CDIO-Oriented Inverted Pendulum Control Project For Undergraduate Engineering Students

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CDIO-Oriented Inverted Pendulum Control Project For Undergraduate Engineering Students

J. Gallagher, B. Goodwine (2012).  CDIO-Oriented Inverted Pendulum Control Project For Undergraduate Engineering Students. 12.
2012 8th International CDIO Conference, Queensland UT, Australia
PDF icon cdioorientedpendulumcontrolproject.pdf

 

This paper presents the design of an undergraduate pendulum feedback control project. The project is low-cost, significantly less expensive than commercially-available systems, and the project based upon it requires, and hence reinforces, substantive understanding of the physics and control-theoretic aspects of the problem in order for students to complete it.

This paper presents the pedagogical purpose behind the project experience for the students and also many details of the physical design of the system and the software control system so that it will be straight-forward to replicate elsewhere. This paper is indented to contribute to the “CDIO Knowledge Library” to facilitate projects that implement the “design” and “implement” components of CDIO, with the future goal of extending the scope of the project to include the “conceive” and “operate” components. In order to accomplish this goal, a significant portion of this paper must present the technical aspects of the project which is integral with and shares equal footing with the broader pedagogical goals.

 

Authors (New): 
John Gallagher
Bill Goodwine
Pages: 
12
Affiliations: 
University of Notre Dame, USA
Keywords: 
Project-Based Learning
Active learning
feedback control
Year: 
2012
Reference: 
Felder, R.M. and Silverman, L.K., “Learning and Teaching Styles: In Engineering Education”, Engineering Education, Vol. 78, No. 7, 1988, pp674-681.: 
Meyers, C. and Jones, T.B., Promoting Active Learning. Strategies for the College Classroom. Jossey-Bass, Inc., 1993.: 
http://controls.ame.nd.edu/mediawiki/index.php/Pendulum_Project: 
Crawley, E.F., Malmqvist, J., Lucas, W.A., Brodeur, D.R., “The CDIO Syllabus v2.0: An Updated Statement of Goals for Engineering Education” Proceedings of the 7th International CDIO Conference, Technical University of Denmark, http://www.cdio.org/frameworkbenefits/cdio-syllabus, 2011.: 
Bill Goodwine, Engineering Differential Equations, Springer, 2010.: 
Franklin, G.F., Powell, J.D, and Workman, M., Digital Control of Dynamic Systems, Pearson Eduction, Third Edition, 2005. : 
Ogata, K., Discrete-Time Control Systems, Prentice Hall, Second Edition, 1995.: 
Franklin, G.F., Powell, J.D, and Emami-Naeini, A., Feedback Control of Dynamic Systems, Prentice Hall, Sixth Edition, 2009.: 
Bill of Materials: http://controls.ame.nd.edu/courses/ame30315/pendulum/parts_list.pdf Base Drawing: http://controls.ame.nd.edu/courses/ame30315/pendulum/base_drawing.pdf Frame Drawing: http://controls.ame.nd.edu/courses/ame30315/pendulum/frame_drawing.pdf Detailed Schematic 1: http://controls.ame.nd.edu/courses/ame30315/pendulum/interface1.pdf Detailed Schematic 2: http://controls.ame.nd.edu/courses/ame30315/pendulum/interface2.pdf Detailed Schematic 3: http://controls.ame.nd.edu/courses/ame30315/pendulum/interface3.pdf: 
Provided Code: http://controls.ame.nd.edu/courses/ame30315/pendulum/code/ StudentCode.c, serial.c, vectors.c, mc.h and hc11.h are necessary to compile the baseline code. The file memory.x is specific to the gcc compiler.: 
http://www.gnu.org/software/m68hc11/m68hc11_gcc.html: 
on November 5, 2012 - 13:09   jenroy
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