Lecture #3: Hardware and software interface to the ducted fan

Date: Monday, 8 Apr 96

Outline:

A. Interface hardware
    1. Sensing: optical encoders plus velocity filtering
    2. Actuation: current amplifier -> motor, timers -> R/C servos
    3. MTK board provides PC interface

B. Interface software
    1. Quick overview of sparrow
    2. Description of the control architecture (see handout)
       (a) Thrust table + feedforward forces
       (b) Controller inputs and outputs
       (c) Trajectory files
    3. Overview of the user interface (more in lab meeting)

C. Implementing controllers on the ducted fan
    1. Example: PD control of the pitch axis
    2. Digital version I: use dirty derivative
    3. Digital version II: use filtered velocity
    (more on digital system next time)

Lab meeting: go over user interface
Handouts: Software interface to the ducted fan
          Scheduling form for labs