Developing an Affordable and Portable Control Systems Laboratory Kit with a Raspberry Pi †
Abstract
:1. Introduction
1.1. Background
1.2. Motivation
2. Materials and Methods
2.1. DC Motor Laboratory Kit Development
2.1.1. Raspberry Pi
2.1.2. Circuits and Sensors
H-Bridge
Speed Sensor
Position Sensor
Analog-to-Digital Converter
2.1.3. Simulink
Reading the Potentiometer Voltage through ADC and SPI Interface
- wiringPi.h
- wiringPi.c
- mcp3002.h
- mcp3002.c
- piHiPri.c
- wiringPiSPI.c
- mypi=raspi(’ipaddress’,’pi’,’raspberry’)
- mypi.enableSPI
Encoder to Tachometer Reading
Interface between a Computer and the Raspberry Pi
2.2. Furuta Inverted Pendulum Kit Development
Simulink
3. Results
3.1. GE 320
3.2. GE 420
4. Discussion
5. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
Abbreviations
ADC | Analog to Digital Converter |
DC | Direct Current DSP: Digital Signal Processor |
FTP | Transfer Protocol |
GE | General Engineering |
GPIO | General Purpose Input/Output I2C: Inter-integrated Circuit |
SPI | Serial Peripheral Interface |
PID | Proportional-Integral-Derivative |
UDP | User Datagram Protocol |
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- Sample Availability: MATLAB, Simulink, and 3D Model files are available from the authors.
Item | Supplier | Cost | |
---|---|---|---|
Raspberry Pi Model B | Adafruit | $ | 39.95 |
12V DC motor | Sparkfun | $ | 12.95 |
3D printed stand | in house | $ | 5.00 |
Bread board | Adafruit | $ | 5.95 |
H bridge (L293D) | Adafruit | $ | 2.50 |
ADC (MCP3002) | Sparkfun | $ | 2.30 |
Power supply (for RPi) | Adafruit | $ | 9.90 |
Power supply (for DC Motor) | Adafruit | $ | 14.95 |
Rotary Position Sensor (3382) | DigiKey | $ | 2.60 |
Photo Interrupter | Sparkfun | $ | 3.45 |
Pi T-cobbler breakout & cable | Sparkfun | $ | 6.95 |
Wires | Adafruit | $ | 1.60 |
Resistors | ECE Store | $ | 0.15 |
LEDs | Sparkfun | $ | 0.59 |
SD Card | Amazon | $ | 17.09 |
Total | $ | 125.93 |
Exp. | Before | After |
---|---|---|
1 | Introduction to GP-6 Analog Computer | Introduction to Simulink and Raspberry Pi Interface |
2 | Motor and sensor characteristics | Motor and sensor characteristics |
3 | Motor identification via physical and electrical characteristics | Functionality not available within the cost of the kit |
4 | Motor identification via step and frequency response | Motor identification via step and frequency response |
5 | Motor control (Proportional, Proportional + Derivative, & Proportional + Speed) | Motor control (Proportional, Proportional + Derivative, & Proportional + Integral) |
6 | System ID and Control of a non-linear system via the web | System ID and Control of a non-linear system via the web |
Exp. | Before | After |
---|---|---|
1 | Equipment Overview | Equipment Overview |
2 | Introduction to DSP programming with TI Code Composer Studio | Introduction to Raspberry Pi Programming with Simulink |
3 | More DSP/BIOS | More programming with Raspberry Pi |
4 | Introduction to the I/O Daughter Card | Introduction to Raspberry Pi GPIO through T-Cobbler interface |
5 | DAC and ADC Signal I/O | DAC and ADC Signal I/O |
6 | DC Motor Discrete Transfer Function Identification | DC Motor Discrete Transfer Function Identification |
7 | PI Motor Speed Control | PI Motor Speed Control |
8 | Positioning Control of a Motor Using PD, PID, and Hybrid Control | Positioning Control of a Motor Using PD, PID, and Hybrid Control |
9 | Notch Filter | Notch Filter |
10 | Discrete Full State Feedback Control of the Furuta Pendulum | Discrete Full State Feedback Control of the Furuta Pendulum |
11 | Control of the Furuta Pendulum using a Full Order Observer | Control of the Furuta Pendulum using a Full Order Observer |
© 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
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Reck, R.M.; Sreenivas, R.S. Developing an Affordable and Portable Control Systems Laboratory Kit with a Raspberry Pi. Electronics 2016, 5, 36. https://doi.org/10.3390/electronics5030036
Reck RM, Sreenivas RS. Developing an Affordable and Portable Control Systems Laboratory Kit with a Raspberry Pi. Electronics. 2016; 5(3):36. https://doi.org/10.3390/electronics5030036
Chicago/Turabian StyleReck, Rebecca M., and R. S. Sreenivas. 2016. "Developing an Affordable and Portable Control Systems Laboratory Kit with a Raspberry Pi" Electronics 5, no. 3: 36. https://doi.org/10.3390/electronics5030036