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Main / ExperimentsWinter

## Experiments in the Autumn Semester

On this page you will find short descriptions of every experiment we offer. You can also download the manuals and necessary files for your homework preparation from here.

Registration: Please register for experiments on the D-ITET online registration website.

### 1.2 Man in the Loop

In this experiment YOU are the controller! You are in the loop and control different plants on the screen by means of a joystick. After that a transfer function is derived based on your control behaviour.

• Prerequisites: It is recommended that you already have taken 'Regelsysteme 1', in particular: Transfer functions (RS1 §§ 3.2-4; week 3), Bode-diagram (RS1 § 9; week 6), Nyquist Criterion (RS1 § 10; week 6)
• Homework preparation: none
• Place: ETL D12, Mo, We and Fr

### 1.3 Chügelimat

In this experiment, you will control the model of a money changing machine – the „Chügelimat“. Instead of coins, there are balls which differ in size and weight. Among the four valid balls, there are also invalid ones which have to be detected. When a ball is inserted into the machine, its diameter is determined, its weight measured and the appropriate amount of „change balls“ is ejected.

During this experiment, you will develop a sequential control for the Chügelimat using Simulink / Stateflow. Learn about possibilities of modern, graphical software tools.

• Prerequisites: none
• Homework preparation: 1 hr
• Place: ETL D12, Mo, We and Fr
* Stateflow Tutorial (only German version)

### 1.4 Helicopter I – Fuzzy Logic

Use fuzzy logic to create a controller for a model helicopter. Take advantage of the human friendly, rule based technique to control any system that is difficult to describe mathematically. Ignore the internal structure of the model (Black Box), instead control the helicopter by only studying the behaviour of the inputs and the outputs. Simulink will be used to develop the fuzzy controller.

• Prerequisites: Basics of feedback control, in particular the idea of feedback (RS1 §§ 4.1-3; weeks 3-4)
• Homework preparation: 1,5 hrs
• Place: ETL D12, Mo, We and Fr

### 1.6 Traffic Control

Master the daily rush-hour traffic jam by modelling the traffic lights control for a crossroads near Stauffacher. There are trams, cars and pedestrians, each with a distinct set of sensors and traffic lights. Trams get priority over cars and pedestrians. Use Simulink and Stateflow (finite state machine modelling) for this experiment.

• Prerequisites: none
• Homework preparation: 2 hrs
• Place: ETL D12, Mo, We and Fr

### 1.9 Ranger - Inverted Pendulum

Ranger is a pendulum system with one degree of freedom. Get to know the basic properties of a PID controller on this simple, yet highly dynamic system. A graphical user interface will guide you step-by-step through the process. Learn more about topics like the Nyquist-criterion, dead-time and crossover frequencies. Be careful though, Ranger can get nasty if your controller is unstable!

• Prerequisites: PID (RS1 § 4.4; week 4), Lead-Lag Compensator
• Homework preparation: 2 hrs
• Place: ML F 44.1, Monday only

### 1.10 Ball on Wheel

This experiment consists of a wheel that is actuated by an electric motor. A ball has to be balanced on top of it whereby the position of the ball is measured by a laser sensor. You design two controllers to stabilize the ball and allow for reference tracking of the wheel's speed: The first controller consists of two cascaded SISO-loops whereas the second controller is a MIMO-controller.

• Prerequisites: Basics of linear system theory (RS1 §§ 2.5, 3.1, 16.2; weeks 2-3, 10-11), LQG/LTR (RS1 § 17.9; week 13)
• Homework preparation: 2 hrs
• Place: ML F 44.1, Monday only

### 2.4 Speed Control - Ziegler-Nichols (PID)

Design and analyze a P-, PI- and PID controller for speed control of a DC motor drive. You will develop a model of the system in Matlab, which you can use afterwards to visualize step responses of the plant. The design of the controller follows the Ziegler-Nichols tuning rules. Validate the model by applying a reference step to both the model and the system. Since the control action is limited (i.e. the current you may feed to the motor), you will observe windup effects in the closed-loop systems. This is a very common situation for real plants.

• Prerequisites: Basics of PID control (RS1 §§ 4.4, 5; week 4)
• Homework preparation: 1,5 hrs
• Place: ETL D12, Mo, We and Fr

### 2.7 Air Ball

In this experiment the height of a ball suspended in an air tube will be controlled. A fan at the bottom of the tube causes upward airflow that pushes the ball up to counteract the downward force of gravity. The fan speed can be controlled to change the air stream velocity, causing a change in ball height. A PID controller will be designed to follow reference trajectories of the ball height and reject disturbances. You will learn the basics of PID control and understand the effects of changing the controller gains.

• Prerequisites: none
• Homework preparation: 1 hour
• Place: ETL D12, Mo, We and Fr