Transcript Structural control competition - University of Illinois at

STRUCTURAL CONTROL
COMPETITION
July 17th, 2009
The Pendubot
Equilibrium Positions
Equilibrium Position for Lab I and II
Equilibrium Position for Competition
Simulink Model
Schedule
July 16th: Structural Control Lab I (1:00pm to 5:00pm)
July 17th: Structural Control Lab II (1:00pm to 5:00pm)
July 20th: Open Lab Time (6:00pm to 8:00pm)
July 21st: Open Lab Time (6:00pm to 8:00pm)
July 22nd: Open Lab Time (1:00pm to 5:00pm)
July 23rd: Open Lab Time (1:00pm to 3:00pm)
July 23rd: On-Site Evaluation (3:00pm to 4:30pm)
Scoring Criteria
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40% On-Site Evaluation
 10%
for each challenge
 July 23rd from 3:00pm to 4:30pm
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60% Presentation
 15%
for each challenge
 July 24th in conjunction with Wireless Sensors
presentations
On-Site Evaluation Schedule
ECE Control Lab, July 23rd
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Team 1: 3:00pm
Team 2: 3:10pm
Team 3: 3:20pm
Team 4: 3:30pm
Team 5: 3:40pm
Team 6: 4:00pm
Team 7: 4:10pm
Team 8: 4:20pm
Presentations
Siebel Center, Room 1404, July 24th
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Wireless Sensors Competition, 9:00 am to 11:00am
Team 1: 9:00am
 Team 2: 9:15am
 Team 3: 9:30am
 Team 4: 9:45am
 Team 5: 10:00am
 Team 6: 10:15am
 Team 7: 10:30am
 Team 8: 10:45am
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Lunch Break, 11:00am to 12:00pm
Presentations
Siebel Center, Room 1404, July 24th
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Structural Control Competition, 12:00pm to 1:45pm
 Team
1: 12:00pm
 Team 2: 12:15pm
 Team 3: 12:30pm
 Team 4: 12:45pm
 Team 5: 1:00pm
 Team 6: 1:15pm
 Team 7: 1:30pm
 Team 8: 1:45pm
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Leave for Hardy’s Reindeer Ranch at 3:00pm
Challenge 1: Swing-Up Control
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Have been making use of partial feedback
linearization type swing-up control
Develop swing-up control based on a PD controller
Challenge 2: Velocity Estimation
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Replace discrete differentiation scheme with a
transfer function to calculate derivative
Note that H = s is an unstable transfer function
Investigate effect of
pole location
Bode Diagram
H  s
ps
H 
p  s
Magnitude (dB)
40
30
s
20
p = 25
p = 50
10
p = 100
0
90
Phase (deg)
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50
60
30
0
0
10
1
2
10
10
Frequency (rad/sec)
3
10
Challenge 3: Kalman Filter/
LQG Control
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Use Kalman Filter to estimate unknown states
Implement with LQG control
Challenge 4: Alternative Controller
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Freedom to select new type of controller
Consideration will be given to the type of controller
(degree of difficulty) and success of implementation
Use intelligent controller design
Use literature
 Online
 Engineering
Library on Springfield Avenue