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Control Design for Machines and Manufacturing

Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo. Actuate. Sense. Compute. Control Design for Machines and Manufacturing. Who Am I?. Most of you are new students to me… Welcome to my class! Professor Walter W. Olson

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Control Design for Machines and Manufacturing

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  1. Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo Actuate Sense Compute Control Design for Machines and Manufacturing

  2. Who Am I? • Most of you are new students to me… Welcome to my class! • Professor Walter W. Olson • Graduate of West Point 1973 • Dual Degrees in Physics and EE • MS and PHD Rensselaer Polytechnic Institute, ME • Retired after 24 Years US Army • Combat Engineer Commander • Professor, United States Military Academy • Commander, US Army Cold Regions Research and Engineering Laboratory • Professor • University of Alaska, Fairbanks • Michigan Technological University • Ford Motor Company • University of Toledo • PSG Institute of Technology, Coimbatore, India

  3. Outline of Today’s Lecture Actuate Sense • Course outline • Course Administration • Book • Policies • Assignments • Academic Dishonesty • Grading • What is Control? • Sense-Compute-Act Compute

  4. Course Outline • Please see the Syllabus • What is Control? • Role of Feedback • Modeling with Differential and Difference Equations • Linear Systems • State feedback designs • Output feedback designs • Frequency domain analysis and design • Stability • Proportional, Integral and Differential (PID) Control Design • Performance Design and Robustness

  5. Course Administration: BOOK • Book: Online at • http://www.cds.caltech.edu/~murray/amwiki/index.php/Version_2.10e • recommend that you download it to a file on your computer or memory stick • You will be required to read this BEFORE coming to class. • I prefer to teach using the Socratic method: • the role of the Professor is to guide, answer questions regarding the materials and to clarify “muddy” points • Because of the nature of this course, I will prepare and deliver lectures BUT • I will frequently ask questions and will award recitation points for correct answers

  6. Course Administration:Classroom Policies • Cell phones will be turned off during class. • Students are expected to be at class on time. • Students who know that they will be late should notify the instructor. • There will be no eating or drinking in class.

  7. Course Administration: Assignments • This is probably the most difficult course material conceptually you will ever take • You will not learn how do control system design without doing problems • Experience of 20+ years of teaching this has shown that students who get good grades in this course do all of the homework religiously • Homework is due on the date shown in the syllabus at the beginning of the class period • Late homework will not be accepted • All pages of an assignment must be stapled at the time submitted • Neatness counts!

  8. Course Administration:Academic Dishonesty • Academic dishonesty (cheating, plagiarizing, and related offenses,) will be harshly dealt with. • Except where explicitly stated, all work is expected to be done individually. • You may ask another student how to do a problem but you must perform all calculations and state the results based on your individual work. • You may not compare your work to that of another student. If you do, both you and the student you have compared it with will be cheating. • Students caught cheating will be dismissed from the course and awarded a failing grade. • There will be no 2nd chance!

  9. Course Administration: Grading • 10% Classroom Recitation • 20% Homework • 20% Project? • 25% Mid Term Test • 25% Final Test

  10. What is Control? • Split mu video • Split mu pumping • Split mu with ABS • Split mu with reduced braking

  11. What is Control? • Control = • Sensing + • {Where are you at? Is it where you want to be?} • Computation + • {Can you find a path to where you want to go?} • Actuation • { Make things happen to get you there!}

  12. What is Control? • Control = • Sensing Car beginning yaw Wheel Speeds different

  13. What is Control? Note: Wheels slow and car begins yaw

  14. What is Control? • Control = • Sensing + • Computation Get off the brakes: pump or reduce Reduce braking until speeds match

  15. What is Control? • Control = • Sensing + • Computation + • Actuation Note: Control systems solutions are not unique!

  16. What is Control? Pumping Reduced Brakes ABS

  17. Control • Control = • Sensing + • {Where are you at? Is it where you want to be?} • Computation + • {Can you find a path to where you want to go?} • Actuation • { Make things happen to get you there!}

  18. Why Controls? • Why Controls? • Things move • Too many things happening • Things move too fast for the human brain to compute and for muscles to act • Noise and disturbances • Accuracy and precision • Cost

  19. Where Do You Find Controls? • Everywhere!

  20. Clips • DARPA Challenge • Bosh Rexroth • Stuart 9 Engine

  21. Next Class • Feedback!

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