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. 

Time for a Classic: The Inverted Pendulum! Using the modularity of EMB, students can easily create an inverted pendulum plant. An EMB rotary encoder module is mounted to the top of an EMB linear slide that is driven by an EMB actuator module. The position of the cart is measured using the liner slide's internal linear encoder and the pendulum angle is measured with the rotary encoder. The Python code and pysimCoder diagram was based on the original pysimCoder examples from Professor Roberto Bucher (thank you!): https://github.com/robertobucher/pysimCoder-examples Python was used for modeling of the plant using Lagrange Method (SymPy) and the LQR balance controller with the Python Control Systems Library and custom functions from Prof.Bucher (available in pysimCoder). This Python script was linked to the pysimCoder diagram and real-time code was auto-generated for NuttX to run on the DAQ in real-time. Hardware: - EMB-AM4 (Motor) - EMB-LM1 (Linear Slide Block) - EMB-SM1 (Encoder) - EMB Pendulum Attachment - EMB Rack and Pinion Attachment - EMB-DAQ2 (Real-Time Target) - Maxon ESCON (Amplifier) - Power Supply Software: - pysimCoder - NuttX - Python (system modeling and controller design) - RTScope (real-time plotting) #robotics #controlsystems #mechatronics #engineering #robots5

Here is an example of how EMB (Electro-Mechanical Breadboard System) can be used to study spring-mass systems. We demonstrate 4 different spring rates (k) and compare the dynamic system response given a displacement input (same delta X for all runs). Hardware: - EMB-LM1 (Bearing block with linear encoder) - EMB Springs (4 rates) - EMB-DAQ1 (Real-Time Target) Software: - pysimCoder - NuttX - Inkscape (diagrams) - Excel+Python (plots) #robotics #engineeringeducation #controlsystems #mechatronics #engineering #robots5

Proper selection of gear ratio is a critical step when designing a dynamic system. Here is an example of how EMB (Electro-Mechanical Breadboard System) can be used to study inertia matching by gear ratio selection. We demonstrate 10 different gear ratio combinations and compare performance with the optimum gear ratio calculated via inertia matching. Hardware: - EMB-AM4 (Motor) - EMB-MM2 (Bearing Block) - EMB-SM1 (Encoder) - EMB Inertia Wheel - 0.5Mod and 0.8Mod gears - EMB-DAQ1 (Real-Time Target) - Maxon ESCON (Amplifier) - Power Supply Software: - pysimCoder - NuttX - Maple (Symbolic Mathematics and calculations) - Inkscape (diagrams) - Excel+Python (plots) Raw data available at: https://github.com/Robots5LLC #robotics #engineeringeducation #controlsystems #mechatronics #engineering #robots5

PID controllers have been around for about 100 years (since early 1920's, theoretical analysis and applications), and they are still the most common controllers used in industry. Here is an example of how EMB (Electro-Mechanical Breadboard System) can be used to study PID controllers. Hardware: - EMB-AM4 (Motor) - EMB-SM1 (Encoder) - EMB hub and linkage arm - MXL belt and pulleys - EMB-DAQ1 (Real-Time Target) - Maxon ESCON (Amplifier) - Power Supply Software: - pysimCoder - NuttX - Silicon Heaven (change values on the fly with real-time controller running) - RTScope (real-time plotting) #robotics #engineeringeducation #controlsystems #mechatronics #engineering #robots5

Do you want to have some fun with a cool dynamic systems challenge? Which option (1, 2, 3, 4, or 5) do you think will yield the highest angular acceleration on the second load? Here we derive the equation of motion and also run the experiment using our EMB products. Hardware: - EMB-AM4 (Motor) - EMB-MM2 (Bearing Block) - EMB-SM1 (Encoder) - EMB Inertia Wheels - 0.5Mod and 0.8Mod gears - EMB-DAQ1 (Real-Time Target) - Maxon ESCON (Amplifier) - Power Supply Software: - pysimCoder - NuttX - Maple (Symbolic Mathematics and calculations) - Inkscape (diagrams) - Excel+Python (plots) #mechanicalengineering #robotics #mechatronics #controlsystems #engineering

Example of how EMB (Electro-Mechanical Breadboard System) can be used to study the effect of increasing the inertia of the load. The results of this experiment can be used to characterize the motor and validate the mathematical model. Here we demonstrate 3 different plant variations: - Motor with no Inertia Wheel - Motor with 1 Inertia Wheel - Motor with 2 Inertia Wheels Hardware: - EMB-AM4 (Motor) - EMB-MM2 (Bearing Block) - EMB-SM1 (Encoder) - EMB Inertia Wheel - EMB-DAQ1 (DAQ Target to run real-time code) - Maxon ESCON (Amplifier) - Rigol Power Supply Software: - pysimCoder - NuttX - Inkscape (diagrams) - Excel+Python (plots) Raw data available at: https://github.com/Robots5LLC #robotics #engineeringeducation #controlsystems #robots5

Spring-Mass-Damper plants are found on virtually every textbook related to Vibrations, Dynamic Systems and Controls. Here we demonstrate 4 different plant variations, using EMB: - Spring, mass, no damper - Spring, mass, with damper - Spring, double mass, no damper - Spring, double mass, with damper Notes: - Spring: the same spring is used for all runs, with a spring rate of 2.59 lbs/in (453 N/m). - Carriage mass: 550g - Double Mass: 570g (in addition to carriage mass) - Damper: the damper and its coefficient (adjustable) is also the same between the runs with damper. - Sampling time: 0.001s #robotics #engineeringeducation #controlsystems #robots5

The EMB-LM1 is the new linear module in our line of products. With a low friction ball slide, a high resolution linear encoder, and dovetails that easily interface with other EMB modules, the EMB-LM1 is ideal for plants that have translational components, including spring-mass-damper, rack and pinion, and belt driven linear slide. If your students are looking for a challenge, multiple EMB-LM1 modules can be connected in series or parallel to create higher order dynamic systems. For more information, visit: www.robots5.com #robotics #controlsystems #engineeringeducation #robots5

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.