ACS modeling
Description
The course ACS Modeling is devoted to dynamic modeling of automatic control systems: linearization of a physical system, development of a feedback control loop using a PID controller, and verification of the developed controller for compliance with system requirements. At the end of the course, you will develop a robotic leg motion control system in the Engee environment.
Each section of the course contains brief theoretical information and tasks for self-study.
Knowledge requirements: completion of the course Welcome to Engee and "Visual modeling".
Total course time: ~2 hours.
Course program
Mathematical model of the control system.
Theoretical information is given about control system models based on differential equations, on the basis of the transfer function and on the basis of the state space. The model of the management system in Engee is being studied.
Objects of the management system.
Quadcopter control systems and a mathematical model of a smartphone camera control system are being studied. Engee is building and researching a motor-lens system model for controlling a smartphone camera.
Linearization of the control object.
The concepts of linear and nonlinear systems are considered. An example of linearization of a nonlinear system using the Engee model is studied.
The project work is the control of a robotic leg.
Engee is studying a model of a robotic leg control system. First, a linearization model of the control object is built, followed by a feedback control system model using a PID controller.
Conclusion.
Links to additional materials for self-study are provided.