System Dynamics and Controls

EMB provides the building blocks to create simple and complex plants for dynamic system analysis, modeling, and control. 

Example of plants include a DC motor with gears and an inertia wheel, flexible shaft, belt with spring (flexible spring), spring-mass-damper (linear system), rotary to linear motion with rack and pinion or belt, and MIMO plants with 2 actuators. 

EMB can be used to develop more complex plants, such as multiple input, multiple output systems. With this example, we explore disturbance rejection of a MIMO plant, using different controller designs. #engineering #controlsystems #robotics #mechatronics #robots5

Here we vary the input sine wave frequency and observe the system response. Frequency of input sine wave varies from 0Hz to 30Hz. Plant is a motor and encoder with a timing belt, assembled with EMB modules. Note the response amplitude and phase change. Performance can be improved with optimum controller gains. Components used: - EMB-AM4 (Motor) - EMB-SM1 (Encoder) - EMB-DAQ1 (Controller and real-time target) - EMB-IM1 (Interface module) - Copley amplifier - Power Supply - Estop - Linux desktop - pysimCoder (software used to create the code and generate real-time code to target deployment) - RTScope (real-time plotting data) - Silicon Heaven (change values while code is running on the target) #engineering #mechatronics #robotics #engineeringeducation #robots5

Example of how EMB (Electro-Mechanical Breadboard System) can be used to study the effect of a flexible shaft in control systems. The students develop a controller using encoder "A" and encoder "B" for feedback, to meet a set of performance requirements. #mechanicalengineering #robotics #controlsystems #controlsengineering #engineeringeducation

Flexible Link Experiment, where the students develop an LQR controller to minimize link tip deflection. An encoder connected to the motor and a load cell connected to the flexible link are used for feedback. At Robots5, we encourage the students to 3D print, machine, and laser cut components to integrate with EMB. Here, 3D printed parts were used as part of this experiment. #mechanicalengineering #robotics #controlsystems #controlsengineering #engineeringeducation

Quick example of pysimCoder being used to control a servomotor plant. #education #robotics #controlsystems

Example of how EMB (Electro-Mechanical Breadboard System) can be used to study the open loop response of a DC motor. Students also explore the effect of increasing the inertia of the load. The results of this experiment are used to characterize the motor and validate the mathematical model.

Example of how EMB (Electro-Mechanical Breadboard System) can be used to study the effect of friction in rotary systems. The results of this experiment are used to characterize the friction parameters and validate the mathematical model. #mechanicalengineering #robotics #controlsystems #controlsengineering #engineeringeducation

The EMB - SC Kit was designed specifically for servo control studies. The kit has an actuator (DC motor) and a feedback device (either an encoder or a potentiometer). A range of experiments such as open and closed loop control, plant characterization and analysis, position and speed control. An additional sensor can be used for user set point, to explore concepts of "drive by wire". #controlsystems #engineeringeducation #mechanicalengineering

pysimCoder, created by Professor Roberto Bucher, is our preferred tool for dynamic systems modeling, simulation, control, and real-time code generation. The user can link Python Scripts to the block diagram, making this an extremely powerful application. After the code is generated, it can be deployed to a target, including PC, STM32 board, Raspberry Pi, or NuttX RTOS! Once the code is running in the target, Silicon-Heaven can be used to change parameters such as controller gains, setpoint, limits. For more information about pysimCoder, Silicon-Heaven, and NuttX, check out: https://github.com/robertobucher/pysimCoder https://github.com/silicon-heaven https://github.com/apache/incubator-nuttx Thank you Professor Roberto and everyone involved!

Feedback control system instability slow motion.