AME 3623: Project 7: Proportional-Derivative Control and Tuning
For the last two projects, you have developed the proportional error
and derivative error control pieces. In this project, we bring these
two pieces together and tune the parameters so that the craft will
orient to and stick at a goal orientation.
- All components of the project are due by Thursday, April 12th
at 1:30 pm
- 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
discuss).
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
- Balance your craft so that when the chamber is pressurized, the
craft lifts off the ground uniformly and does not drift
laterally.
- We still owe you a new battery mount (sorry for the delay on
this). In the mean time, place
your battery right behind the central fan (and try not to crush
the wires or the connectors). You may need to move your
circuit board forward to balance against the mass of the battery.
- If there are gaps between the rim of the hovercraft and the
surface that you are on, please see Jack about adding some
additional felt.
Component 2: Software
Implement the following functionality:
- Using the orientation LEDs, display the current heading
error.
- The LED bar should continue to reflect orientation rate.
- In control_step(), sum together the proportional
error (project 6) and derivative (project 5) terms in computing
ddtheta.
- In sensor_step(), receiving characters '+' or '-'
should increment / decrement your orientation goal in steps of 20
degrees.
- Continue to use your FSM from project 6.
Component 3: Tuning and Testing
- At the end of the previous project, you should have a
reasonable choice of Kp. This should cause your craft
moving definitively 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
removed.
- 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).
- Your hovercraft should behave properly given a range of
starting orientations.
- Remember that printf() is an expensive operation in terms of
time. Although useful for debugging, it can cause problems
when used inside of a control loop.
Component 4: Looking Forward
For the next project, you will be using the slip information from your
cameras. Take some time now to test that the cameras are functioning
properly and that your distance estimates are still accurate.
What to Hand In
All components of the project are due by Thursday, April 12th at
1:30 pm.
- Demonstration/Code Review: All group
members must be present.
The demonstration must be completed by Tuesday, April 17th.
- Check in the following to your project 7 area of your
subversion tree:
- Personal report: Catme surveys must be completed by Tuesday, April 18th.
Grading
Personal programming credit:
- Each person must accumulate at least three personal programming
credits over the course of the semester. This project offers
one.
- 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."
Group grade distribution:
- 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 4 23:36:57 2018