Control Systems Simulation
Description
The course Control Systems Simulation is devoted to dynamic simulation 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 self-study tasks.
Knowledge requirements: completion of the courses Welcome to Engee and Visual Simulation.
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 control system in Engee is studied.
Control system objects
Quadcopter control systems and a mathematical model of a smartphone camera control system are studied. A motor-lens system model for controlling a smartphone camera is built and studied in Engee.
Linearization of the controlled object
The concepts of linear and nonlinear systems are considered. An example of linearization of a nonlinear system using the Engee model is studied.
Feedback control using a PID controller
The concept of an open-loop and a closed-loop control system is given, the model of a cruise control system using a PID controller is studied.
The project work: Controlling a robotic leg
A model of a robotic leg control system is studied in Engee. First, a linearization model of the control object is built, followed by a feedback control system model using a PID controller.