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16.30 Spring 2006- Labs
Problem/Computer Lab 1 is done! Your individual lab time was posted
here.
The lab sheet is color coded into one hour blocks. You are required to attend the labs for at least 1 hour,
so please come at the beginning of the 1-hour block, even if your time slot is 1/2 hour later. If you
are in a 3 or 5 person group, just come 1/2 hour before your assigned time slot. Labs are in Dr. Paduano's office, 31-213.
Quanser Lab 1 starts Friday! Your lab time is posted here.
(MIT Certificates Required for Viewing, as per Student Information Policy, Sec. 7.2.) If you did not receive the e-mail,
or cannot access the list here, please e-mail Jenny or me for your time.
The labratory hand-out is posted here.
Come to Lab with your answers to the Pre-Lab problems; lab write-ups are due March 24th.
Lab 1 Errata: An updated handout is posted.
- Pg 2, Eq. 10: The gain is 780 not 130. The motor dynamics have a "fudge factor" and I missed a factor of 6 in the original handout.
- Pg 2, Table 1: To clarify, the l_phi value is 0.004
- Pg 5, Pre-Lab Assignment, #1: The transfer function is angle/voltage. This is said in words, but misrepresented in symbols.
- Pg 5, Pre-Lab Assignment, #2, Bullet #4: The controller output is voltage.
Quanser Lab 2
More corrections to Lab 1 Handout, and a new version is now posted.
Handout Errata
- Eq. 1 \I_{r}\omega{rotor}\phi should be \I_{r}\omega{rotor}\dot\phi
- Eq. 3 \tau_{coll}\sin(\phi) should be \tau_{coll}l_{boom}\sin(\phi)
- Eq. 9 should not have a M_{q}\delta\dot\theta term
- The derivation of missing parameters and trim conditions are now included.
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