EE192: Mechatronics Design Lab, DRAFT Spring 2019

Course/Lab Schedule (check for updates- version 1-22-2019)

Week Lecture and Quizzes Discussion Checkoff Misc. Deadlines
1
22 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
29 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
5 Feb
Motor drivers
MOSFETs
H-bridge circuit
PWM
MOSFET worksheet soln
(slides)
Motor control demo
Servo control demo

(slides)
C2: SMD soldering practice
Fri 2/8: Project proposal
4
12 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
19 Feb
Power Systems
Motor flyback diode
Linear regulators
LM2678 buck regulator
buck converter notes
(slides)
worksheet and soln
Quiz 2: Motor drivers and MOSFETs
PCB fabrication

(PCB checklist)
(slides)
C4: Motor from battery & PCB schematic
6
26 Feb
Velocity and Line Sense Intro
(slides) (line camera datasheet)
(latchup)
Sharp GP2S60 optical detector
PCB peer review
Optical encoder
Velocity sensing
(slides)
last minute PCB changes? Lab: PCB design due Tue 2/26 11:59 pm
draft for peer review
Final Gerbers due Fri 3/1 afternoon 1:59 pm
7
5 Mar
Sensors
Quiz 3: SMPS, linear regulators
(slides) Line detection
Optical encoder
Velocity sensing
Sharp GP2S60 optical detector
(HW1: line detection)
Linescan
(slides) (pru slides)
C5: Velocity controlFri: Lab cleaned
8
12 Mar
Control principles/Steering model
(slides) PID control
Bicycle model
GDB
(slides)
C6: Benchtop tracking
telemetry working]
(on benchtop)
9
19 Mar
Steering
(slides) Model recap
Step response
Tracking control
(HW2: steering sim)
DT control example
Quiz 4: Line sensor TSL1401
Car construction
Simulation

(slides)
C7: Car assembled
running from PCBs
open-loop drop and run
Lec: HW1 (line detection) due Tues 3/19 4:59PM(before lecture) on Bcourses

Assembling the track (volunteers needed)

25 Mar
Spring Break N/A Enjoy your break
10
2 Apr
Control practicalities
(slides) DT control
Feedforward
Control tuning
(slides)
C8: Figure-8 test
closed-loop drop and run
Fri 4/5: Lab cleaned
Fri 4/5: HW2 (steer sim) due
11
9 Apr
PD Tuning for steering
(slides) (PD example problem)
Embedded Programming II
& Telemetry
(slides)
C9: Practice course Tue 4/9: Prog. Report due
Fri 4/12: Lab cleaned (actually)
Sat 4/13: 10 am CalDay at UCB
12
16 Apr
Robustness and uncertainty
(slides) Digital Filtering
Software robustness
Supervisor systems
AGC &
Mechanical Tuning

(slides)
Race 1! Mon 4/15 at 5:00pm 3rd floor Cory
13
23 Apr
Electronic stability control
(slides) (Pilutti et al. ACC 1995.)
(more steering references)
Quiz 5 Steering behavior and error
None
14
30 Apr
Mechatronics examples
(slides)
None Race 2! 4/29 at 5:00pm 3rd floor Cory Fri: Lab cleaned
15
7 May
optional review
Sp98 soln andSp99 soln
Sp98 final andSp 99 final
N/A Oral reports:
date, time TBD
Sat 11 May 2019 NATCAR Race
(at UC Davis)
16
17 May
Fri. May 17: Final Exam
1130 am - 230 p.m.
N/A