EE192: Mechatronics Design Lab, Spring 2015

Lab Schedule

Week Lecture and Quizzes Discussion Checkoff Misc. Deadlines
1
20 Jan
Intro to mechatronics
Project description
MCU platform overview
Administrivia

(slides) (Thrun JFR 2006)
Administrivia
FRDM board
Soldering

(slides)
C0: Team formation

Do NOT disassemble cars!
2
26 Jan
Project proposal
Motor control & modelling
IOs and peripherals
motor worksheet
Project proposal
Lab equipment
Car critiques

(slides)
C1: Hello world, blinking LED

Do NOT disassemble cars!
3
3 Feb
Motor drivers
MOSFETs
H-bridge circuit
PWM

(load line slide)
Motor control demo
Servo control demo

(slides)
C2: Car inspection
and disassembly
Fri 2/6: Project proposal
4
9 Feb
Servos
Power systems
Battery model
Boost converter
SMPS practicalities
(boost converter notes)

Quiz 1
Motor model
SMPS demo

(slides)
C3: Benchtop motor & steering
5
16 Feb
Power Systems
Linear regulators
Comparison

Quiz 2
Motor drivers and MOSFETs
PCB peer review
PCB fabrication

(PCB checklist)
(slides)
C4: Motor from battery Lab: PCB #1
draft for peer review
Fri : PCB #1
fabrication-ready
6
23 Feb
Sensors
Optical encoder
Velocity sensing
Hamamatsu optical detector
Quiz 3:
SMPS, linear regulators
Optical encoder
Velocity control
C5: Velocity control
7
2 Mar
Line Sense Intro
(line camera datasheet)
(latchup)
(HW1: line detection)
Line camera demo C6: Car assembled
running from PCBs
open-loop drop and run
Fri: Lab cleaned
8
9 Mar
Theoretical models
PID control
Bicycle model
PID demo C7: Benchtop tracking
9
16 Mar
Steering
Model recap
Step response
Tracking control
(HW2: steering sim)
Quiz 4
Steering models, PID control
Simulation
Embedded Programming

(slides)
C8: Figure-8 test
closed-loop drop and run
Lec: HW1 (line detection) due
10
23 Mar
Spring Break N/A Enjoy your break
even if all you're doing is
preparing for the Freescale cup
11
30 Mar
Control practicalities
DT control
Feedforward
None C9: Faster figure-8
and sensor mechanical response
Fri 4/3: Lab cleaned
Fri 4/3: HW2 (steer sim) due
12
6 Apr
PD Tuning for steering
DT control example
Embedded Programming II

(slides)
C10: Practice course Tue 4/7: Prog. Report due
13
13 Apr
Robustness and uncertainty
Digital Filtering
Software robustness
Supervisor systems

Quiz 5
Steering behavior and error
Mechanical Tuning

(slides)
Race 1! Sat 4/18: Freescale Cup
(at UC Davis)
14
20 Apr
Mechatronics examples
Electronic stability control
(Pilutti et al. ACC 1995.)

(more steering references)
None
15
27 Apr
Mechatronics examples None Race 2! Oral reports:
Th 930-11 (289 Cory)
Fri 1130-2 pm (540 AB Cory)Fri: Lab cleaned
16
4 May
optional review
Sp98 finalSp99 soln
Sp98 final
N/A
17
11 May
Wed: Final Exam 180 Tan
(11:30am-2:30pm)
N/A
23 May Sat: NATCAR Race
(at UC Davis)