Cybernetics egg drop project for learning system identification
CHALLENGE: Lower an Egg from 20cm height to the ground without breaking the egg. Fastest time wins.
COMPETITION RULES: Use Sparkfun DC motor ROB-11696 (https://www.sparkfun.com/products/11696) You can break as many eggs as you like while training. You have three attempts in the competition.
SETUP:
The task is to estimate system parameters for a DC motor using an Arduino Uno microcontroller. The project consists of the following steps:
- Set up the circuit with components from provided schematic.
- Write Arduino program code for controlling the DC motor with Pololu TB67H420FTG motor driver, and record shaft angle using rotary AMT 102V encoder.
- Perform experiments for generating input (voltage) and outputs (shaft angle). Save in- and outputs to file that can later be imported to Matlab (we should provide an independent validation dataset).
- Import data in Matlab, and perform system identification.
- Tune PID-controller with identified system, and try it out on the DC-motor.
- Present findings in final presentation, and compete in egg drop challenge!
Model structure:
