Lab 3 - Fixed-point implementation of a DC-servo controller

General information

In this laboratory exercise, you will control a rotating servo by using a real microcontroller. You will also get some experience of how to perform fixed-point arithmetic in C. Please note the preparatory exercises.

Material

• student_manual.pdf Download student_manual.pdf(updated 2024)
• Java program to plot angular position, angular velocity and the control signal: Opcom.zip Download Opcom.zip
• Code skeleton for all four implementations: DCservo.c Download DCservo.c (updated 2024)

Preparations

• Review Lecture 12 (on computer arithmetic)
• Review Problem Solving Exercise P4 (on design of state feedback and observers in MATLAB)
• Review Problem Solving Exercise P5 (on fixed-point arithmetic)
• Study the manual and code skeleton carefully, make sure you understand the structure of the program
• Solve the Preparatory Assignments 1, 3, 5, 6 and 8

Signup

https://sam.control.lth.se/LabsSelectSession?occasionId=512 Links to an external site.

Contact

For all questions regarding lab instructions, submission or bugs, refer to either:

• Canvas Discussions (discuss high level concepts rather than ask for solutions to the lab questions)
• Max (max.nyberg_carlsson@control.lth.se)