Laboratory experiments are designed to demonstrate important dynamic characteristics of real processes, such as actuator saturation, measurement noise and nonlinear effects. To meet the needs of a student population with diverse engineering backgrounds, a number of mechatronic systems are utilized.
Laboratory work is mandatory for all student in the sixth semester. The number of hours of laboratory work taken by a student depends on the engineering discipline. Each academic year, about 500 students enroll in the laboratory classes and perform an average of 10 hours of work.
All experiments are equipped with a complete data-acquisition and control system integrated in a single workstation. Industrial electronic controllers are also used to familiarize students with commercially-available equipment.
The following identification and control concepts are illustrated in the laboratory:
- Basic Concepts
- Time-domain characterization of system dynamics
- Frequency-domain characterization of system dynamics
- Proportional control and steady-state offset
- Effect of P, I, and D terms in a classic three-mode controller
- Synthesis of PID controllers using the Ziegler-Nichols method
- Synthesis of PID controllers using frequency-domain techniques
- Anti-reset windup methods for PID controllers
- Effect of disturbances on control performance
- Sampling and quantification effects
- Effect of dead-time and use of the Smith predictor
- Cascade control
- Advanced Concepts
- Identification using nonparametric models
- Correlation analysis
- Spectral analysis
- Identification of parametric models using recursive least squares
- Feedforward control techniques
- Fuzzy control
- Adaptive pole-placement control
- Robust control
- Multivariable control
- Decoupling control
- Nonlinear control techniques
Online remote experiments
The servo drives are freely (registration) available via a MOOC