The overarching aim of the project is to let the student integrate modeling and control knowledge acquired in Engineering System Dynamics (ESD) and Control Engineering (CE) in a practical example.|
In particular, during the course the student will master to:
- Model, analyse and characterize a real multi-physical system.
- Systematically design, perform and interpret engineering experiments based on modeling insight.
- Evaluate the source of mismatches between model and reality in a systematic way.
- Design control schemes based on linearized dynamical systems.
- Work in a team, write academic-level reports and debug software code and hardware issues.
The Project of Module 6 Systems & Control focuses on the analysis, modelling, simulation, and control of dynamic systems. The topics covered by the Project are:
- Apply multi-domain port-based modeling techniques (ESD) to model and analyze the dynamics of a single DC motor and wheel (motor project)
and of a provided balancing robot (mini-Segway project).
- Perform numerical simulations of dynamic systems by 20-sim and learn to export embedded controllers by 20-sim 4C software.
- Design, perform and analyze (outcomes of) various experiments for parameter identification of the real segway.
- Validate the resulting model and parameters by comparing predictions from simulation with data from the real system.
- Apply and experiment with control techniques as introduced in CE (e.g., PID, lead-lag, eigenvalue placement, LQR). Use the Laplace and frequency domain to analyze system stability and characterize controller performance.
- Control of the wheel angle, letting the segway stand still, and enabling the segway to take user input from a hand-held controller.
- Report the work in a self-contained, structured and complete fashion, while remaining concise and drawing conclusions with a confident yet
This project can only be followed in Module 6 Systems & Control and requires participation in (or prior to completion of) ESD and CE. Beyond familiarity with Linear Algebra and Calculus, for a smooth learning experience we require familiarity with at least 2 out of the following 3 points:
- a basic understanding of the modeling of 1D translational and rotational mechanical systems, e.g., consisting of inertias, springs, dampers, ropes and pulleys
- a basic understanding of the modeling of electrical systems, e.g., consisting of resistors, capacitors, inductors and transformers
- basic programming knowledge of e.g., Python or MATLAB. This helps to understanding the SIDOPS+ language of 20sim more quickly.
The combined grade is based on 2 reports: the Motor Report (weight 30%) and the Final Report (weight 70%). This combined grade needs to be 5.5 or higher. If not, the possibility for a full project rewrite (weight 100%) may be granted.