Abstract
Increasing need in automation systems increases the need for control engineers that have practical experience from their undergraduate education. Having abstract mathematical concepts and condense theoretical materials, Feedback Control Systems classes are not generally well-comprehended by undergraduate students. In this paper, we propose a low-cost laboratory setup for Feedback Control Systems education to support learning of frequency domain characteristics of LTI systems. The proposed setup works based on identification and control of a DC motor and includes Matlab interface to be programmed by high level control design tools such as Simulink. This paper shows how students can experimentally validate the concepts like Bode plots, gain margin, phase margin and delay margin.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 15704-15709 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 50 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jul 2017 |
| Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Keywords
- Control education
- arduino
- frequency response
- laboratory setups
- system identification
- time delay
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In: IFAC-PapersOnLine, Vol. 50, No. 1, 07.2017, p. 15704-15709.
Research output: Contribution to journal › Article › peer-review
TY - JOUR
T1 - A Low-cost Laboratory Experiment Setup for Frequency Domain Analysis for a Feedback Control Systems Course
AU - Çatalbaş, Bahadır
AU - Uyanık, İsmail
N1 - Funding Information: Department of Electrical and Electronics Engineering, Department of Electrical and Electronics Engineering, Department of Electrical and Electronics Engineering, (eB-milfaieiln:t{Ucbnaihvaedrsirit,yu,ya0n6i8fi0}0@Aeen.bfiialrfiae,ntT.eudrufie.tyr) Bilfient University, 06800 Anfiara, Turfiey (e-mail: {cbahadir,uyanifi}@ee.bilfient.edu.tr) (e-mail: {cbahadir,uyanifi}@ee.bilfient.edu.tr) Abstract: Increasin˚ need in auˇomaˇion sysˇems increases ˇıe need for conˇrol en˚ineers ˇıaˇ Abstract: Increasin˚ need in auˇomaˇion sysˇems increases ˇıe need for conˇrol en˚ineers ˇıaˇ Abstract: Increasin˚ need in auˇomaˇion sysˇems increases ˇıe need for conˇrol en˚ineers ˇıaˇ ıcoanflceepprˇascaˇnicdacl oenxdpeenrsieenˇcıeeofrroemˇicaˇıl emiraˇuenridaelsr,˚rFaedeudabˇaeckedCuocnaˇˇrioolnS. yHsˇaeflmins˚calabsssˇersaacrˇemnaoˇˇieemnearˇaicllayl ıafle pracˇical experience from ˇıeir under˚raduaˇe educaˇion. Haflin˚ absˇracˇ maˇıemaˇical cwoenllc-ecpoˇmsparnedıecnodneddenbsye uˇınedoerreˇriacadlumaˇaeˇesˇruiadlse,nFˇse.eIdnbaˇıckisCpoanpˇerro,lwSeyspˇreompsoscelaassleoswa-rceosnˇoˇlåbeonrearˇaolrlyy concepˇs and condense ˇıeoreˇical maˇerials, Feedback Conˇrol Sysˇems classes are noˇ ˚enerally wseeˇlul-pcofmorpreFıeeenddbeadckbyCuonndˇreorl˚rSadysuˇaeˇmesˇuedduencaˇsˇ.ioIn ˇˇıoisspuapppeorr,ˇweleparrnopinoseoaflofrwe-qcuoesnˇclyabdoroamˇoariny well-compreıended by under˚raduaˇe sˇudenˇs. In ˇıis paper, we propose a low-cosˇ laboraˇory sceıˇaurpacˇfeorrisˇFiecesdobfaLcTkI Csyosnˇˇermols.STyıseˇepmrsopeodseudcasˇeiˇounp ˇwoorskuspbpaosreˇd loenarindiennˇifoicfaˇfrioenquaenndcycodnˇormolaionf seˇup for Feedback Conˇrol Sysˇems educaˇion ˇo supporˇ learnin˚ of frequency domain caıDarCacmˇeorˇisoˇricasnodfiLnTclIusdyesˇeMmasˇ.laTbıienˇperrofpacoeseˇdosbeeˇupproworrakmsmbaedsebdyonıiidıenleˇfilfeilcacˇoinoˇnroalnddecsionˇrˇooloolsf cıaracˇerisˇics of LTI sysˇems. Tıe proposed seˇup works based on idenˇificaˇion and conˇrol of asuDcıCams oSˇimorualinndk.inTcıluisdepsapMearˇslıabowinsˇıeorfwacseˇuˇodebneˇspcroanraexmpmereidmbenyˇıalil˚yıfllaelfliedlacˇoenˇˇıreolcdonesciepnˇsˇoliokles a DC moˇor and includes Maˇlab inˇerface ˇo be pro˚rammed by ıi˚ı leflel conˇrol desi˚n ˇools sBuocdıeapsloSˇims, ulainink.mTaırisinp,apıerasseıomwasriionwansˇduddeenlaˇys cmaanreixnp.erimenˇally flalidaˇe ˇıe concepˇs like sucı as Simulink. Tıis paper sıows ıow sˇudenˇs can experimenˇally flalidaˇe ˇıe concepˇs like Bode ploˇs, ˚ain mar˚in, pıase mar˚in and delay mar˚in. Bo© 2017, IFAC (Internationde ploˇs, ˚ain mar˚inal Federation, pıase marof˚inAuantomatic Control) Hostind delay mar˚in. g by Elsevier Ltd. All rights reserved. Keywords: Conˇrol educaˇion, laboraˇory seˇups, arduino, sysˇem idenˇificaˇion, frequency Keywords: Conˇrol educaˇion, laboraˇory seˇups, arduino, sysˇem idenˇificaˇion, frequency Keesypwonosrde,s:ˇiCmoenˇdreolal ye.ducaˇion, laboraˇory seˇups, arduino, sysˇem idenˇificaˇion, frequency Keywords: Conˇrol educaˇion, laboraˇory seˇups, arduino, sysˇem idenˇificaˇion, frequency response, ˇime delay. response, ˇime delay. 1. INTRODUCTION 1. INTRODUCTION 1. INTRODUCTION Feedback conˇrol sysˇems ıas a wide applicaˇion area in Feedback conˇrol sysˇems ıas a wide applicaˇion area in Feedback conˇrol sysˇems ıas a wide applicaˇion area in basoˇwıelalcaasdˇeımeiareaqnudireinmdeunsˇˇrfyo.rTreieudlaereipzinˇieooureˇˇpiucaˇsl cinonmˇeonsˇ boˇı academia and indusˇry. Tıe deep ˇıeoreˇical conˇenˇ asysswˇeemllsasmˇıaekereˇqıueireamreanˇafpoprlriceåbulleariˇzoin˚flaoruioˇupsuˇpsrionbmleomssˇ as well as ˇıe requiremenˇ for re˚ularizin˚ ouˇpuˇs in mosˇ sfryosmˇemdisffemreankˇereˇsıeearacıreadisacpipplliinceasb.leOnˇoˇıfelaoriˇoıuesr ıparnodb,leˇmıes sysˇems make ˇıe area applicable ˇo flarious problems farbosmˇradcifˇfemreanˇˇıeremseaaˇirccaıl dciosnciˇpenliˇnerse.sOulnˇsˇiıne aoˇdıeeerpıalenadr,nˇinıe from differenˇ researcı disciplines. On ˇıe oˇıer ıand, ˇıe acubrsfˇlrea,cwˇımicaıˇımeamkaeˇsiciˇaldicfofincˇuelnˇˇforressuˇulˇdseinˇsaˇodeeespˇalbelaisrıninan absˇracˇ maˇıemaˇical conˇenˇ resulˇs in a deep learnin˚ caunraflloe˚, ywıbiecˇıwmeeankˇeıseiˇˇıdeifofircyulaˇnfdorˇısˇeurdeeanlˇlsifˇeopersoˇbalbelmissı. an curfle, wıicı makes iˇ difficulˇ for sˇudenˇs ˇo esˇablisı an analo˚y beˇween ˇıe ˇıeory and ˇıe real life problems. aNnoawloa˚dyaybse,ˇwwieˇeıninˇcıreeaˇısienoryneaenddinˇıaeurˇeoamlaliˇfieonprˇoebcılenmolso.˚y, Nowadays, wiˇı increasin˚ need in auˇomaˇion ˇecınolo˚y, Nowadays, wiˇı increasin˚ need in auˇomaˇion ˇecınolo˚y, ianddusimˇrpylesemeeknsˇfoˇrıeexFpeeerdˇbcaocnkˇrCool nenˇroilneTeırse,owryısoocluaˇnioandsapˇoˇ indusˇry seeks for experˇ conˇrol en˚ineers, wıo can adapˇ aflanrdioiumsprleeaml-ewnoˇrˇlıdepFroeebdlebmacsk. TCo naˇcrcoolmTpıleisoıryˇısiosl,ucˇiuornrsicˇuo- and implemenˇ ˇıe Feedback Conˇrol Tıeory soluˇions ˇo flluamriosuisn reenål-iwneoerrldin˚p,roebspleemcisa.llTyoFaececdobmacpklisCıoˇnıˇirso,l cTuırreiocruy- flarious real-world problems. To accomplisı ˇıis, curricu- lculamsssesin, seınouinldeerbienu, pedspaˇeecdialˇlyo FineceldubdaeckmCoroenˇerxopl eTriımeoerny- lums in en˚ineerin˚, especially Feedback Conˇrol Tıeory cˇalalsesexsp,ersiıeonucledabseauppadraˇˇeodf ˇˇıoeiirncelduudceaˇmioonremexˇıpoedriomloeny- classes, sıould be updaˇed ˇo include more experimen- ˇ(aGloeoxdpweirnieneˇceala.s, 2a0p10a)r.ˇ Ionf fˇaıceˇi,r iemdpuocarˇˇaionncemoefˇıpordacoˇloicayl ˇal experience as a parˇ of ˇıeir educaˇion meˇıodolo˚y (eGxpoeordiewnicne einˇ eanl.˚,in2e0e1r0i)n.˚Icnurfariccˇu,luimmpsoıraˇasnbceeenofaplroancˇidcae-l (Goodwin eˇ al., 2010). In facˇ, imporˇance of pracˇical ebxapˇeedrieisnscueei(nKeıneirineeˇerailn.,˚1c9u9r6r)i.cuBleusmidsesı,alsabboereanˇoaryloenx˚pdeer- experience in en˚ineerin˚ curriculums ıas been a lon˚ de- bimaˇeendˇsisissuoen(eKıofeiˇrıeeˇ faul.n,d1a9m96e)n.ˇBalesriedqeusi,rleambeonraˇsˇoirny AexBpEerT- baˇed issue (Kıeir eˇ al., 1996). Besides, laboraˇory exper- iamccerneˇdsiaisˇeodneenofinˇeıeerinfuncduarmriecnuˇlaulmrseq(AuiBreEmTe,n2ˇs01in2).ABET imenˇs is one of ˇıe fundamenˇal requiremenˇs in ABET accrediaˇed en˚ineerin˚ curriculums (ABET, 2012). aOcncereodfiaˇˇıeed keney˚infuenerciˇnioncaulirˇriiecsuloufmlasb(oArBaˇEoTry, 2ex01p2e)r.imenˇs One of ˇıe key funcˇionaliˇies of laboraˇory experimenˇs One of ˇıe key funcˇionaliˇies of laboraˇory experimenˇs ibsaˇsoedsuopnpeodrˇucsaˇˇuidoennaˇls’neleeadrsnoinfinfosˇrrufucnˇodrasm. Henoˇwalefcleorn,cneopˇˇes is ˇo supporˇ sˇudenˇs’ learnin˚ for fundamenˇal concepˇs bˇıaasˇediˇonis endouˇcafeˇaiosniballenˇeoedcsofolefrinasllˇrˇuocpˇiocrss.inHoawleafbleorr,anˇoorˇye based on educaˇional needs of insˇrucˇors. Howefler, noˇe ˇsıesasˇioinˇ.isTıneorˇeffoeraes,ibsluecˇıoecxopflerimalelnˇˇospsiıcsouilnd abelabcaorreafˇuolrly ˇıaˇ iˇ is noˇ feasible ˇo cofler all ˇopics in a laboraˇory sdeesssiionne.dTˇıoereemfopreı,assiuzceıˇeıxepedreismireendˇsˇospıiocusldbabsedcaornefuˇlılye session. Tıerefore, sucı experimenˇs sıould be carefully dcoeusir˚sneecdurˇroicuelmumpı.aFsoizreexˇaıme pdlee,silraebdorˇaoˇpoircysebxapseerdimoennˇsˇıine desi˚ned ˇo empıasize ˇıe desired ˇopics based on ˇıe cFoeuedrsbeaccukrCricounlˇuroml.TFıoeroerxyacmlapslsee,slåbeonrearˇaollryy feoxcpuesriomneinˇfsleisn- course curriculum. For example, laboraˇory experimenˇs in FˇieeadˇbinåckˇıCeoanbˇrsoˇrlaTcˇıecoornycecplaˇsssesuscıenaesrasˇllaybifloiˇcyu,sconˇirnofllelesr- Feedback Conˇrol Tıeory classes ˚enerally focus on infles- ★ˇi˚aˇin˚ ˇıe absˇracˇ concepˇs sucı as sˇabiliˇy, conˇroller ˇ★iÅauˇtihnorsˇıweoualbdsˇlirkaecˇtocotnhcaenpkˇsthseucSıcieanstifsiˇcabanildiˇyT,echonoˇlrooglilcearl R★eAseuatrhcohrsCowuonuclidl olfikTeurtkoeyth(TanU¨kBI˙tTheAKS)cifeonrtiffiincanacnidal Tsuepchpnorotl.ogical Research Council of Turkey (TܨBİ˙TAK) for financial support. Research Council of Turkey (TUBITAK) for financial support. 2405-8963 © 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Copyright © 2017 IFAC 16274 Peer review under responsibility of International Federation of Automatic Control. Copyright © 2017 IFAC 16274 10.1016/j.ifacol.2017.08.2410 Publisher Copyright: © 2017
PY - 2017/7
Y1 - 2017/7
N2 - Increasing need in automation systems increases the need for control engineers that have practical experience from their undergraduate education. Having abstract mathematical concepts and condense theoretical materials, Feedback Control Systems classes are not generally well-comprehended by undergraduate students. In this paper, we propose a low-cost laboratory setup for Feedback Control Systems education to support learning of frequency domain characteristics of LTI systems. The proposed setup works based on identification and control of a DC motor and includes Matlab interface to be programmed by high level control design tools such as Simulink. This paper shows how students can experimentally validate the concepts like Bode plots, gain margin, phase margin and delay margin.
AB - Increasing need in automation systems increases the need for control engineers that have practical experience from their undergraduate education. Having abstract mathematical concepts and condense theoretical materials, Feedback Control Systems classes are not generally well-comprehended by undergraduate students. In this paper, we propose a low-cost laboratory setup for Feedback Control Systems education to support learning of frequency domain characteristics of LTI systems. The proposed setup works based on identification and control of a DC motor and includes Matlab interface to be programmed by high level control design tools such as Simulink. This paper shows how students can experimentally validate the concepts like Bode plots, gain margin, phase margin and delay margin.
KW - Control education
KW - arduino
KW - frequency response
KW - laboratory setups
KW - system identification
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=85044847935&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044847935&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.2410
DO - 10.1016/j.ifacol.2017.08.2410
M3 - Article
AN - SCOPUS:85044847935
SN - 2405-8963
VL - 50
SP - 15704
EP - 15709
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 1
ER -