弥合控制理论与实践之间的差距Control-Lab-in-a-Box (CLB)

# Control-Lab-in-a-Box (CLB) Dr James E. pickering, Aston University, Birmingham, United Kingdom <br />E-mail: j.pickering1@aston.ac.uk ## CLB has been designed to: * Bridge the gap between control theory and practice * Ensure that the skills and knowledge acquired from CLB are transferable, such as to a robotic platform * Facilitate an incremental and practical approach to learning * Be easily stored in a lab or office and portable enough to fit within a typical bag * Affordable (approximately £100), thus reducing concerns if parts are broken or lost ## Acknowledgments Dr James E. Pickering wishes to acknowledge the following colleagues at Aston University for their help in developing Control-Lab-in-a-Box (CLB): Prof Keith J. Burnham, Aaisha Yasir (Design Intern), Stuart Hallard (Technician), David Palmer (Technician) and Amarjit Dhugga (Technician). ## Setting-Up The computer-aided design (CAD) illustration below displays the setup of the Control-Lab-in-a-Box (CLB) with key components labeled. Please note that not all components are detailed in this diagram, e.g., nuts, bolts, and wires. <br />For the CLB, rapid prototyping methods of 3D printing and laser cutting are employed, with the the 3D printing CAD files available [here](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CAD_files_for_3D_printing.zip) and the laser cutting CAD files available [here](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CAD_files_to_be_laser_cut.zip). For the CAD files, Solidworks 2023 files are provided, along with the correspondng STL files. <br />A document detailing the parts/components necessary for the full utilisation of CLB is provided [here](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_component_details.pdf). Additionally, a document detailing the assembly instructions and modifications for parts/components is included [here](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/Assembly_modifications_Instructions.pdf)  ## Teaching Curriculum The table below presents a schedule for integrating the Control-Lab-in-a-Box (CLB) exercises into the teaching of control engineering theory and simulation. Although the notes for theory and simulation are not provided on this page, they are available upon request via email. Additionally, the MathWorks Onramp self-paced online courses for MATLAB and Simulink, used in the teaching curriculum, can be accessed through the provided [link](https://matlabacademy.mathworks.com/). The DC motor virtual lab is also available at the specified [link](https://uk.mathworks.com/matlabcentral/fileexchange/100064-virtual-hardware-and-labs-for-controls).  ## CLB Exercises Control-Lab-in-a-Box (CLB) is used for nine exercises (available to download via the links beneaf the illustration below), with these detailed via the illustration below. For the nine CLB exercises, Simulink Arduino Support Package is used, details can be found [here](https://uk.mathworks.com/hardware-support/arduino.html?#simulink). Details on how to install the Add-on (i.e., Simulink Arduino Support Package) can be found within CLB-1 (i.e., Simulink for Code Generation and Deployment: LED Exercise).  <br /> The nine CLB exercises can be viewed below: <br />[CLB-1.1: Simulink for Code Generation and Deployment: LED Exercises](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_1.1_Simulink%20for%20Code%20Generation%20and%20Deployment%20LED%20Exercise.pdf) <br />[CLB-2.1: DC motor on/off, PWM and polarity control](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_2.1_Polarity_speed_control_DC_motor.pdf) <br />[CLB-3.1: Temperature sensor TMP36 and low pass filter](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_3.1_Temp_sensor_filtered.pdf) <br />[CLB-3.2: Ultrasonic sensor](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_3.2_Ultrasonic_sensor.pdf) <br />[CLB-3.3: DC motor with an encoder (Hall Effect Sensor)](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_3.3%20dc_motor_encoder.pdf) <br />CLB-4.1: TO be added SOON - DC motor proportional (P) speed control <br />[CLB-4.2: Least squares for parameter estimation of a DC motor](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_4.2%20system_indentification_for_parameter_estimation_dc_motor.pdf) <br />[CLB-4.3: DC motor proportional and integral (PI) speed control](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_4.3%20PI_control_of_a_DC_motor.pdf) <br />[CLB-4.4: DC motor PI speed control with on/off safety aspects](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/CLB_4.4%20Temp_disp_control_of_a_DC_motor.pdf) For the above exercises, this [document](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/compartment_part_details.pdf) will help when constructing the CLB rigs and perhaps also the CLB Components Details [document](https://github.com/DrJEPickering/Control-Lab-in-a-Box/blob/main/Assembly_modifications_Instructions.pdf). ## Trial CLB for Educators and Industry If you are interested in trying out CLB, we can post it to you. We kindly request that you return the box within a reasonable time period (e.g., 3 months) and provide user feedback. Please contact Dr. James E. Pickering via email at j.pickering1@aston.ac.uk. ## Publications [Pickering, J.E., 2024, April. Developments in Control Engineering Education: Lab-in-a-Box Project Based Learning. In 2024 UKACC 14th International Conference on Control (CONTROL) (pp. 195-200). IEEE.](https://ieeexplore.ieee.org/document/10531946) ## Other MATLAB and Simulink Projects of Interest [Arduino-based-bi-copter-experiments](https://github.com/eenikov/Arduino-based-bi-copter-experiments/tree/main)\ [Robotics 311: How to Build Robots and Make Them Move](https://github.com/michiganrobotics/rob311)