A System for Supporting Teaching Modern Control Systems at Undergraduate Level
Sidney Nascimento Givigi Junior1
1 Royal Military College of Canada
Resumo
In this paper a teaching platform used to track a moving target object with a camera mounted on a turret located on a moving platform is presented. In this system, a platform with six degrees of freedom was used to simulate a moving vehicle. A digital camera was placed on a turret and mounted of the platform to simulate a sensor mounted on a vehicle turret. The camera's onboard software identified the location of the center of mass of a target object within its field of view. The objective for the students is to develop a linearized model of the turret movement and design controllers for the azimuth (pan) and elevation (tilt) of the turret in order to keep the target object at the center of the camera's field of view. A working solution proposed by students during their final project is presented. A controller developed using Model Predictive Control (MPC) was able to adjust for both the movement of the target object and the unknown disturbances introduced by the movements of the platform carrying the turret. This system can be used to teach different control techniques allowing for easy implementation and test of students' solutions.
Palavras-chave: Control Systems Lab; Engineering Education