Undergraduate Integrated Systems Laboratory

许多现有的高级集成系统实验室通常专注于单输入/单输出过程的控制，这些过程不再代表制造、机器人和航空航天应用中的现代多变量过程。通过使用浮点处理器进行实际控制/机器人实验，学生工程师可以获得应对多输入/多输出系统的训练，如双连杆机器人机械手或倒立摆。为了简化浮点处理器的使用，克莱姆森大学先进制造中心（CAM）的机器人和机器自动化实验室（RAMAL）开发组开发了一个WINDOWS MATLAB软件接口，允许用户高速编程控制算法。浮点处理器（即TYS320C30）在一个简单的方式。在这个项目中，我们建立了一个本科综合系统实验室（USIL），在这个实验室中，高年级学生将进行一系列的实验室实验，包括机械设计、功率放大设计、控制设计和计算机接口设计。在最初的一组实验之后，学生需要将这些不同的子系统设计整合到实验中，例如倒立摆和双连杆机器人机械手。本课题通过使用6台C30工作站和必要的配套硬件，揭示了WINDOWS MATLAB软件在本科课程中的转移。

Many existing senior integrated systems labs typically focus on control of single-input/single-output processes that are no longer representative of modern multivariable processes in manufacturing, robotics, and aerospace applications. By performing practical control/robotic experiments which utilize floating point processors, the student engineer can obtain the training for coping with multi-input/multi-output systems such as a two-link robot manipulator or an inverted pendulum. To simplify the use of floating point processors, the Robotics and Machine Automation Laboratory (RAMAL) Development group at the Clemson University Center for Advanced Manufacturing (CAM) has developed a WINDOWS MATLAB software interface which allows the user to program control algorithms for a high speed, floating point processor (i.e. the TYS320C30) in a straightforward manner.In this project, an Undergraduate Integrated Systems Laboratory (USIL) is developed in which seniors perform a sequence of laboratory experiments involving mechanical design, power amplification design, control design, and computer interface design. After the initial set of experiments, the students are required to integrate these various subsystem designs for experiments such as the inverted pendulum and a two-link robot manipulator. This project promulgates the transfer of the WINDOWS MATLAB software into the undergraduate curriculum through the use of six C30 workstations and the necessary supporting hardware.