AME 3623: Project 8: Proportional-Derivative Control
- All components of the project are due by Thursday, April 21st
at 9:00 am
- Groups are the same as for project 1.
- Discussion within groups is fine.
- Discussion across groups may not be about the specifics of the
solution (general programming/circuit issues are fine to
At the end of this project, you should be able to:
- tune PD-control parameters so as to achieve near
critically-damped behavior of the hovercraft.
Component 1: Hardware
- If you have removed the switch from your circuit, please add it
- Balance your craft so that when the chamber is pressurized, the
craft does not drift substantially (note that it will likely
Component 2: Software
Implement the following function:
Structure your main() function as follows:
- Initialize and read current heading to use as the goal.
- Wait for the switch to be pressed. While waiting, read both
the gyro and compass, displaying both rotation rate and rotation
error using the LEDs.
- Ramp up middle fan thrust until the craft begins to rotate.
- Wait for the switch to be pressed again. While waiting,
execute the following control loop:
- Read the sensors
- Display rotation rate and rotation error
- Generate control signals to maintain heading goal
(with forward_thrust = 0)
- Remember to use flag_timing to ensure that your control
loop executes at a reliable rate.
- Turn off lateral fans.
- Ramp middle fan down.
- Enter infinite while() loop.
Component 3: Testing
- At the end of the previous project, you should have a
reasonable choice of Kp. This should cause your craft to be
relatively aggressive about moving toward the heading goal,
though it will likely oscillate around the goal (perhaps
damped, perhaps not).
- Slowly increase Kd until most of the oscillation has been
- After tuning, the craft should be able to recover from
disturbances from the heading goal. In addition, as the
heading error approaches and then crosses 180 degree error, the
thrust fans should flip polarity (e.g., shifting from hard
right to hard left).
- Remember that fprintf() is an expensive operation in terms of
time. Although useful for debugging, it can cause problems
when used inside of a control loop.
What to Hand In
All components of the project are due by Thursday, April 21st at
- Demonstration/Code Review: All group
members must be present. Given time, this can be done during
class. The demonstration must be completed by Monday, April 25th.
- Check in the following to your project 8 area of your
- Personal report: There is no personal report due for
Personal programming credit:
Group grade distribution:
- Each person must accumulate at least three personal programming
credits over the course of the semester. This project offers
- To receive credit, you must be the primary designer,
implementer and debugger of the component. This does
not mean that your other group members should not be looking
over your shoulder. But: you must do the "driving."
- 35%: Project implementation
- 30%: Demonstration of working project (to either
of the TA or the instructor)
- 35%: Documentation
Group Grading Rubric
Grades for individuals will be based on the group grade, but weighted
by the assessed contributions of the group members to the non-personal programming items.
andrewhfagg -- gmail.com
Last modified: Wed Apr 20 22:49:37 2016