Welcome
Experiments
Lab 0: MATLAB & SIMULINK
Lab 1: Rotary Servo Base
Lab 2: 3 DOF Gyroscope
- A & B. Modeling and Control Design (Week 1)
- C. Controller Implementation (Week 2)
Lab 3: Rotary Flexible Link
- A. System Identification (Week 1)
- B & C. Control Design and Controller Implementation (Week 2)
Lab 4: Rotary Inverted Pendulum
- A & B. Modeling and Balance Control
- C. Swing-up Control (Demo)
Final Project
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1. Modeling Using First-Principles
a) Electrical Equations
b) Mechanical Equations
c) Combining the Electrical and Mechanical Equations
2. Modeling Using Experiments
a) Frequency Response
b) Bump Test / Unit Step Input Test
Experimental Setup
Frequency Response Experiment
a) Steady-state gain
b) Gain at varying frequencies
Step Response Experiment
Model Validation Experiment
Tables for Report
Table B.1 Collected frequency response data.
Table B.2 Summary of results for the Rotary Servo Base Unit Modeling laboratory.
Results for Report
(A) Frequency Response Experiment
(B) Step Response Experiment
(C) Model Validation Experiment
(D) Additional Results
Appendix
Table A.1 Main Rotary Servo Base Unit Specifications
Table A.2 Rotary Servo Base Unit Gearhead Specifications

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Lab 1: Rotary Servo Base

B. Modeling (Week 1)

PreviousA. Integration (Week 1)NextC. Control Design (Week 2)

Last updated 4 months ago

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