Difference between revisions of "Experiments"
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On this page you will find short descriptions of every experiment we offer. You can also download the manuals and necessary files for your homework preparation from here. | On this page you will find short descriptions of every experiment we offer. You can also download the manuals and necessary files for your homework preparation from here. | ||
| − | '''Registration:''' Please register for experiments on the D-ITET online [ | + | '''Registration:''' Please register for experiments on the D-ITET online [https://fpapp.ee.ethz.ch/en/no_cache/primary-navi-row-3/laboratory-courses/registration.html registration website]. |
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 1.2 Man in the Loop | |
| − | + | |PictureFile = ManInTheLoop.jpg | |
| − | In this experiment '''YOU''' are the controller! You are in the loop and control different plants on the screen by means of a joystick. After that, a transfer function is derived based on your control behavior. | + | |PictureDescription = Man in the Loop |
| − | + | |ExpDescription = In this experiment '''YOU''' are the controller! You are in the loop and control different plants on the screen by means of a joystick. After that, a transfer function is derived based on your control behavior. | |
| − | + | |ExpPrerequisites = It is strongly recommended that you already have taken 'Regelsysteme 1', in particular: | |
| − | It is strongly recommended that you already have taken 'Regelsysteme 1', in particular: | ||
* Transfer functions (RS1 §§ 3.2-4; week 3) | * Transfer functions (RS1 §§ 3.2-4; week 3) | ||
* Bode-diagram (RS1 § 9; week 6) | * Bode-diagram (RS1 § 9; week 6) | ||
* Nyquist Criterion (RS1 § 10; week 6) | * Nyquist Criterion (RS1 § 10; week 6) | ||
| + | |ExpHomeworkDescription = Review the lecture notes mentioned above | ||
| + | |ExpFiles = [[media:IfA_1-2_manual.pdf|Manual]] | ||
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| − | + | |ExpTitle = 1.3 Chügelimat | |
| − | + | |PictureFile = Chuegelimat.jpg | |
| − | In this experiment, you will control the model of a money changing machine – the „Chügelimat“. Instead of coins, there are balls which differ in size and weight. Among the four valid balls, there are also invalid ones which have to be detected. When a ball is inserted into the machine, its diameter is determined, its weight measured and the appropriate amount of „change balls“ is ejected. | + | |PictureDescription = Chügelimat |
| + | |ExpDescription = In this experiment, you will control the model of a money changing machine – the „Chügelimat“. Instead of coins, there are balls which differ in size and weight. Among the four valid balls, there are also invalid ones which have to be detected. When a ball is inserted into the machine, its diameter is determined, its weight measured and the appropriate amount of „change balls“ is ejected. | ||
During this experiment, you will develop a sequential control for the Chügelimat using Simulink / Stateflow. Learn about possibilities of modern, graphical software tools. | During this experiment, you will develop a sequential control for the Chügelimat using Simulink / Stateflow. Learn about possibilities of modern, graphical software tools. | ||
| + | |ExpPrerequisites = * none | ||
| + | |ExpHomeworkDescription = Preparation time approx 1 hrs, see Manual. | ||
| + | |ExpFiles = [[media:IfA_1-3_manual.pdf|Manual]] | ||
| − | + | [[media:IfA_1-3_SimulinkFramework.mdl.zip|Simulink Framework]] | |
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| + | [[media:Stateflow_tutorial.pdf|Stateflow Tutorial]] | ||
| + | <!--[[media:IfA_1-3_GettingStarted_Simulink.pdf|Getting Started With Simulink]] | ||
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 1.6 Traffic Control | |
| − | + | |PictureFile = TrafficControl.jpg | |
| − | + | |PictureDescription = Traffic Control | |
| − | + | |ExpDescription = Master the daily rush-hour traffic jam by modelling the traffic lights control for a crossroads near Stauffacher. There are trams, cars and pedestrians, each with a distinct set of sensors and traffic lights. Trams get priority over cars and pedestrians. Use Simulink and Stateflow (finite state machine modelling) for this experiment. | |
| − | = | + | |ExpPrerequisites = * none |
| − | + | |ExpHomeworkDescription = Preparation time approx 2 hrs, see Manual. | |
| − | * | + | |ExpFiles = [[media:IfA_1-6_manual.pdf|Manual]] |
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| + | [[media:Stateflow_tutorial.pdf|Stateflow Tutorial]] | ||
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 1.9 Ranger - Inverted Pendulum | |
| − | + | |PictureFile = Ranger.jpg | |
| − | + | |PictureDescription = Ranger - Inverted Pendulum | |
| − | + | |ExpDescription = Ranger is a pendulum system with one degree of freedom. Get to know the basic properties of a PID controller on this simple, yet highly dynamic system. A graphical user interface will guide you step-by-step through the process. Learn more about topics like the Nyquist-criterion, dead-time and crossover frequencies. Be careful though, Ranger can get nasty if your controller is unstable! | |
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| + | This is an experiment supervised by [http://www.idsc.ethz.ch/education/lectures/control-lab--messlabor-.html IDSC] and '''only available on Friday''' | ||
| + | |ExpPrerequisites = * PID (RS1 § 4.4; week 4) | ||
| + | * Lead-Lag Compensator | ||
| + | |ExpHomeworkDescription = Preparation time approx 2 hrs, see Manual. | ||
| + | |ExpLocation = [http://www.rauminfo.ethz.ch/Rauminfo/RauminfoPre.do?region=Z&areal=Z&gebaeude=CLA&geschoss=D&raumNr=19 CLA D19] | ||
| + | |ExpFiles = [https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/Control-Lab/RangerStudent.pdf Manual] | ||
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 1.4 Helicopter I - Fuzzy Logic | |
| − | + | |PictureFile = Helicopter.jpg | |
| − | + | |PictureDescription = Helicopter I - Fuzzy Logic | |
| − | + | |ExpDescription = Use fuzzy logic to create a controller for a model helicopter. Take advantage of the human friendly, rule based technique to control any system that is difficult to describe mathematically. Ignore the internal structure of the model (Black Box), instead control the helicopter by only studying the behavior of the inputs and the outputs. Simulink will be used to develop the fuzzy controller. | |
| − | + | |ExpPrerequisites = Basics of feedback control, in particular: | |
| − | + | * The idea of feedback (RS1 §§ 4.1-3; weeks 3-4) | |
| − | = | + | |ExpHomeworkDescription = Preparation time approx 1.5 hrs, see Manual. |
| − | * | + | |ExpFiles = [[media:IfA_1-4_manual.pdf|Manual]] |
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 1.10 Ball on Wheel | |
| − | + | |PictureFile = BallOnWheel.jpg | |
| − | This experiment consists of a wheel that is actuated by an electric motor. A ball has to be balanced on top of it whereby the position of the ball is measured by a laser sensor. You design two controllers to stabilize the ball and allow for reference tracking of the wheel's speed: The first controller consists of two cascaded SISO-loops whereas the second controller is a MIMO-controller. | + | |PictureDescription = Ball on Wheel |
| + | |ExpDescription = This experiment consists of a wheel that is actuated by an electric motor. A ball has to be balanced on top of it whereby the position of the ball is measured by a laser sensor. You design two controllers to stabilize the ball and allow for reference tracking of the wheel's speed: The first controller consists of two cascaded SISO-loops whereas the second controller is a MIMO-controller. | ||
| − | This is an experiment supervised by [http://www.idsc.ethz.ch/ | + | This is an experiment supervised by [http://www.idsc.ethz.ch/education/lectures/control-lab--messlabor-.html IDSC] and '''only available on Friday''' |
| − | + | |ExpPrerequisites = * Basics of linear system theory (RS1 §§ 2.5, 3.1, 16.2; weeks 2-3, 10-11) | |
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| − | * Basics of linear system theory (RS1 §§ 2.5, 3.1, 16.2; weeks 2-3, 10-11) | ||
* LQG/LTR (RS1 § 17.9; week 13) | * LQG/LTR (RS1 § 17.9; week 13) | ||
| + | |ExpHomeworkDescription = Preparation time approx 2 hrs, see Manual. | ||
| + | |ExpLocation = [http://www.rauminfo.ethz.ch/Rauminfo/RauminfoPre.do?region=Z&areal=Z&gebaeude=CLA&geschoss=D&raumNr=19 CLA D19] | ||
| + | |ExpFiles = [https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/Control-Lab/BallOnWheelStudent.pdf Manual] | ||
| − | + | [https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/Control-Lab/Ball_on_Wheel.m Matlab Template] | |
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| + | {{IfA_FP_Experiment | ||
| + | |ExpTitle = 2.2 Self Erecting Inverted Pendulumg - LQR | ||
| + | |PictureFile = SEIP.jpg | ||
| + | |PictureDescription = Self Erecting Inverted Pendulum - LQR | ||
| + | |ExpDescription = In this experiment, a pendulum is mounted on a cart. The pendulum shall be controlled to stay in its unstable equilibrium, i.e. the upright position. You will design an LQR controller to achieve this goal. Additionally, you will implement a destabilizing controller that will make the pendulum swing up from its stable downward position. Finally, the two controllers will be combined to yield a self-erecting pendulum. | ||
| + | |ExpPrerequisites = * Linear Quadratic Regulator | ||
| + | |ExpHomeworkDescription = Preparation time approx 2.5 hrs, see Manual. | ||
| + | |ExpFiles = [http://people.ee.ethz.ch/~ifa-fp/wikimedia/images/2/2d/IfA_2-2_manual.pdf Manual] | ||
| − | + | [[media:IfA_2-2_matlab.zip|Matlab Template]] | |
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| + | {{IfA_FP_Experiment | ||
| + | |ExpTitle = 2.4 Speed Control - Ziegler-Nichols (PID) | ||
| + | |PictureFile = SpeedControl.jpg | ||
| + | |PictureDescription = Speed Control - Ziegler-Nichols (PID) | ||
| + | |ExpDescription = Design and analyze a P-, PI- and PID controller for speed control of a DC motor drive. You will develop a model of the system in Matlab, which you can use afterwards to visualize step responses of the plant. The design of the controller follows the Ziegler-Nichols tuning rules. Validate the model by applying a reference step to both the model and the system. Since the control action is limited (i.e. the current you may feed to the motor), you will observe windup effects in the closed-loop systems. This is a very common situation for real plants. | ||
| + | |ExpPrerequisites = * Basics of PID control (RS1 §§ 4.4, 5; week 4). | ||
| + | |ExpHomeworkDescription = Preparation time approx 1.5 hrs, see Manual. | ||
| + | |ExpFiles = [[media:Speed Control Manual 2023.pdf|Manual]] | ||
| + | [[media:IfA_2-4_template.zip|Matlab Template]] | ||
| + | }} | ||
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| − | + | {{IfA_FP_Experiment | |
| − | + | |ExpTitle = 2.6 Helicopter II - Lead/Lag | |
| − | + | |PictureFile = HelicopterII.jpg | |
| − | + | |PictureDescription = Helicopter II - Lead/Lag | |
| − | + | |ExpDescription = You will control the two coupled axes of a helicopter model. First the model of the plant is calculated and then linearized. Using Matlab and Simulink, you will design a compensation controller (Lead/Lag), which can then be tested on the real system. | |
| − | + | |ExpPrerequisites = Lead/Lag Compensators (as well as fundamentals of control including linear time-invariant control systems, e.g., "Control Systems I" at ETH Zurich). Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment. | |
| − | + | |ExpHomeworkDescription = Preparation time approx 2.5 hrs, see Manual. | |
| − | + | |ExpFiles = [[media:IfA 2-6 manual.pdf|Manual]] | |
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| + | {{IfA_FP_Experiment | ||
| + | |ExpTitle = 2.7 Air Ball | ||
| + | |PictureFile = AirBall.jpg | ||
| + | |PictureDescription = Air Ball | ||
| + | |ExpDescription = In this experiment the height of a ball suspended in an air tube will be controlled. A fan at the bottom of the tube causes upward airflow that pushes the ball up to counteract the downward force of gravity. The fan speed can be controlled to change the air stream velocity, causing a change in ball height. A PID controller will be designed to follow reference trajectories of the ball height and reject disturbances. You will learn the basics of PID control and understand the effects of changing the controller gains. | ||
| + | |ExpPrerequisites = * none | ||
| + | |ExpHomeworkDescription = Preparation time approx 1 hrs, see Manual. | ||
| + | |ExpFiles = [[media:IfA_2-7_manual.pdf|Manual]] | ||
| + | }} | ||
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| − | + | |ExpTitle = 3.4 Quad Tank | |
| − | + | |PictureFile = QuadTank.jpg | |
| − | In this experiment | + | |PictureDescription = Quad Tank |
| − | + | |ExpDescription = The quad-tank system is a relatively simple MIMO (multi-input, multi-output) system. MIMO systems are inherently more difficult to control than systems with only one input / output. | |
| − | + | In this experiment, you will learn some fundamental techniques to control a MIMO system, like coupled- and decoupled designs or LQR / LQG state-space controllers. | |
| − | + | |ExpPrerequisites = * Basics in MIMO control (E.g., ensure you are comfortable with the key learning's of a course such as "Control Systems I" at ETH Zurich). | |
| − | + | * Minimum/Non-minimum phase plants | |
| − | + | * PI control | |
| − | Preparation time approx | + | * LQR control |
| − | + | Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment. | |
| − | = | + | |ExpHomeworkDescription = Preparation time approx 2.5 hrs, see Manual. |
| − | + | |ExpFiles = [[media:IfA_3-4_manual.pdf|Manual]] | |
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| + | [[media:Quad_tank_experiment.zip|Matlab and Arduino Template]] | ||
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Latest revision as of 09:58, 20 November 2023
On this page you will find short descriptions of every experiment we offer. You can also download the manuals and necessary files for your homework preparation from here.
Registration: Please register for experiments on the D-ITET online registration website.
2.4 Speed Control - Ziegler-Nichols (PID)
Design and analyze a P-, PI- and PID controller for speed control of a DC motor drive. You will develop a model of the system in Matlab, which you can use afterwards to visualize step responses of the plant. The design of the controller follows the Ziegler-Nichols tuning rules. Validate the model by applying a reference step to both the model and the system. Since the control action is limited (i.e. the current you may feed to the motor), you will observe windup effects in the closed-loop systems. This is a very common situation for real plants.
Prerequisites
- Basics of PID control (RS1 §§ 4.4, 5; week 4).
Homework
Preparation time approx 1.5 hrs, see Manual.
Place
Downloads
2.6 Helicopter II - Lead/Lag
You will control the two coupled axes of a helicopter model. First the model of the plant is calculated and then linearized. Using Matlab and Simulink, you will design a compensation controller (Lead/Lag), which can then be tested on the real system.
Prerequisites
Lead/Lag Compensators (as well as fundamentals of control including linear time-invariant control systems, e.g., "Control Systems I" at ETH Zurich). Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment.
Homework
Preparation time approx 2.5 hrs, see Manual.
Place
Downloads
2.7 Air Ball
In this experiment the height of a ball suspended in an air tube will be controlled. A fan at the bottom of the tube causes upward airflow that pushes the ball up to counteract the downward force of gravity. The fan speed can be controlled to change the air stream velocity, causing a change in ball height. A PID controller will be designed to follow reference trajectories of the ball height and reject disturbances. You will learn the basics of PID control and understand the effects of changing the controller gains.
Prerequisites
- none
Homework
Preparation time approx 1 hrs, see Manual.
Place
Downloads
3.4 Quad Tank
The quad-tank system is a relatively simple MIMO (multi-input, multi-output) system. MIMO systems are inherently more difficult to control than systems with only one input / output. In this experiment, you will learn some fundamental techniques to control a MIMO system, like coupled- and decoupled designs or LQR / LQG state-space controllers.
Prerequisites
- Basics in MIMO control (E.g., ensure you are comfortable with the key learning's of a course such as "Control Systems I" at ETH Zurich).
- Minimum/Non-minimum phase plants
- PI control
- LQR control
Please make sure you fulfill the prerequisites and come prepared (i.e., you have done the homework prior to the experiment session), such as to ensure you benefit from conducting the experiment.
Homework
Preparation time approx 2.5 hrs, see Manual.