Anúncios
Final project delivery and discussions
18 dezembro 2018, 10:57 • Carlos Cardeira
Final project delivery and discussions
Students that want to present their project Tuesday 18th December by 14h should submit the final report (Phase4) before 12 noon so that during the discussion, the report will be available.
Students that want to discuss the project in January should submit their report until Wednesday 13th 9AM but may continue to work and submit and update later.
The second round of discussions will take place on Friday January 4th by 14h (not January 3rd as previously announced). For those students, the submission phase will be reopened and the final project should be submitted before Thursday January 3th 23:59.
Best regards,
Carlos Cardeira
Project Phases
28 setembro 2018, 16:01 • Carlos Cardeira
Project Phases
28th September 2019
The laboratory projects for the course of Mechatronic Systems correspond to propose solutions for realistic problems to be tackled resorting to embedded systems solutions. Each group is composed by three elements and must choose one project. In order to solve successfully the challenges embraced in this course, four phases must be accomplished: i) to specify in detail the project; ii) to formulate the problem at hand and to model the systems and sub-systems involved, iii) to formulate and solve a control and/or estimation problem, based on previously studied techniques, and iv) to provide a realistic real-time embedded laboratorial solution, that allow the demonstration of the solutions proposed.
Phase I The following tasks should be accomplished in the first phase of this project: i) To discuss the objectives of the selected project ii) To detail the available sub-systems and the sub-systems to be purchased. iii) Functional specification. iv) Proposed Control and Estimation Architecture v) Bill of Materials vi) Planning charts (Gant or PERT). A written report with a couple of A4 pages, a few slides in Powerpoint, and Matlab/Simulink scripts should be delivered upon conclusion of this phase.
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The laboratory projects for the course of Mechatronic Systems correspond to propose solutions for realistic problems to be tackled resorting to embedded systems solutions. Each group is composed by two elements and must choose one project. In order to solve successfully the challenges embraced in this course, four phases must be accomplished: i) to specify in detail the project; ii) to formulate the problem at hand and to model the systems and sub-systems involved, iii) to formulate and solve a control and/or estimation problem, based on previously studied techniques, and iv) to provide a realistic real-time embedded laboratorial solution, that allow the demonstration of the solutions proposed.
Phase II
The following tasks should be accomplished in the first phase of this project: i) To study the systems and sub-systems available. ii) To model the system, based on first physical principles iii) To formulate a control or estimation problem that will be able to tackle the problem at hand. iv) To analyze the characteristics of the systems, in terms of linearity, stability, controllability and observability and discuss on the disturbances present v) To implement realistic Simulink models for the dynamical systems and for the sensors and actuators to be used. vi) To verify the frequency and time responses, both in open loop and in closed-loop. A written report with a couple of A4 pages, a few slides in Powerpoint, and Matlab/Simulink scripts should be delivered upon conclusion of this phase.
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Upon completion of the initial phases of the project each group selected, where models for the underlying systems were developed, it is now required to formulate and solve control/estimation problems. The solutions foreseen are based on the classical tools studied in previous courses, namely on Control Systems. Then, the solutions must be validated in simulation.
Phase III
The following tasks should then be accomplished in this third phase of the project: i) To analyze the characteristics of the systems, in terms of linearity, stability, controllability and observability and discuss on the disturbances present ii) Identify partial goals of the control system to be developed and propose a classical control solution, namely based on pole placement, PID, lead-lag controller, etc. For these goals: 1. Identify the inputs, outputs, and propose a functional to be optimized; 2. Design an (sub-) optimal controller; 3. Check that the solution works, in the simulator developed in phase I, both for the linearized versions and for the full nonlinear model; 4. Verify the performance of the solutions proposed, under realistic disturbances (noise or external). Ideally the disturbances should match those in the real system/sensor package; iii) Discuss and implement the conditions to switch among goals of the project. A written report, three slides in Powerpoint, and Matlab/Simulink scripts should be delivered upon conclusion of this third phase.
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The previous phases of the project required the development and validation of control and/or estimation solutions. Then, the continuous time solutions were validated (hopefully successfully) in simulation. Now, the groups that completed all those previous phases should embark on the demonstration of the proposed embedded solutions, resorting to the existing prototypes of the ACCAII/DEM.
Phase IV
The following tasks should be accomplished in this last phase of the project: i) Obtain discrete time versions of the underlying models, with a careful choice of the sampling period; ii) Re-address the synthesis of the required control systems, now in discrete time for the embedded solutions sellected, and validate those solutions both with the linearized and with the full nonlinear systems in simulation; iii) Prepare a set of tests with the sensors to be used, where the stochastic disturbances should be identified; iv) Readdress the estimation problems solved, now for the stochastic discrete time underlying linear systems. Note that both the model of the system and the stochastic disturbances should be taken into consideration and Kalman filters should be designed and tuned. v) Go for the lab and test your solutions with the real prototypes. Deliver no later than 3rd January 2016 a written report, up to ten slides in PowerPoint to be presented in the demo day, and Matlab/Simulink (version 2014a or 2016) scripts, for the final grading.
Projects registration
28 setembro 2018, 15:14 • Carlos Cardeira
Dear students,
Project registration starts today by 18h00 and goes up to October 2nd 23:59.
The description of the projects shown in last lecture was sent to you by e-mail.
Please respect the maximum of 3 elements per group. If a 4th element becomes necessary, that name should be included after, if authorized by us.
Best,
Carlos Cardeira
Welcome
25 setembro 2018, 13:45 • Paulo Jorge Coelho Ramalho Oliveira
Dear Students of the Course on Mechatronic Systems,