EE192
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EE192: Mechatronics Design Lab, DRAFT Spring 2018
Course/Lab Schedule (check for updates- version 2-5-2018)
Week
Lecture and Quizzes
Discussion
Checkoff
Misc. Deadlines
1
16 Jan
Intro to mechatronics
Project description
MCU platform overview
Administrivia
(slides)
(Thrun JFR 2006)
Administrivia
FRDM board
Soldering
(slides)
C0
: Team formation
Do NOT disassemble cars!
2
23 Jan
Project proposal
Motor control &
modelling
IOs and peripherals
motor worksheet
+
soln
(slides)
Project proposal
Lab equipment
Car critiques
(slides)
C1
: Hello world, blinking LED
Do NOT disassemble cars!
3
30 Jan
Motor drivers
MOSFETs
H-bridge circuit
PWM
MOSFET worksheet
soln
(slides)
Motor control demo
Servo control demo
(slides)
C2
: SMD soldering practice
Fri 2/2:
Project proposal
4
6 Feb
Servos
Power systems
Battery model
Buck converter
buck converter notes
SMPS practicalities
(slides)
Quiz 1
Motor model
SMPS demo
(slides)
C3
: Benchtop motor & steering
5
13 Feb
Power Systems
Motor flyback diode
Linear regulators
LM2678 buck regulator
buck converter notes
(slides)
worksheet
Quiz 2: Motor drivers and MOSFETs
PCB fabrication
(PCB checklist)
(slides)
C4
: Motor from battery & PCB schematic
6
20 Feb
Line Sense Intro
(slides)
(line camera datasheet)
(latchup)
PCB peer review
Optical encoder
Velocity sensing
(slides)
last minute PCB changes?
Lab: PCB design due Tue 2/20 11:59 pm
draft for peer review
Friday 2/23 final Gerber for PCB due at 3:59pm (Bcourses)
fabrication-ready
7
27 Feb
Sensors
Quiz 3: SMPS, linear regulators
(slides)
Line detection
Optical encoder
Velocity sensing
Hamamatsu optical detector
(HW1: line detection)
Line Camera Demo
C5
: Velocity control
Fri: Lab cleaned
8
6 Mar
Control principles/Steering model
(slides)
PID control
Bicycle model
Linescan and MCUX
(slides)
C6
: Benchtop tracking
telemetry working]
(on benchtop)
9
13 Mar
Steering
(slides)
Model recap
Step response
Tracking control
(HW2: steering sim)
DT control example
Quiz 4: Line sensor TSL1401
Simulation
Embedded Programming
(slides)
C7
: Car assembled
running from PCBs
open-loop drop and run
Lec: HW1 (line detection) due 4:59PM(before lecture) on Bcourses
10
20 Mar
Control practicalities
(slides)
DT control
Feedforward
None
C8
: Figure-8 test
closed-loop drop and run
Fri 3/23: Lab cleaned
Fri 3/23: HW2 (steer sim) due
26 Mar
Spring Break
N/A
Enjoy your break
11
3 Apr
PD Tuning for steering
(slides)
Embedded Programming II
& Telemetry
(slides)
C9
: Practice course
Tue 4/3:
Prog. Report
due
12
10 Apr
Robustness and uncertainty
(slides)
Digital Filtering
Software robustness
Supervisor systems
AGC &
Mechanical Tuning
(slides)
Race 1
!
Mon 4/9 6-7pm 3rd floor Cory
13
17 Apr
Electronic stability control
(slides)
(Pilutti et al. ACC 1995.)
(more steering references)
Quiz 5 Steering behavior and error
None
Sat 4/21: 10 am CalDay at UCB
14
24 Apr
Mechatronics examples
(slides)
None
Race 2
!
4/23 time 6-7pm
Fri: Lab cleaned
15
1 May
optional review
Sp98 soln
and
Sp99 soln
Sp98 final
and
Sp 99 final
N/A
Oral reports:
date, time TBD
Sat 5 May 2018 NATCAR Race
(at UC Davis)
16
8 May
Fri. May 11: Final Exam
1130 am - 230 p.m. 3108 Etcheverry
N/A