Integration Project Systems and Control 2013 Group 1: Difference between revisions
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| Line 38: | Line 38: | ||
|''Literature Study regarding the following aspects:''|| | |''Literature Study regarding the following aspects:''|| | ||
|- | |- | ||
| - | | - matlab files provided | ||
|- | |- | ||
| - | | - inputs/output variables regarding the given model | ||
|- | |- | ||
| - | | - different types of controller | ||
|- | |- | ||
| - | | - design Criteria | ||
|- | |- | ||
|''Lab activity:''|| | |''Lab activity:''|| | ||
|- | |- | ||
| - | | - meeting the robot | ||
|- | |- | ||
| - | | - how the robot moves | ||
|- | |- | ||
|'''Feb 25 - Mar 3'''|| | |'''Feb 25 - Mar 3'''|| | ||
| Line 63: | Line 63: | ||
|- | |- | ||
| - design a PID feedback controller(preparation for the lab) | | - design a PID feedback controller(preparation for the lab) | ||
|- | |||
| - system identification procedures | |||
|- | |- | ||
| - FRF measurement(preparation for the lab) | | - FRF measurement(preparation for the lab) | ||
| Line 72: | Line 74: | ||
| - get the FRF measurements | | - get the FRF measurements | ||
|- | |- | ||
|'''Mar 4 - Mar 10'''|| | |||
|- | |||
|''Literature study regarding the following aspects:''|| | |||
|- | |||
| - feedforward Controller | |||
|- | |||
| - design criteria (bandwidth, margins, sensitivity, steady state error, time response) | |||
|- | |||
| - work with shapeit to design optimal controllers for each axis (prepare the controllers to test them during the lab) | |||
|- | |||
| - reference trajectory(preparation for the lab) | |||
|- | |||
|''Lab activity:''|| | |||
|- | |||
| - get the FRF measurements for the left robot | |||
|- | |||
| - test the controllers that we construct on shapeit | |||
|- | |||
| - get the reference trajectory | |||
|} | |} | ||
Revision as of 20:17, 6 March 2013
Group Members
| Name: | Student id: | Email: |
| Abhishek Bareja | 0825433 | a.bareja@student.tue.nl |
| Ioannis Kokkinakis | 0832282 | i.kokkinakis@student.tue.nl |
| Evangelos Stamatopoulous | 0827743 | e.stamatopoulos@student.tue.nl |
| Donatella De Cesare | 0821444 | d.de.cesare@student.tue.nl |
Planning
| Week: | |
|---|---|
| Feb 18 - Feb 24 | |
| Literature Study regarding the following aspects: | |
| - matlab files provided | |
| - inputs/output variables regarding the given model | |
| - different types of controller | |
| - design Criteria | |
| Lab activity: | |
| - meeting the robot | |
| - how the robot moves | |
| Feb 25 - Mar 3 | |
| Literature study regarding the following aspects: | |
| - non-linearities | |
| - friction model | |
| - coupled phenomena | |
| - design a PID feedback controller(preparation for the lab) | |
| - system identification procedures | |
| - FRF measurement(preparation for the lab) | |
| Lab activity: | |
| - design the stabilizing(PID) controller | |
| - get the FRF measurements | |
| Mar 4 - Mar 10 | |
| Literature study regarding the following aspects: | |
| - feedforward Controller | |
| - design criteria (bandwidth, margins, sensitivity, steady state error, time response) | |
| - work with shapeit to design optimal controllers for each axis (prepare the controllers to test them during the lab) | |
| - reference trajectory(preparation for the lab) | |
| Lab activity: | |
| - get the FRF measurements for the left robot | |
| - test the controllers that we construct on shapeit | |
| - get the reference trajectory |