AME 50652 Pendulum Project - Revision history

Goodwine at 21:59, 19 February 2014

2014-02-19T21:59:32Z

← Older revision		Revision as of 21:59, 19 February 2014
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	** pin 7 is connected to the decoder which pulses whenever the decoder receives an edge from the encoder.		** pin 7 is connected to the decoder which pulses whenever the decoder receives an edge from the encoder.

	You will need this [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/interface.pdf PIN diagram] in order to know where to connect the logic analyzer.		You will need this [http://controls.ame.nd.edu/courses/ame50650/S2014/interface.pdf PIN diagram] in order to know where to connect the logic analyzer.

	== Switches ==		== Switches ==
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	This section outlines the steps to write, compile, download and execute a program on the microcontroller. Until you have a controller designed that is supposed to stabilize the pendulum, make sure the pendulum is pointing '''''down'''''.		This section outlines the steps to write, compile, download and execute a program on the microcontroller. Until you have a controller designed that is supposed to stabilize the pendulum, make sure the pendulum is pointing '''''down'''''.

	The file format that can be downloaded to the hc11 is called an "S-record" and has a filename that has a ".s19" suffex. [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/StudentCode.s19 Here] is an example of an S-record that commands a square-wave torque to the pendulum with a period of approximately ten seconds. It is a text file, so it is something you can look at and open in an editor, but it is not really decipherable. Save this program on your computer.		The file format that can be downloaded to the hc11 is called an "S-record" and has a filename that has a ".s19" suffex. [http://controls.ame.nd.edu/courses/ame50650/S2014/StudentCode.s19 Here] is an example of an S-record that commands a square-wave torque to the pendulum with a period of approximately ten seconds. It is a text file, so it is something you can look at and open in an editor, but it is not really decipherable. Save this program on your computer.

	The steps required to download the run this example square-wave program are as follows.		The steps required to download the run this example square-wave program are as follows.
	# Save the S-record in the link above to your computer. Also save the files [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/msload9.bin msload9.bin] and [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/pms91.bat pms91.bat] in the same directory as the S-record.		# Save the S-record in the link above to your computer. Also save the files [http://controls.ame.nd.edu/courses/ame50650/S2014/msload9.bin msload9.bin] and [http://controls.ame.nd.edu/courses/ame50650/S2014/pms91.bat pms91.bat] in the same directory as the S-record.
	# Ensure that the pendulum is hanging down.		# Ensure that the pendulum is hanging down.
	# Plug in the power plug for the microcontroller board, but NOT the motor (the smaller plug is for the boards and the larger is for the H-bridge and motor). Some LEDs light up on the board when you plug in the right one.		# Plug in the power plug for the microcontroller board, but NOT the motor (the smaller plug is for the boards and the larger is for the H-bridge and motor). Some LEDs light up on the board when you plug in the right one.
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	== Compiling and Downloading a Program ==		== Compiling and Downloading a Program ==
	Ultimately your job is to edit the program to implement a controller that you design. In this section you will compile the source code to make an S-record that does ths same thing as above. You need to download and save the following files in the same directory		Ultimately your job is to edit the program to implement a controller that you design. In this section you will compile the source code to make an S-record that does ths same thing as above. You need to download and save the following files in the same directory
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/StudentCode.c StudentCode.c]		* [http://controls.ame.nd.edu/courses/ame50650/S2014/StudentCode.c StudentCode.c]
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/serial.c serial.c]		* [http://controls.ame.nd.edu/courses/ame50650/S2014/serial.c serial.c]
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/vectors.c vectors.c]		* [http://controls.ame.nd.edu/courses/ame50650/S2014/vectors.c vectors.c]
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/mc.h mc.h]		* [http://controls.ame.nd.edu/courses/ame50650/S2014/mc.h mc.h]
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/hc11.h hc11.h]		* [http://controls.ame.nd.edu/courses/ame50650/S2014/hc11.h hc11.h]
	* [http://controls.ame.nd.edu/courses/~~ame30315~~/~~S2012~~/memory.x memory.x].		* [http://controls.ame.nd.edu/courses/ame50650/S2014/memory.x memory.x].

	What each of these files do will be described later. In this section the point is to just successfully compile them. You must have them all in the same director or it won't work.		What each of these files do will be described later. In this section the point is to just successfully compile them. You must have them all in the same director or it won't work.

Goodwine: /* Additional Steps */

2014-02-19T14:26:38Z

Additional Steps

← Older revision		Revision as of 14:26, 19 February 2014
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	== Additional Steps ==		== Additional Steps ==
	~~Groups with two students may~~ do ~~any~~ of the following ~~for extra credit. Groups with three members '''''must''''' do one of these. Additional ones are extra credit~~.		If you like this project and want some extra credit, do some or all of the following.

	* In addition to the modifications to '''main()''' and specifically the '''while(1)''' loop therein, modify any other selected parts of the code to significantly improve the performance of the system. Check how fast you can make the PWM work with your baseline code and controller before it gets flaky or how much faster you can make the 20Hz control loop. Then find something in the code that you can modify to make it faster so that it can run at a faster PWM and/or control loop before it starts running into problems.		* In addition to the modifications to '''main()''' and specifically the '''while(1)''' loop therein, modify any other selected parts of the code to significantly improve the performance of the system. Check how fast you can make the PWM work with your baseline code and controller before it gets flaky or how much faster you can make the 20Hz control loop. Then find something in the code that you can modify to make it faster so that it can run at a faster PWM and/or control loop before it starts running into problems.

Goodwine: /* Project and Report Content */

2014-02-19T14:26:03Z

Project and Report Content

← Older revision		Revision as of 14:26, 19 February 2014
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	# Your report must show any warnings that the compiling command gives. In other words, cut and paste from the terminal whatever is printed out when 'm68hc11-elf-gcc' is run. It must contain the '-Wall' option. The only allowable warning is the one that it says about the eeprom memory definition.		# Your report must show any warnings that the compiling command gives. In other words, cut and paste from the terminal whatever is printed out when 'm68hc11-elf-gcc' is run. It must contain the '-Wall' option. The only allowable warning is the one that it says about the eeprom memory definition.
	# Your report must contain your code. You do not need to include vectors.c, memory.x and any other files you used but that were unmodified from what was supplied.		# Your report must contain your code. You do not need to include vectors.c, memory.x and any other files you used but that were unmodified from what was supplied.
	# You must validate your design and determine the best controller/gain combination. ~~However~~, ~~in your report you must include computations for the discrete controller~~ based on the ~~parameters in~~ the ~~following table. This~~ of the ~~assigned values in the following table as "homework" in~~ that ~~each group must show they can do all the necessary computations for the indicated parameter values~~. ~~You may use those as a logical starting point~~, ~~but it's not necessary. You should validate~~ the ~~assigned values in matlab. It~~ is ~~not required~~ to ~~actually implement~~ the ~~controller in~~ the ~~real~~ pendulum ~~with the assigned values~~.		# You must validate your design and determine the best controller/gain combination. Part of this is comparing two designs, and based on the mathematical analysis make a prediction regarding how the dynamics of the response will change, and then verifying that is what happens. For example, "if the controller pole is moved to the right, then the theoretical step response changes by YYYYY. When implementing this on the pendulum, we see that this does happen."
	# In all cases, the designed rise time for the system should be less than 1/2 second.		# In all cases, the designed rise time for the system should be less than 1/2 second.
	#Words to keep in mind are "justification," "evaluation" and "validation." I will be looking for you to justify everything you did. I will look for you to look for ways to evaluate your decisions. If you found a damping ratio and natural frequency, are there other tests you can do to check if they were good choices? Does your controller performance match the prediction? If not, how does it seem to deviate? Is the deviation systematic and repeatable? A report that shows it works for one or maybe two points, only ties the variables you use to one step input, etc., is not going to be enough to give me confidence that your design is a good one.		#Words to keep in mind are "justification," "evaluation" and "validation." I will be looking for you to justify everything you did. I will look for you to look for ways to evaluate your decisions. If you found a damping ratio and natural frequency, are there other tests you can do to check if they were good choices? Does your controller performance match the prediction? If not, how does it seem to deviate? Is the deviation systematic and repeatable? A report that shows it works for one or maybe two points, only ties the variables you use to one step input, etc., is not going to be enough to give me confidence that your design is a good one.

Goodwine: /* Project and Report Content */

2014-02-19T14:23:41Z

Project and Report Content

← Older revision		Revision as of 14:23, 19 February 2014
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	# Your report must show any warnings that the compiling command gives. In other words, cut and paste from the terminal whatever is printed out when 'm68hc11-elf-gcc' is run. It must contain the '-Wall' option. The only allowable warning is the one that it says about the eeprom memory definition.		# Your report must show any warnings that the compiling command gives. In other words, cut and paste from the terminal whatever is printed out when 'm68hc11-elf-gcc' is run. It must contain the '-Wall' option. The only allowable warning is the one that it says about the eeprom memory definition.
	# Your report must contain your code. You do not need to include vectors.c, memory.x and any other files you used but that were unmodified from what was supplied.		# Your report must contain your code. You do not need to include vectors.c, memory.x and any other files you used but that were unmodified from what was supplied.
	# ~~Every group~~ must validate ~~their~~ design and determine the best controller/gain combination. However, in your report you must include computations for the discrete controller based on the parameters in the following table. This of the assigned values in the following table as "homework" in that each group must show they can do all the necessary computations for the indicated parameter values. You may use those as a logical starting point, but it's not necessary. You should validate the assigned values in matlab. It is not required to actually implement the controller in the real pendulum with the assigned values.		# You must validate your design and determine the best controller/gain combination. However, in your report you must include computations for the discrete controller based on the parameters in the following table. This of the assigned values in the following table as "homework" in that each group must show they can do all the necessary computations for the indicated parameter values. You may use those as a logical starting point, but it's not necessary. You should validate the assigned values in matlab. It is not required to actually implement the controller in the real pendulum with the assigned values.
	# In all cases, the designed rise time for the system should be less than 1/2 second.		# In all cases, the designed rise time for the system should be less than 1/2 second.
	#Words to keep in mind are "justification," "evaluation" and "validation." I will be looking for you to justify everything you did. I will look for you to look for ways to evaluate your decisions. If you found a damping ratio and natural frequency, are there other tests you can do to check if they were good choices? Does your controller performance match the prediction? If not, how does it seem to deviate? Is the deviation systematic and repeatable? A report that shows it works for one or maybe two points, only ties the variables you use to one step input, etc., is not going to be enough to give me confidence that your design is a good one.		#Words to keep in mind are "justification," "evaluation" and "validation." I will be looking for you to justify everything you did. I will look for you to look for ways to evaluate your decisions. If you found a damping ratio and natural frequency, are there other tests you can do to check if they were good choices? Does your controller performance match the prediction? If not, how does it seem to deviate? Is the deviation systematic and repeatable? A report that shows it works for one or maybe two points, only ties the variables you use to one step input, etc., is not going to be enough to give me confidence that your design is a good one.
	#Having said all that, I don't want a bunch of extra junk in the report. A great report will convince me that you did a correct and thorough job. A bunch of extra stuff will waste my time (or your boss' time, which is much worse) and make me think you are trying to hide crappy results with a bunch of vacuous verbiage.		#Having said all that, I don't want a bunch of extra junk in the report. A great report will convince me that you did a correct and thorough job. A bunch of extra stuff will waste my time (or your boss' time, which is much worse) and make me think you are trying to hide crappy results with a bunch of vacuous verbiage.

	{
	== Additional Steps ==		== Additional Steps ==
	Groups with two students may do any of the following for extra credit. Groups with three members '''''must''''' do one of these. Additional ones are extra credit.		Groups with two students may do any of the following for extra credit. Groups with three members '''''must''''' do one of these. Additional ones are extra credit.

Goodwine at 14:21, 19 February 2014

2014-02-19T14:21:54Z

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Goodwine: /* The System */

2014-02-19T14:14:00Z

The System

← Older revision		Revision as of 14:14, 19 February 2014
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	* the logic analyzer software.		* the logic analyzer software.

	There are 10 pendulum platforms and five USB logic analyzers ~~on the window sill~~ in ~~212~~. Return them when you are finished. I have been told there are many more logic analyzers available in S-R. ~~If there are any platforms available, you may use it. However, if another group has it reserved, you must relinquish it to them.~~		There are 10 pendulum platforms and five USB logic analyzers in storage in room 214. Return them when you are finished. I have been told there are many more logic analyzers available in S-R.

	All the software can be found in the start menu, except the compiler. To run that you need to open a command prompt (under Accessories) and type "m6811-elf-gcc". If it responds with "no input files" then it's installed. If it responds with "no recognized as an internal or external command" then it's not installed or is not in your path.		All the software can be found in the start menu, except the compiler. To run that you need to open a command prompt (under Accessories) and type "m6811-elf-gcc". If it responds with "no input files" then it's installed. If it responds with "no recognized as an internal or external command" then it's not installed or is not in your path.

Goodwine: /* Administrative Things */

2014-02-19T14:12:28Z

Administrative Things

← Older revision		Revision as of 14:12, 19 February 2014
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	== Administrative Things ==		== Administrative Things ==
	* Hopefully you already know your [https://www.nd.edu/~jgoodwin/ame30315groups/ group assignment].
	* ~~John Gallagher, who is serving as a TA for this project, will be~~ in ~~212~~ Stinson-Remick ~~on Thursday evenings from 8:00-10:00pm~~. ~~His email is jgallag8@nd.edu.~~		* The pendulum platforms are stored in room 214 Stinson-Remick. You should have access to that room with your ND ID card. Any time the building is open you may work on the project.
	* You ~~may reserve one of the pendulum platforms using the paper sign-up sheets near the pendulums in 212 S-R. Your group may only~~ have ~~one pending reservation at any given time~~. ~~In other words, your group can only make one reservation and only after that reservation~~ time is ~~over~~ may ~~you make another reservation.~~		* You will need to do the programming and testing in room 212 Stinson-Remick because the computers in there have the right compiler installed.
	* The project is due at 5:00pm on ~~the last day of classes. There will be no extensions. If all the pendulum platforms are reserved the evening before it is due, that will not be accepted as a valid excuse for not completing~~ the project. You will ~~HAVE~~ to ~~work ahead of time~~ and in ~~an organized manner~~ because ~~it will basically be impossible to start this a couple days before, even with unlimited access to one of~~ the ~~platforms, and finish.~~
	* It is expected that greater than 80% of the time spent on this project will be spent working together with all the group members present in ~~the same room at the same time on the same thing. If this is not happening, you must let me know. If you~~ have ~~a delinquent group member, you must let me know. Also you must let me know these things when it is happening, not when~~ the ~~project is due~~.

	== Introduction ==		== Introduction ==

Goodwine: Created page with "== Administrative Things == * Hopefully you already know your [https://www.nd.edu/~jgoodwin/ame30315groups/ group assignment]. * John Gallagher, who is serving as a TA for thi..."

2014-02-19T14:10:19Z

Created page with "== Administrative Things == * Hopefully you already know your [https://www.nd.edu/~jgoodwin/ame30315groups/ group assignment]. * John Gallagher, who is serving as a TA for thi..."

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