DocumentCode :
1864852
Title :
Teaching control using NI Starter Kit Robot
Author :
Shakouri, Payman ; Collier, Gordana ; Ordys, Andrzej
Author_Institution :
Sch. of Mech. & Automotive Eng., Kingston Univ., Kingston upon Thames, UK
fYear :
2012
fDate :
3-5 Sept. 2012
Firstpage :
1037
Lastpage :
1042
Abstract :
Teaching engineering concepts using demonstrations and experiments on real hardware is always engaging and well received by students. This paper provides reference materials (both theoretical and test results), to be used in Control teaching and assessment using a laboratory experiment, with a real-time single board computer based robotic vehicle (National Instruments Robotics Starter Kit). This robotic vehicle is programmed using a graphical programming environment. The Adaptive Cruise Control (ACC) algorithm based on Proportional-Integral (PI) and Proportional - Integral - Derivative (PID) Control are deployed on a field programmable gate array (FPGA), included in the robot´s architecture. The robot model (based on a given second order transfer function) is controlled using the same method. The results obtained are compared for the simulation model and a real robot. The performance comparison demonstrates a good correlation between theory and implementation, whilst demonstrating problems and discrepancies introduced by a real system.
Keywords :
PI control; adaptive control; educational robots; engineering; field programmable gate arrays; real-time systems; robot programming; three-term control; ACC algorithm; FPGA; NI starter kit robot; National Instruments Robotics Starter Kit; PI control; PID control; adaptive cruise control; engineering concepts; field programmable gate array; graphical programming environment; laboratory experiment; proportional-integral control; proportional-integral-derivative control; real-time single board computer; robot architecture; robotic vehicle; students; teaching control; Lead; MATLAB; Programming; Real-time systems; Vehicles; Adaptive Cruise Control (ACC); Educational robotics; FPGA programming; PID Controller; Real-time implementation; Single board computer; System modelling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
Type :
conf
DOI :
10.1109/CONTROL.2012.6334775
Filename :
6334775
Link To Document :
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