通过建立动手平台来教授机电一体化的方法

2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2018-09-01 DOI:10.1109/ICEEE.2018.8533992

J. Maldonado, R. Garrido, Gerardo Castro

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引用次数: 0

摘要

这项工作提出了一种方法，通过基于无线电控制(RC)伺服的低成本平台来教授机电一体化，机器人和自动控制。描述了该方法，并通过赋予积分器抗卷绕机制的比例积分加速度反馈(PIVF)算法对其进行实时控制。伺服电机速度的估计是通过高通滤波器和Luenberger观测器来实现的。这些实验证明了该平台支持自动控制、机电一体化和机器人等本科课程的潜力。

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A Methodology to Teach Mechatronics through Building a Hands-on Platform

This work presents a methodology to teach Mechatronics, Robotics and Automatic Control through a low-cost platform based on a radio control (RC) servo. The approach is described as well as its real-time control through a Proportional Integral plus velocity feedback (PIVF) algorithm endowed with an integrator anti-windup mechanism. Estimation of the servomotor velocity is accomplished by means of a high-pass filter and a Luenberger observer. These experiments prove the potential of the platform for supporting undergraduate level courses in Automatic Control, Mechatronics, and Robotics.

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2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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