UNLV MEXXX - Control Systems Lab

UNLV MEXXX Home Page

MEXXX is a lab-based course that reinforces control theory concepts. The damped compound pendulum (DCP) is a case study to apply such concepts. LEGO is used to construct the DCP, and tools like Labview and Simulink are applied to control the DCP. The overall objective is to reinforce theoretical concepts like 2nd order systems modeling, system identification, and closed-loop feedback. Meeting these objectives, one can apply controller design to a wide range of systems including robots.

Email: paul.oh@unlv.edu

Lesson A

Handouts

Course Outline (to do later)
Weekly Schedule (to do later)
Lecture: Introduction and Course Philosophy (to do later)

Things to do

(to do later)

Lesson B

Topic: Labview: Hello World Style Examples

Handouts

Lecture Slides (not needed now)
Lab Slides on Labview Hello World nxtLegoLabview-Basics-061918.pdf
- Code code.zip
Homework: (not needed now)

Lesson C

Topic: Labview: LEGO NXT Control (Motor and Analog Output)

Handouts

Lecture Slides (not needed now)
Lab Slides on Labview and Motor Control nxtLabview-virtualPowerSupply-072118.pdf
- Code code.zip
Homework: (not need now)

Lesson D

Topic: Labview: LEGO NXT Sensing (Touch and Analog Input)

Handouts

Lecture Slides (not needed now)
Lab Slides on Labview Touch Sensing and Virtual Voltmeter nxtLabview-virtualTouchSensorAndVoltmeter-072118a
- Code code.zip
Homework: (not needed now)

Lesson E

Topic: Labview: Data Acquisition Displaying and Saving (XY Charts, XY Graphs, and Files)

Handouts

Lecture Slides (not needed now)
Lab Slides on Labview Charts, Graphs and Files nxtLabview-ChartsGraphsAndFiles-073118a
- Code code.zip
Homework: (not needed now)

Lesson F

Topic: Labview: Angle Sensing and Damped Compound Pendulum

Handouts

Lecture Slides (not needed now)
Lab Slides on LEGO DCP Construction and Labview Angle Sensing
- LEGO Damped Compound Pendulum (DCP) Build Plan legoDcpBuildPlan103118a.pdf
- Labview Angle Sensing nxtLabview-AngleSensor-110618a.pdf
- Sample Excel plot pendulumData13H11M.xls and pendulumData13H11M.csv
- Code code.zip
Homework: (not needed now)

Lesson G

Topic: System Identification

Lecture Slides (not needed now)
Lab Slides on Labview DCP Step Response and Free Fall nxtLabview-SystemIdentification-111118a.pdf
- Code: nxtLabviewEncoderGraphTest1_2.vi
- Code: nxtLabviewLegoDcpSystemId1_0.vi (to be added)
- Data Files: systemId-110918-07H41M.csv and legoDcpFreefall-111018-08H56M.csv (to be added)
Homework: (not needed now)

Lesson H

Topic: System Modeling and Testing

Handouts

Lecture Slides (not needed now)
Lab Slides on Simulink Testing nxtLabview-SimulinkTesting-111218a.pdf
- Code: simulinkDcpStepInput1_0.slx
- Data Files:
  - dcp081218-1445.csv
  - dcp081218-1445.xlsx (Excel Data Plot)
  - dcp081218-1445-Time2.7secTo5.7sec.csv
Homework: (not needed now)

Lesson I

Topic: PID Simulation

Handouts

Lecture Slides (not needed now)
Lab Slides on Simulink PID nxtLabview-SimulinkPid-111418a
- Code: simulinkDcpPid1_0.slx
Homework: (not needed now)

Lesson J

Topic: PID Experimental

Handouts

Lecture Slides (not needed now)
Lab Slides on Labview PID nxtLabview-labviewPid-111518b.pdf
- Code nxtLabviewLegoDcpPid1_0.vi
- Data Files:
  - labviewPidOutput-111518-12H34M.csv
  - labviewPidOutput-111518-12H34M.xlsx (Excel Data Plot)
- Videos:
  1. [P, I, D] = [0.1, 0.1, 0.1] No Overshoot, but Long Rise-time YouTube
  2. [P, I, D] = [0.1, 0.1, 0.1] Some Overshoot YouTube
  3. [P, I, D] = [0.3, 3.0, 0.5] Marginal Stable YouTube
  4. [P, I, D] = [0.05, 2.5, 0.2] Reduced Overshoot, Reasonable Rise-time YouTube Best
  5. [P, I, D] = [0.05, 2.5, 0.2] Unmodeled Dynamics (added counterweight) YouTube
  6. [P, I, D] = [0.05, 2.5, 0.2] Unmodeled Dynamics (pivot arm length change) YouTube
Homework: (not needed now)