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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.
Frequency Response of a Dynamic System with EMB
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
Robots5 EMB - Flexible Shaft PID Motor Position Control
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
Robots5 EMB - Flexible Link Position Control with LQR
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
Motor Open Loop Response
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.
Robots5 EMB - Encoder Friction Study
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
Robots5 EMB - Servo Control Kit
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
Real-Time Simulation of Step Response of Multiple Plants using pysimCoder
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!
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