e-mails to me must have "557" (without the quotes) in their subject. This step lets the e-mail to be filtered on delivery into a safe folder where it will be read ASAP by me. Otherwise, I cannot guarantee that the e-mail will not treated as spam.
I prefer that the subject starts with "ECE557: " (without the quotes).
If the provided office hours do not work for you, please e-mail me to setup an appointment. Alternatively, you can stop by my office. I’m usually in the office, and I usually can spare a few minutes to help.
- Pre-lab assignments (individual): 30%
- Lab reports (group): 40%
- Lab clean-up (group): 10%
- Final exam (individual): 20%
Grades will be made available on Carmen ASAP.
- At the beginning of each lab, the Laboratory Preparation section from the book for that lab should be submitted for a grade.
- Most of the theoretical work for each lab is completed here, and so you should keep a copy of your results to assist you in class.
- Pre-lab reports should be completed INDIVIDUALLY by EACH STUDENT. Pre-lab submissions are NOT a group assignments.
- The final exam will be given during the last day of regularly schedule class.
- It will have a purely theoretical section as well as a practical laboratory component.
- It will be completed individually, and so all students should be familiar with both the software and hardware used in the lab.
- Students are required to attend all labs.
- Students will work in groups of two.
- Disk space has been prepared at each bench for storing laboratory results. However, for their lab reports, students should save their results either over the ECE network or on some other portable storage device.
- See the lab report writing resources for more information about the contents of a good lab report.
- Each group will submit one lab report.
- On your cover page, include:
- the class identifier (i.e., "ECE 557")
- the section day and time (e.g., "Thursday 1:30")
- instructor name (e.g., "Instructor: Ted Pavlic")
- names of all members of group (grades are given to these members)
- your bench number from label on each table
- Lab reports are due at the beginning of the next lab session and will be penalized 10% per day late.
- Lab reports must be typed and pages must be numbered.
- Tables and figures should be numbered and have descriptive captions. Because these items naturally float to the best location on the page, they should be referred to by their name and not be their relative position (e.g., refer to "Table 1" and not "the table below").
- Lab report grading:
- Lab work (30%) — evidence of having successfully completed the lab tasks.
- Figures/Tables/Equations (20%) — the main technical details of the report
- Discussion (50%) — usually divided (depending on lab) into:
- Purpose — the purpose of the lab
- Procedures — how the lab was done
- Theoretical results — expected results (you should not re-do your laboratory preparation work on your lab report; instead, just use those results, but be sure to interpret them as expectations of experimental outcomes)
- Measurement results — actual results
- Conclusions — explanation of actual results
- Again, see the lab report writing resources for more information about the contents of a good lab report.
You are responsible for all course materials. I can try to help you make-up work from an absence, but I will need to know about the absence as soon as possible (preferably well before the class).
I will not accept late lab reports unless prior arrangements (at least 24 hours in advance) have been made.
In the event that some of the in-class work in this lab requires more time, I will try to make arrangements to be available to open the lab for make-up work. However, I do not plan on doing this often, so students should try to finish the experiments during normal class time.
While groups may work together outside of class when deciphering their results, all handed-in material must be unique. That is, each group should actually compose their lab reports separately.
Likewise, students may help each other outside of class when completing the pre-lab assignments, but the assignment submissions should reflect individual work and not any sort of collaboration.
Any written material turned in to me (lab reports, pre-labs, exams, etc.) falls under the purview of the University and the ECE Honor System rules. If a lab report does not represent a groupo’s understanding of the material or a pre-lab or exam does not represent an individual’s understanding of the material, I will consider it to be an honor code violation. In these cases, I must report the incident to the ECE department.
Course supervisor: Professor Stephen YurkovichCatalog Description:
Laboratory study of signal processing, control systems and their components, computer-controlled instrumentation, sampled data systems, analog and digital control.
Course Prerequisites or Concurring: 551
Courses that require 551 as prerequisite: 758
Prerequisites by Topic:
Laplace transforms, Z-transforms, stability, transfer functions, sampling, signals, systems.Course Objectives:
- Utilization of real-world plants for computer control (Criteria 3(a),(b),(k)).
- Introduction of concepts from sampled-data systems and digital control (Criteria 3(a),(e)).
- Implementation of design with accompanying analysis (Criteria 3(a),(c),(e),(k)).
- Promote (interdisciplinary) team efforts via working with lab partner(s) (Criteria 3(d),(g)).
- Improve written communication skills through laboratory and project reports (Criterion 3(g)).
- Use of a commercially available software package (Matlab) for computer-aided analysis and design (Criteria 3(c),(k)).
Class Meeting Pattern
- 1 48-minute class
- 1 3-hour lab
Other good control labs: ECE 757, ECE 758
Other good communications and signal processing (comm/SP) labs: ECE 508, ECE 609
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Website and original documents Copyright © 2007, 2008 by Theodore P. Pavlic CC-BY-NC 3.0 License |
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