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 DemoC5: Velocity controlFri: 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 finalSp99 soln
Sp98 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. room TBA
N/A