Lecture

Mini-segway: Control of Position

Graph Chat

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

In course

ME-314: Concurrent engineering project

L'étudiant apprend à appliquer les compétences acquises en travaillant dans une équipe responsable d'une portion d'un projet plus vaste. ...

Description

This lecture continues the 2022 mini-segway project, focusing on stability and control. Topics include the introduction of new components like the BNO80X accelerometer and motor encoders, as well as modifications to the electrical circuit for increased stability. The lecture also covers control loops, PID and PD control schemes, motor encoders, voltage bias, and position control. Communication aspects, such as Wi-Fi communication and adjustable controller parameters, are discussed. The conclusion highlights motor limitations and potential future developments.

This video is available exclusively on Mediaspace for a restricted audience. Please log in to MediaSpace to access it if you have the necessary permissions.

Watch on Mediaspace

Official source

Related concepts (32)

Closed-loop controller

A closed-loop controller or feedback controller is a control loop which incorporates feedback, in contrast to an open-loop controller or non-feedback controller. A closed-loop controller uses feedback to control states or outputs of a dynamical system. Its name comes from the information path in the system: process inputs (e.g., voltage applied to an electric motor) have an effect on the process outputs (e.g., speed or torque of the motor), which is measured with sensors and processed by the controller; the result (the control signal) is "fed back" as input to the process, closing the loop.

Open-loop controller

In control theory, an open-loop controller, also called a non-feedback controller, is a control loop part of a control system in which the control action is independent of the "process output", which is the process variable that is being controlled. It does not use feedback to determine if its output has achieved the desired goal of the input command or process setpoint. There are many open-loop controls, such as on/off switching of valves, machinery, lights, motors or heaters, where the control result is known to be approximately sufficient under normal conditions without the need for feedback.

Communication

Communication is usually defined as the transmission of information. The term can also refer to the message itself, or the field of inquiry studying these transmissions, also known as communication studies. The precise definition of communication is disputed. Controversial issues are whether unintentional or failed transmissions are included and whether communication does not just transmit meaning but also create it. Models of communication aim to provide a simplified overview of its main components and their interaction.

Industrial process control

An industrial process control or simply process control in continuous production processes is a discipline that uses industrial control systems and control theory to achieve a production level of consistency, economy and safety which could not be achieved purely by human manual control. It is implemented widely in industries such as automotive, mining, dredging, oil refining, pulp and paper manufacturing, chemical processing and power generating plants.

Control loop

A control loop is the fundamental building block of control systems in general industrial control systems and industrial control systems in particular. It consists of the process sensor, the controller function, and the final control element (FCE) which controls the process necessary to automatically adjust the value of a measured process variable (PV) to equal the value of a desired set-point (SP). There are two common classes of control loop: open loop and closed loop.

Related lectures (64)

Model Reference Method: PID Regulator Design

Explores the Model Reference Method for designing PID regulators and cascade controllers for complex systems.

Preprogrammed Modes of Control MOOC: The Thymio robot as a tool for discovering digital science

Covers preprogrammed modes of control and their connection to a computer.

Introduction to Feedback Control Systems: Concepts and Applications

Covers the principles of feedback control systems and their applications in various fields.

Visual Extensions in the Workplace

Explores the use of visual extensions, such as virtual reality and augmented reality, in enhancing workplace efficiency and communication.

Cascade Control: Furnace Temperature and Gas Pressure Regulation