EE192: Mechatronics Design Lab, DRAFT Spring 2018

Course/Lab Schedule (check for updates- version 1-9-2018)

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
(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: Car inspection
and disassembly
Fri 2/3: Project proposal
4
6 Feb
Servos
Power systems
Battery model
Boost converter
SMPS practicalities
(boost converter notes)
(slides)
Quiz 1 Motor model
SMPS demo

(slides)
C3: Benchtop motor & steering
5
13 Feb
Power Systems
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)
Quiz 3:
SMPS, linear regulators
PCB peer review
Line camera demo
last minute PCB changes? Lab: PCB design due before discussion Tue 2/21 midnight
draft for peer review
Thurs 2/23 final Gerber for PCB due (0900 pm)
fabrication-ready
7
27 Feb
Sensors
(slides) Line detection
Optical encoder
Velocity sensing
Hamamatsu optical detector
(HW1: line detection)
Optical encoder
Velocity control (slides)
C6: Benchtop tracking
telemetry working
Fri: Lab cleaned
8
6 Mar
Control principles/Steering model
(slides) PID control
Bicycle model
PID demo C5: Velocity control
(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
C8: Figure-8 test
closed-loop drop and run
Lec: HW1 (line detection) due
10
20 Mar
Control practicalities
(slides) DT control
Feedforward
None C9: Faster figure-8
and sensor mechanical response
Fri 3/24: Lab cleaned
Fri 3/24: HW2 (steer sim) due

26 Mar
Spring Break N/A Enjoy your break
11
3 Apr
PD Tuning for steering
(slides)
Embedded Programming II

(slides)
C10: Practice course Tue 4/4: Prog. Report due
12
10 Apr
Robustness and uncertainty
(slides) Digital Filtering
Software robustness
Supervisor systems

Quiz 5
Steering behavior and error
Mechanical Tuning

(slides)
Race 1! Mon 4/10 430-530 pm
13
17 Apr
Electronic stability control
(slides) (Pilutti et al. ACC 1995.)

(more steering references)
None Sat 4/22: 10 am CalDay at UCB
14
24 Apr
Mechatronics examples
(slides)
None Race 2! date and time TBD 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