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Lab1: MATLAB Tutorial: Equipment List,General Concepts, Scalar versus Array Math Operations, Plotting, Functions, Simulink. Lab 2: Introductionto Diagnostic Instrumentation\
Lab3: Hardware/Software Introduction Lab4: Hardware/Software Introduction

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Goal

This lab provides the basic information so that all the students will have at least a minimal MATLAB background.

Equipment List

Introduction

MATLAB will be used throughout this course in both lecture and laboratory work. The information and exercised in

this lab are intended to get everyone the basic MATLAB exposure. If you have not used MATLAB much, or feel that

your skills are low, then you should rework these exercises outside of lab, and perhaps, expand on them.

General Concepts

MATLAB, as installed on most computers, consists of the core MATLAB code, and several “MATLAB Toolboxes”

that together allow the user to perform a variety of analyses. The Controls Toolbox is only one of dozens toolboxes

available, so, don’t think of MATLAB as simply a control systems analysis code, it can do much more.

When you start MATLAB you are presented with a window from which you can enter commands interactively. Alter-

natively, you can put your commands in a ﬁle and execute it at the MATLAB prompt. In practice, you will probably

do a little of both. One good approach is to incrementally create your ﬁle of commands by ﬁrst executing them

directly in the MATLAB window.

These “ﬁles of commands” must be given the ﬁle extension .m, and are referred to as m-ﬁles. However, m-ﬁles are

not limited to being a series of commands that you don’t want to type at the MATLAB window, they can also be used

to create user-deﬁned functions. It turns out that a MATLAB toolbox is usually nothing more than a grouping of m-

ﬁles that someone created to perform a speciﬁc type of analysis, like control system design. Any of the MATLAB

commands (e.g. sqrt) is really an m-ﬁle. For the hackers in the crowd, you can always ﬁnd the m-ﬁles buried in the

MATLAB directory, look at them, or use them as the basis for your own m-ﬁles.

MATLAB Workspace - Lab 1

edit

at the MATLAB prompt. It’s ok, but if you prefer the DOS “edit” editor, or “vi”, those work equally well.

One of the more generally useful MATLAB toolboxes is Simulink -- a drag-and-drop dynamic system simulation

environment. This will be used extensively in lab forming the heart of the Computer Aided Control System Design

(CACSD) methodology that is used.

Finally, the most important MATLAB features is its help. At the MATLAB prompt simply typing

helpdesk

gives you access to searchable help as well as all the MATLAB manuals in .pdf format. Always try help ﬁrst before

asking a lab or course instructor for help on MATLAB commands. Whenever you ask for help on MATLAB, the ﬁrst

question you will be asked is: “What did you ﬁnd out from helpdesk?” The consequences of replying “I didn’t try

that.” are too horriﬁc to imagine. If you know the command name, but just forgot its usage, simply type

help xxxx

where xxxx is the command name and you will get a pretty good description in the MATLAB window.

MATLAB Workspace

The workspace is the window where you execute MATLAB commands, and all the data that you have put in it. The

best way to probe the workspace is to type

whos

This command shows you all the variables that are currently in the workspace. You can save the workspace by typing

save

which creates the ﬁle matlab.mat in your current directory. You can ﬁnd out what your current directory is by typing

pwd

You should always change you working directory to an appropriate location under your user name. Changing direc-

tory is accomplished by typing

cd xxxx

where xxxx is the path name of your destination (you can move backwards in the directory tree by typing “cd ..”.

If you ended your MATLAB session by typing

quit

then restarted MATLAB and typed

load

your workspace would be completely restored from the matlab.mat ﬁle. Another useful workspace-like command is

clear all

it eliminates all the variables in your workspace. For example start MATLAB, and execute the following sequence of

commands

a=2;

b=5;

whos

clear all

whos

The ﬁrst two commands added the two variables, a and b to the workspace and assigned values of 2 and 5 respec-

tively. The clear all command effect was obvious.

The arrow keys are real handy in MATLAB when typing in long expressions at the command line. The up arrow

scrolls through previous commands, and the down arrow advances the other direction. Instead of retyping a previ-

ously entered command, just hit the up arrow until you ﬁnd it. If you need to change it slightly the other arrows let

you position the cursor anywhere in the command.

MATLAB Data Types - Lab 1

Finally, any DOS command can be entered in MATLAB as long as it is preceded by an exclamation mark (!).

The most distinguishing aspect of MATLAB is that it allows the user to manipulate vectors, and matrices with the

same ease as manipulating scalars. Before diving into the actual commands, we must spend a few moments reviewing

the main MATLAB data types. The three most common data types you may see are arrays, strings, and structures. In

this course, we will only use arrays. As far as MATLAB is concerned a scalar is 1 by 1 array. For example clear your

workspace and execute the commands

a=4.2;

A=[1 4;6 3];

whos

Two things should be evident. First, MATLAB distinguishes the case of a variable name, and that both a and A are

considered arrays. Now let’s look at the contents of a and A, type

a

A

Again two things are important from this example. First, you can examine the contents of any variable simply by typ-

ing its name at the MATLAB prompt. Second, when typing in a matrix, spaces between elements separate columns,

whereas semicolons separate rows. For practice, create the matrix

3 0 –1

B = 44 2 1.1

7 2 11

You’ve probably noticed that when you display a variable’s contents in the workspace it has only 5 signiﬁcant digits.

The precision of the actual variable is much higher (about 16 signiﬁcant digits). To change the way you see the con-

tents, use the format command. For example, setting

format long e

changes the workspace viewing format to double precision, with scientiﬁc notation. There’s all kinds of other fun for-

mat options you can explore by looking at

help format

It is also possible to construct arrays automatically. For example, let’s say you want to create a time vector, where the

time points start at 0 seconds and go up to 5 seconds, by increments of 0.001. The MATLAB command is simply

my_time = 0:0.001:5;

Other examples of automatic construction include arrays of all ones

my_one = ones(3,2)

or all zeros

my_zero = zeros(4,5)

or any size identity matrix

my_I = eye(5)

Note: Any MATLAB command can be terminated by a semicolon, which suppresses any echo information to the

scree.

Since MATLAB treats everything as an array, you can add matrices as easily as scalars. For example

clear all

a=4;

Conditional Statements - Lab 1

A=7;

alpha=a+A

b=[1 2;3 4];

B=[6 5;3 1];

beta=b+B

Of course, you cannot violate the rules of matrix algebra. For example try

clear all

b=[1 2;3 4];

B=[6 7];

beta=b*B

In contrast to matrix algebra rules, the need may arise to divide, multiply, or raise to a power one vector by another,

element-by element. The typical scalar commands are used for this (/,*,^) except, you put a . in front of the scalar

command. That is, if you need to multiply the elements of [1 2 3 4] by [6 7 8 9], just type

[1 2 3 4].*[6 7 8 9]

Getting help on the low-level math operations (e.g. +, .*, etc.) is obtained by typing

help xxxx

where xxxx is any of the low-level math symbols. Try it.

Conditional Statements

MATLAB, like most programming languages, supports a variety of conditional statements (e.g. if-then-elseif) and

looping statements (e.g. for, while, etc.). To explore these, simply type

help if

or

help for

Plotting

MATLAB’s potential in visualizing data is pretty amazing. One of the nice features is that with the simplest of com-

mands you can have quite a bit of capability. For more sophisticated applications, it get’s a bit tricky. Your graphs can

also be saved with several different ﬁle formats (e.g. jpeg, postscript, etc.) for embedding in other documents.

Let’s start by

clear all

t=0:.1:10;

y=sin(2*pi*.5*t);

Note: MATLAB has some built-in constants that are handy, e.g. pi.

To see a plot of y versus t simply type

plot(t,y)

To add labels, legend, grid and title, use

xlabel(‘Time (sec)’);

ylabel(‘Output (volts)’);

title(‘D/A Output’);

legend(‘signal 1’);

To save this plot as a postscript ﬁle for use in a report type

print -depsc -tiff -r600 plot1.eps

The commands above provide the most basic plotting capability and represent several shortcuts to the low-level

approach to generating MATLAB plots. Speciﬁcally, the use of handle graphics. The helpdesk provides access to a

.pdf manual on handle graphics for those really interested in it. We will cover a few aspects of it here as it will be use-

ful later in the course.

Plotting - Lab 1

Handle Graphics

A MATLAB plot is really a hierarchy of objects, “ﬁgure” -> “axes” -> “line” and “text”, where “ﬁgure” is the highest

level object (there are really more object types, but we’ll only consider these). Each object is automatically assigned a

numerical “handle” that is used to reference it. MATLAB uses a “parent” and “child” syntax to keep track of the heri-

archy. That is, “axes” is the child of “ﬁgure” and also the parent of “line” and the parent of “text”. Each handle has

many properties that can be manipulated using the “set” command. Memorizing all the handle’s properties is unreal-

istic. However, they are easily found in the helpdesk (Handle Graphics section), or in the MATLAB window by typ-

ing

set(handle_name)

where handle_name is any of the valid handle names (e.g. ﬁgure, axes, line, text, etc.).

Having access to a plot’s handles is the best way to manipulate the ﬁner details of the plot. There are many methods

for getting a plot’s handles, the most direct approach being to explicitly assign your variables to the handles as you

create the plot.

Repeating the previous example, we could have started by ﬁrst creating a blank ﬁgure window, and creating a variable

to store its handle

clear all

t=0:.1:10;

y=sin(2*pi*.5*t);

h1 = figure;

Next, we’ll make the plot, and use the variable h3 to hold the handle of the “line”

h3 = plot(t,y);

We can extract the value of the “axes” handle by extracting the parent from h3

h2 = get(h3,’Parent’);

Note: the “get” command is the opposite of the “set” command, in that it allows you to query the setting of any of a

handle’s property.

As an example of manipulating “line” properties, we’ll add diamonds at each of the points (called “markers”. These

diamonds will have red edges (“MarkerEdgeColor”) and green insides (“MarkerFaceColor”). For good measure,

we’ll change the width of the line (default is 0.5) to 0.8 points.

set(h3,’Marker’,’d’);

set(h3,’MarkerEdgeColor’,’r’);

set(h3,’MarkerFaceColor’,’g’);

set(h3,’LineWidth’,0.8);

As an example of manipulating the “axes” properties, we’ll change the axis labels fonts (FontName) from the default

of Helvetica to Times, and change their size (FontSize) from 10 points to 8 points. In addition, we’ll change the x-axis

limits (XLim) to -2 to 4, with spacing of 0.5 seconds.

set(h2,’FontName’,’Times’);

set(h2,’FontSize’,8);

set(h2,’XLim’,[-2 4]);

set(h2,’XTick’,[-2,-1.5,-1,-.5,0,.5,1,1.5,2,2.5,3,3.5,4]);

We can also add labels, each a “text” object with its own handle.

h4=xlabel(‘Time (sec)’);

and make it big and bold

set(h4,’FontSize’,15);

set(h4,’FontWeight’,’bold’);

Next, we’ll see one of the more powerful plotting capabilities in MATLAB. Speciﬁcally, placing several plots in a

single ﬁgure window using the “subplot” command. First we’ll make some data sets

clear all

t = 0:0.1:10;

y1=sin(2*pi*.5*t);

y2=cos(2*pi*0.5*t);

Now we’ll create a single ﬁgure with three plots in it -- sin, cos, and both.

Functions - Lab 1

h1=figure;

h2=subplot(3,1,1);plot(t,y1);

h3=subplot(3,1,2);plot(t,y2);

h4=subplot(3,1,3);plot(t,y1,t,y2);

The syntax of “subplot” is rather strange. The ﬁrst two arguments (3,1 in this example) specify the number of rows

and columns of plots within the ﬁgure window. So, 3,1 breaks the ﬁgure window into 3 rows, and 1 column. You can

also have more plots in a ﬁgure (e.g. subplot(3,3) creates 9 plots, etc.). The third argument indicates which of the

plots you want to be “active.” That is, which one do you want to work with. Knowing the hierarchy structure you can

easily get the axes of these handles for ﬁner manipulation of the plot’s look.

There’s a variety of additional plot commands available. Some that we will use later in the course are “errorbar” and

“semilogx.” You may want to do a help on these and experiment with them.

Functions

As mentioned earlier, a .m ﬁle can be used to store a sequence of commands, or a user-deﬁned function. A function is

a generalized input/output device. That is, you give it some input (i.e. an argument) and provides some output. In

MATLAB the inputs and outputs can be very general (scalars, matrices, etc.). MATLAB functions allow you much

capability to expand MATLAB’s usefulness. We will just touch on functions here, as you may ﬁnd them beneﬁcial

later in the course.

We’ll start by looking at the help ﬁle on functions

help function

The example shown is a little more complicated than it should be as introduction. That is, it has the “subfunction”

concept in it too. Let’s not consider the subfunction yet, and just focus on plain old functions. As an example, we’ll

create our own function that given an input matrix returns a vector containing the sums of each of the matrices rows.

So, given

in = 3 2 9 1.2

–1 0 4

out = 14 1.3

3

We’ll name the function “myfun.” It should be noted that “myfun” must be stored in a ﬁle named “myfun.m.” Using

an editor of you choosing, type the following commands and save them as “myfun.m.” At the MATLAB prompt test

it out using the example above, or any others you’d like. In addition, try the MATLAB help on “myfun” by typing

help myfun

Here’s the function.

function zout = myfun(zin)

% This function computes the sum of the elements of the rows of the input

matrix. The usage

% is

%

% y = myfun(x)

[nrow,ncol]=size(zin)

% allocate a vector of the proper size to store the result

zout = zeros(nrow,1);

% loop through the nrow rows and sum all the elements, storing them in the

output vector

for i = 1:nrow

zout(i) = sum(zin(i,:));

end

Simulink - Lab 1

Note: It’s wise to comment your functions using the “%” symbol.

Finally, clear you workspace, then try some example using “myfun.” Afterwards, take a look at the variables in the

workspace. Notice that the variables internal to the function (e.g. “i”, “zout”, etc.) are not in the workspace. They

were created and later destroyed all during the execution of the function.

Simulink

There is no way that we can do Simulink justice in the time we have in this lab. The basics will be presented, and you

will be expected to explore on your own.

Typing

simulink

at the MATLAB prompt starts Simulink and brings up the “Simulink Library Browser.” Each of the items listed are

the top level of a hierarchy of palettes of elements that you can add to a Simulink model of your own creation. At this

time, expand the “Simulink” palette, as this contains the majority of the elements you’ll use in this course. The “mod-

els” you create are really simulations, usually of dynamic systems. Simulink has built into it a variety of integration

algorithms for integrating the dynamic equations.

You can place the dynamic equations of your system into Simulink in four ways -- (1) using integrators (bad idea), (2)

using transfer functions (you’ll see this later), (3) using state-space equations (you’ll see this real soon), (4) using S-

Functions (the most versatile approach, but beyond this course). Once you have the dynamics in place you can apply

inputs from the “Sources” palette, and look at the results in the “Sinks” palette.

A brief introduction to digital simulation follows along with a simple of example of entering a dynamic system into a

Simulink model.

Introduction to Digital Simulation

When designing a controller for a dynamic system it is often useful to have a digital (computer) simulation of the sys-

tem. This allows the designer to (1) obtain a better understanding of the plant by running many different input and

conﬁguration scenarios, (2) develop a comprehensive set of experiments for testing the controller in hardware, (3)

“test” the control system (including sensors and actuators) prior to implementing it in hardware. In most situations

this is much more cost effective than examining the performance using only hardware.

One of the ﬁrst steps in controller design is to develop a mathematical model of your system, usually given by differ-

ential equations. A simple example is shown in EQ 1.4.

ẋ ( t ) + 2x ( t ) = u ( t ) x(0) = 5 1.4

If the input can be described by a mathematical function

u ( t ) = 3 sin ( t ) 1.5

then we can get a closed form solution to this system by solving the differential equation. However, if u ( t ) is not a

mathematical function (perhaps it is an operator’s input), or the plant model is nonlinear, then a digital simulation is a

convenient solution method.

To simulate this system means that we will use a digital computer, and numerical integration algorithms, to generate

the output ( x ( t ) ) for some prescribed input ( u ( t ) ) at speciﬁed points in time.

As an example let’s consider the plant of EQ 1.4, where the input is zero for all time. The closed form solution is

x ( t ) = 5e –2t 1.6

So, we can insert any value for time ( t ) and compute the corresponding output x ( t ) . This system can also be simu-

lated, however, the output will now only be an approximation to the closed form solution. The accuracy of the output

depends on several factors some of which are beyond the scope of this course. However, one of the most important

factors effecting accuracy is the sample period between computing successive outputs. We will denote this as h .

The ﬁrst step in constructing a simulation is to convert the differential equation to a difference equation using a care-

fully chosen integration method. Using Euler integration, our differential equation becomes

Simulink - Lab 1

x n + 1 = ( 1 – 2h )x n + x 0 h 1.7

When using SIMULINK to simulate a dynamic system, this step is done for you automatically, and behind the scenes.

The subscript notation of EQ 1.7 indicates the sample number of the output. That is, x o is the initial value of x ( t ) , x 1

is really an approximation of x ( h ) , x 2 is an approximation of x ( 2h ) , and so on. So, it should be clear from EQ 1.7

that if we know x 0 , and we choose a sample period h , then we can compute an approximation for x for all time,

speciﬁcally

x ( h ) ≈ x 1 = ( 1 – 2h )x 0 + hx 0

x ( 2h ) ≈ x 2 = ( 1 – 2h )x 1 + hx 0

1.8

The accuracy of the approximation is proportional to the sample period. So, you want to select a small enough h to

get acceptable accuracy, but not too small that it makes the simulation run excessively slow. Figure 1 shows a plot of

this system simulated using SIMULINK for h = 0.1, 0.2, 0.4 seconds compared to the closed form solution. Data

points are shown individually to illustrate that the output is only available at the sample period increments.

In the space below, compute the exact solution, and the approximate solution for t = 0.4 with h = 0.1 , h = 0.2 ,

h = 0.3 , and h = 0.4 . Compare your results to the table below.

Exact

h = 0.1

4

h = 0.2

h = 0.4

3

x

0

0 1 2 3 4

Time (sec)

Figure 1.1. Response of “x” as a function of integration sample period.

Table 1.1 shows the actual data used for the plots. You can obtain exactly the same data by computing the ﬁrst few

points by hand, or by using SIMULINK.

.1 4.0936538e+000 4.0000000e+000

.3 2.7440582e+000 2.5600000e+000

.5 1.8393972e+000 1.6384000e+000

Simulink - Lab 1

.7 1.2329848e+000 1.0485760e+000

.9 8.2649444e-001 6.7108864e-001

Simulink - Lab 1

It turns out that the controllers you design will often be, in themselves, dynamic systems. That is they will be

described by differential equations, representable in state-space form. When you implement the controller in hard-

ware, you are really generating a simulation of the system that runs in real-time. How well your controller works in

practice will be governed by well you “simulate” it in hardware.

Using SIMULINK for Dynamic System Simulation

In this section we will use the plant of EQ 1.4 as an example of how to use SIMULINK to simulate a dynamic system.

Duplicate this example using SIMULINK as you follow along.

MATLAB’s SIMULINK toolbox allows you to easily simulate both linear and nonlinear dynamic systems. A block

diagram of our example system is shown below

The blocks (Constant, State-Space, To Workspace) can be found in the SIMULINK palette.

The time domain equations should be converted to state space form

ẋ = Ax + Bu

y = C x + Du

1.1

The coefﬁcients of the A, B, C and D matrices and the state’s initial conditions can then be entered into the “Block

Parameters: State Space” block in SIMULINK as shown in Figure 1.3 (they can also be set as variables in the work-

space and the variable names used in the State-Space block).

Simulink - Lab 1

To set the sample period and the integration method used, use the Parameters pull-down menu and set it up as shown

in Figure 1.4. Be sure to note the “Fixed step size” which we have been calling the sample period and the “Solver

Options.”

Running this simulation will produce equally spaced (0.1 seconds) approximations to the output x .

Your lab assignments will often require you to ﬁrst simulate a dynamic system, design a controller, test the controller

in simulation, then implement the controller in hardware. Fortunately, the SIMULINK simulation used during the

analysis phase is also used to implement the controller. Speciﬁcally, the plant is replaced by I/O interface blocks.

At this point you should be very curious about how to select the sample time period h . This will be discussed a little

later after we investigate transfer functions.

The output of the simulation is placed in the MATLAB workspace since the “To Workspace” block was placed at the

end of the simulation output. You can now manipulate the output of the simulation (e.g. plot it, save it, etc.) just like

Simulink - Lab 1

an other data set in the workspace. Double clicking on the “To Workspace” box lets you set the name of the variable

of the workspace data. Set the name to “mydata” (also make sure that you specify that the output is a “matrix” and not

a “structure”) and run the simulation. Plot the data and compare to the plot above. Also look at the ﬁrst 10 data points

and compare them to the table.

LAB 2 Introduction to Diagnostic

Instrumentation

Goals

The two primary goals of this lab are

1. Practice using the oscilloscope, multimeter, and function generator

2. Investigate how signals are passed through the real-time control hardware/software system using Digital-to-Ana-

log converters and Analog-to-Digital converters.

Equipment List

Guide

8 1 T connector (BNC)

9 3 4 ft BNC cables

11 1 ﬂoppy disk

12 1 lab2.wcp

Introduction - Lab 2

Introduction

The control software and hardware used in the remaining labs allow you to read a variety of sensors and display them

graphically on the computer. During normal control design experiments, this will be sufﬁcient for you to complete

your designs. However, there will be times when you will want to use external measurement devices to debug prob-

lems. Three instruments (oscilloscope, multimeter, and function generator) are supplied for that purpose.

During a typical debugging exercise you may attach the oscilloscope to a signal source knowing what you expect to

see. When you see something different it could mean one of two things: (1) something is wired incorrectly in the sys-

tem, (2) the measurement equipment is causing an unexpected change in the signal.

In this lab you will be introduced to the debugging instruments you have access to. In addition, you will explore the

effects of the D/A and A/D that are built into the MultiQ I/O board, through which all your control signals pass.

Analog-to-Digital Converters

Before the advent of inexpensive microprocessors, control systems were implemented using analog circuits consist-

ing of op-amps, capacitors and inductors. Today, microprocessor based control implementation is the norm. A typical

system will have one or more sensors generating analog signals that must be represented as numbers inside the micro-

processor. The microprocessor combines these quantities in a prescribed way to generate one or more output signals

to send to the system’s actuators.

For example, let’s say you have a speed control system which tries to maintain the speed of a motor at the user speci-

ﬁed value. The sensor may be a tachometer connected to the motor’s output shaft generating a voltage proportional to

the shaft rate (1 volt per 1000 rpm is typical). Setting a variable inside the microprocessor to the tachometer voltage

value requires the voltage to be converted to a digital representation of a number -- that is, the signal must be dis-

cretized. Now that the approximate value of shaft speed is safely in the microprocessor, the controller can be imple-

mented to produce the desired motor voltage value. One approach would be to simply multiply the error between the

desired and actual motor speed by a constant. The result would be the new motor voltage command. Of course, it is

still just a number inside the microprocessor. This “number” must be converted to an actual voltage, again, by means

of discretization process. In summary, discretization results in both getting analog voltages into the computer, and in

converting the microprocessor generated number back into an analog voltage.

A specialized integrated circuit (or “chip”) called an Analog-to-Digital (A/D) converter is used to convert analog

input signals into binary numbers. One of the key speciﬁcations of an A/D is its resolution in bits (8,12 and 16 bit A/

D’s are quite common). The discretization level is the A/D’s input range divided by 2^resolution. The input range is

usually one of the following (1) 0 to 5 volts, (2) -5 to 5 volts, (3) -10 to 10 volts. For example, a 12 bit A/D with an

input range of -10 to 10 volts has a discretization level of 20/4096. If the true input voltage was 1.5 volts, the com-

puter would get 1.49902343. An eight bit A/D with the same 1.5 volt input would register 1.4843750. These errors

are important considerations in sizing components for the control system, since higher resolution components are

more expensive.

Digital-to-Analog Conversion

As mentioned in the previous section, discretization also occurs when the microprocessor generate “command” is

converted into an analog output suitable for use by the system’s actuators (e.g. DC motors). Again, a specialized inte-

grated circuit called a Digital-to-Analog (D/A) converter is used. The key speciﬁcations of a D/A are also its resolu-

tion in bits (8, 12, and 16 are common) and its output range. The discretization level is the D/A’s output range divided

by 2^resolution. For example if the computer generates a motor command of 2.4 volts and sends this value to a 16 bit

D/A with output range of -5 to 5 volts, the actual voltage sent to the motor would be 2.39990234

Control System Update Rate

Another large factor in a microprocessor based control system is the rate at which its outputs are updated. During one

controller cycle three things must happen before the next cycle can begin (1) sensors are read (A/D inputs), (2) the

microprocessor computes the actuator commands, (3) the actuator commands are output (D/A outputs). Between

cycles, the command outputs are held constant. So, if the controller is updated every 0.5 seconds, the output of the

controller would look like a staircase, changing every 0.5 seconds. As you might expect, the faster the dynamics are

of the system you are trying to control, the faster you must update the controller. Again, these are important consider-

ations in specifying a control system since high speed systems can become very expensive.

Introduction - Lab 2

The MultiQ connector panel (Figure 2.1) is the interface between the MultiQ board inside the computer, and all of the

I/O needed for implementing a control system. The connector I/O has the following I/O capability.

• 8 Output Channels (D/A, outputs)

• 8 Input Channels (A/D, inputs)

• 8 Encoder Channels (inputs) Note: encoders will be the focus of Lab #2.

Pre-Lab - Lab 2

Pre-Lab

1. (15 pts) A 12 bit A/D with input range of -10 to 10 volts has an input applied to it of -6.3 volts. What is the value

of the discretized signal (use 10 signiﬁcant digits)? _________________________________________

2. (15 pts) The same A/D as in (1) has an input applied to it of 13.1 volts. what is the value of the discretized signal

(use 2 signiﬁcant digits)? _____________________________________________________________

3. (20 pts) A microprocessor based control system outputs a sine wave (amplitude of 2.0 volts and frequency of 10

Hz) with an update rate of 0.01 seconds (100 Hz). In the space below sketch both the idealized sine output, and

the output of the controller over two cycles labeling the axes._________________________________

In-Lab Tasks

1. Measure the voltage of the UPM between +Vs and GND, and then between -Vs and GND using banana jack

cables, using 4, 5 and 6 digits and enter the results in the table below.

5

6

2. In this exercise you will explore both the oscilloscope and function generator, in addition to A/D and D/A con-

version and update rate. Speciﬁcally, you will use the function generator to create a 10 Hz sine wave as input to

an A/D. After passing through the computer the signal is output to a D/A, and read by the oscilloscope. Both the

true input (from the function generator) and the discretized, sampled output (from the D/A) will be displayed on

the scope in real-time. The scope will then be used to save the data for plotting and further analysis in MATLAB.

a. Set the function generator to the high impedance mode (see page 40 of the 33120A User’s Guide)

b. Conﬁgure the function generator so that it is generating a sine wave of 10 Hz with 2 volts peak-to-peak.

c. Attach a T connector to the 33120A function generator output BNC plug with a 3 foot BNC cable going to

Channel 0 of the Analog Inputs section of the MultiQ connector panel (you will also need a BNC to phono

adapter).

d. From the Windows 98 main screen, start the W95Server application located under Programs - WinCon3.

e. From the WinCon Server application that just appeared, open the ﬁle called Lab2.wcp. The plot window that

appeared will display the signal as read by the A/D, resident in the computer (prior to being sent to the D/A

output). Start the application by clicking on the green START button and verify the signal displayed on the PC

is correct.

In-Lab Tasks - Lab 2

• Save/Recall

• Default Set-Up (softkey)

• Autoscale

g. Attach a 3ft BNC cable (with BNC to phono adapter) from Channel 0 of the Analog Outputs section of the

MultiQ connector panel to channel 1 of the oscilloscope and press Autoscale again.

h. Set the horizontal to 10 mSec/div and the vertical to 500 mV/div. Set the center adjust to 0 mV.

i. Attach a 3ft BNC cable from the other end of the T connector to Channel 2 of the oscilloscope, and activate

channel 2 on the scope. Set the vertical of channel 2 to 500 mV/div and set the center adjust to 0 mV.

j. Press ‘Single’ on the oscilloscope to capture a single trace of data.

k. Have your lab instructor inspect your output ____________________________________________

l. Insert a disk in the oscilloscopes disk drive and press the ‘Quick Print’ button. Stop the WinCon application.

m. Move the disk to the PC and save the print_00.csv ﬁle to your hard drive calling it print_00.dat. In addition,

modify the data by replacing the commas with spaces. One way to do this is to use the DOS ‘edit’ editor. Also

delete the ﬁrst two rows of the print_00.dat ﬁle (Note: the ﬁrst column is time, the second column is the output

from the MultiQ board, and the third column is the output of the function generator).

n. Start MATLAB, change directory to your working directory, and load the data by typing

load print_00.dat

o. Plot the data in MATLAB using the command

plot(print_00(:,1),print_00(:,2:3))

p. Have your lab instructor inspect your plot ______________________________________________

q. Based on your data, what do you believe the update rate of the D/A is (seconds)? _______________

LAB 3 Hardware/Software Introduction

Goals

The three primary goals of this lab are

1. Develop proﬁciency in basic I/O connections

• Cart

• Universal Power Module (UPM)

• MultiQ Connector Panel

2. Write a Wincon application to read the encoder

3. Develop and implement encoder calibration strategy

Equipment List

3 1 Metal ruler

5 1 Encoder cable

Introduction - Lab 3

Introduction

In the sections below the primary components are described. After reading them, you will then be asked to attach the

motor cart system to the computer and power supply. This will enable you to take readings from the motor’s position

encoder to compute the cart’s location on the track.

Electrical Connections

The cart has three electrical connectors: (1) motor power (input), (2) beam balance encoder (output), and (3) cart

position encoder (output) shown in Figure 3.1.

Motor power (input)

x

Beam balance encoder (output)

motor gear

Cart position

encoder gear

Cart position encoder

(output)

The cart has two sensors (encoders) and one actuator (DC motor).

• Cart position encoder: The cart position encoder gear rides on the toothed track, and measures the cart’s position

along the track ( x ). When connected through the MultiQ connector panel, the encoder driver software outputs

“counts” proportional to the rotation of the gear. Each cart position encoder gear revolution generates 4096

counts. So, if the gear rotates three times, the output of the Wincon driver will be 3*4096=12288 counts. Cart

position along the track can be computed if the cart position encoder gear radius is known.

• Beam balance encoder: The encoder on top of the cart measures the angle of the shaft used to connect a balanc-

ing rod (this will be used in some later experiments).

• DC Motor: The cart’s actuator is an armature controlled DC motor. It takes a voltage input and generates an

angular rate of the motor gear. This allows the motor’s output torque to be converted into a force to drive the lin-

ear motion of the cart. The motor has an internal gear reduction set which has the effect of increasing the motor

torque constant (and the back emf constant). For all of your experiments, the command voltage to the DC motor

will be generated by the computer. The digital output signal is fed through a digital to analog converter (D/A) on

the MultiQ connector panel. The analog signal is then passed through the UPM such that high currents are avail-

able to the motor.

MultiQ Connector Panel

See the description in Lab 2.

Universal Power Module (UPM)

A brief overview of the UPM (shown in Figure 3.2) is given here only as it relates to the labs for this course. It has

other capabilities that will not be used immediately.

Introduction - Lab 3

The UPM ampliﬁes the control signals coming out of the MultiQ connector panel, permitting sufﬁcient current to drive

the D.C. motor. Therefore, outputs from the MultiQ connector panel always are connected to the UPM. The outputs

from the UPM then are connected to the cart’s motor.

control signals

from the MultiQ output from here

connector panel is used to power

go here the motor

Pre-Lab - Lab 3

Pre-Lab

You must derive an equation for computing the scale factor (S f ) that relates encoder counts, ( E c ) to cart position

along the track ( x ), assuming you know the radius of the encoder gear ( r e = 1.50cm ± 0.05cm ), and the resolu-

tion of the encoder ( E r = 4096counts ⁄ rev ).

1. (15 pts) Derive an expression for S f in terms of the quantities described above where

x = (S f )(Ec) 3.1

Sf =

2. (10 pts) Using your expression in (1) compute the numerical value of S f using 7 signiﬁcant digits

Sf =

3. (10 pts) If the encoder gear radius, r e , is off by 10%, what is the percent error in S f ? ______________

4. (15 pts) Explore MATLAB’s polyﬁt and polyval command for curve ﬁtting experimental data. Write the MAT-

LAB command for ﬁtting a line to two vectors of data. The vector of independent variable values (x) is called

“counts” and the vector of dependent variable values (y) is called “position”. ____________________

In-Lab Tasks

Hardware Connections

1. Connect the cart encoder to the MultiQ connector panel as shown in Figure 3.3.

“New Model”

icon MultiQ

Connector

Panel

In-Lab Tasks - Lab 3

1. Start MATLAB and Simulink

a. Make sure that the cart, UPM, and MultiQ connector panel are connected as described above.

b. Start MATLAB

“New Model”

icon

cd c:\usr\stationx\L0x\lab2

d. Start Simulink from the MATLAB window creating the Simulink Library Browser in Figure 3.4.

2. Create a WinCon application for reading the encoder

a. Left-click on “New Model” icon in the Simulink Library Browser

b. Expand the Quanser Library in the Simulink Library Browser

c. Expand Quanser Consulting MQ3 Series

d. Left-Click/Hold Encoder Input and drag to the new model

e. Double left-click the Encoder Input block that is now in your model, make sure that it looks like Figure 3.5.

This block is the software driver interface that allows the encoder output to be brought into the PC in real-time.

f. Expand Simulink in the Simulink Library Browser

g. Expand Sinks

h. Add a scope to your model and attach it to the output of the encoder block. Change its name from “Scope” to

“counts.” Having a scope in your model allows you to see the data streaming in from the encoder in real-time.

i. Save your model as “lab3.mdl”, it should look like Figure 3.6.

In-Lab Tasks - Lab 3

3. Set the parameters necessary for real-time data acquisition and control

a. In the MATLAB window, type the command

wc_setoptions(‘lab3’)

b. In your “lab3” simulink model window, use the pull down menus to access Simulation-Parameters. Modify its

contents so it looks like Figure 3.7.

update rate.

c. Use the tab in the Simulation Parameters pull down menu to access the Real-Time Workshop menu, and make

sure it looks like Figure 3.8.

In-Lab Tasks - Lab 3

ation.

a. In your lab3 Simulink model, use the WinCon pull-down menu and select Build.

b. Several things should happen on the screen. In the MATLAB window, a lot of messages will scroll by. When

the process is complete you will have the following message in your MATLAB window:

### Successful completion of Real-Time Workshop build procedure for model: lab3

c. A new window (WinCon Server) will also be available on your screen, as shown in Figure 3.9.

the application.

d.

The build process caused the lab3 Simulink model to be written into C-code, compiled, linked with the librar-

ies needed for real-time execution, and “attached” to the WinCon Server.

e. Save this as “lab3.wcp” using the File-Save As pull down menu. Make sure you save it in your lab directory.

5. Create a GUI to examine the encoder output in real-time, and to save the data.

ing a Simulink model variable to a scope for

viewing the output in real-time.

In-Lab Tasks - Lab 3

a. In the WinCon Server window, use the pull down menus, Plot => New => Scope, to bring up a scope.

b. This automatically brings up the “Select Variables to Display” window shown in Figure 3.10. Check the

“counts”, and close the window.

c. In the WinCon Server window, use the pull down menus to bring up a Digital Meter (Figure Figure 3.11) using

the same method you used to bring up the scope. Note, in the “Select Variables to Display” window, you will

again check “counts”, since that is what the name of the scope is in the lab3 Simulink model.

a.

Put the cart approximately in the center of the track.

b.

Click the green START button in the WinCon Server window. Note the following:

• When you click the green start button it changes to a red stop button

• The output of the encoder is 0

• The scope is (by default) in autoscale mode

c. Move the cart 3 cm to the right and note the output of the encoder ___________________________

d. Move the cart 3 cm to the left and note the output of the encoder ____________________________

e. Click the red STOP sign in the WinCon Server to shut off the application

f. Turn the application back on and note the encoder output __________________________________

7. Saving data

a. With the application off, change your plot so that it has

• ﬁxed scale with limits of -10000 and 10000

• Update - Buffer to 5 seconds (this is the duration of the data capture)

• Enable Update - Freeze Polt (this will capture only the 1st 5 seconds of data, instead of continously captur-

ing data every 5 seconds).

b. Start the application, then move the cart back and forth so you have some “action” on the plot. Using the pull

down menus of the plot window, select Update - Freeze Plot. Again, using the pull down menus of the plot

window, select File - Save - Save to Workspace.

c. Now bring up the MATLAB window and type

whos

You should see two new variables in the workspace called “plot_time” and “lab3_counts”. This is the data that

you captured using the freeze plot command. In MATLAB, type

plot(plot_time,lab3_counts);grid;

to bring up another plot of the same data.

d. To save this data to disk we’ll ﬁrst create a temporary array containing both the time vector (plot_time) and the

data (lab3_counts). Use the command

temp=[plot_time labv1_Scope];

e. To see what you have, take a look at the ﬁrst ten elements of this matrix by typing

temp(1:10,:)

f. Save this matrix of ascii text values to your local hard drive in a ﬁle named “run1.dat” by typing

save -ascii run1.dat temp

In this format, you can import the data into other data analysis software tools (e.g. excel, applix, etc.), or bring

it back into MATLAB at a later date. To examine this last capability, ﬁrst clear the MATLAB workspace by

typing

clear all

To check if everything is “cleared”, use the command

whos

In-Lab Tasks - Lab 3

You should have no variables in the workspace. Now load back in your data by typing

load run1.dat

Now execute

whos

You should have the single matrix named “run1”. To plot the data type

plot(run1(:,1),run1(:,2));grid;

g. (15 pts) Ask the lab instructor to check your work to this point. You will also be asked to demonstrate some of

the activities above (e.g. acquiring, plotting, saving, loading data, etc.) _______________________

Encoder Calibration

1. Devise, implement, and verify an encoder calibration strategy. This will give you a single gain that when multi-

plied by the “raw” output of the encoder gives you the cart position in centimeters.

a. (10 pts) Move the cart to the left side of the track (about two centimeters from the left track gap). If your Win-

Con application for reading the encoder counts was on, then stop it and restart it. If it was off when you moved

the cart, then start it. Using the application developed above record 13 pairs of cart position (measured by

ruler), encoder measurements.

Encoder

Cart Position

Reading

(cm)

(counts)

12

15

18

21

24

27

30

33

36

b. The encoder measurements in the second column are accurate to within 0.5 counts, that is, ± 0.5 counts. Based

on your ruler gradations, and your capabilities, how accurate are the measurements in the ﬁrst column above

(plus/minus)______________________________________________________________________

In-Lab Tasks - Lab 3

c. (9 pts) List three possible error sources that could effect either the accuracy, or the repeatability of the data

you’ve acquired (and approximate their magnitudes)

i ____________________________________________________________________________

ii ____________________________________________________________________________

iii ____________________________________________________________________________

d. Enter your data from Table 1 into MATLAB. Create the cart position vector using the command

position = 0:3:36;

position = position’;

Enter the encoder data as

counts = [12;3422;6778;...];

e. Plot position versus counts using error bars by typing

errorbar(counts,position,pos_err);grid;

where

pos_err = ones(size(position))*xxx

where xxx is your accuracy estimate from part (1b) above.

f. Use MATLAB’s polyﬁt command to generate the polynomial coefﬁcients of the best-ﬁt line to your data. Enter

the polynomial coefﬁcients that correspond to the scale factor ( S f ) and the bias below where

position = S f ⋅ counts + Bias

Sf =

Bias = 3.1

g. (5 pts) In Table 3.2 enter the values of the scale factor and bias you found in step (f), and in the pre-lab. In addi-

tion, compute the percent error. Are the errors you encountered justiﬁed based on your answers in (c) and in

the pre-lab? Explain. _______________________________________________________________

(Analytical) (Empirical) Error Error

Scale Factor

Bias

h. Use MATLAB’s polyval command to create a new vector of positions using your measured counts, and the

line ﬁt coefﬁcients, that is,

position_fit = polyval(polyfit(counts,position,1),counts);

i. Use MATLAB to generate analytical positions using your scale factor computed in the pre-lab

analytical_fit = Sf*counts;

where S f is the scale factor you computed in the pre-lab.

In-Lab Tasks - Lab 3

j. (6 pt) Use MATLAB to create a plot that overlays all three sets of data (raw data with error bars, curve ﬁt based

on the raw data, analytical), save it as a postscript ﬁle, and print it out.

errorbar(counts,position,pos_err,’r’);

ylabel(‘Position’);

xlabel(‘Counts’);

title(‘Calibration Results’);

hold on

plot(counts,position_fit,’b’);

plot(counts,analytical_fit,’g’);

print -depsc -tiff -r600 plot1.eps

k. Which scale factor do you recommend using, and why? ___________________________________

Saving the Real-Time Application

The real-time application, including all plot windows, etc. can be saved for re-execution as a .wcp ﬁle. You created a

.wcp ﬁle for your application earlier. Here you will see how you can re-execute the application witout starting MAT-

LAB.

1. Save your application using the WinCon server File-Save pull down menu.

2. Exit the WinCon server, and exit MATLAB

3. From the Windows 98 Start - Programs - WinCon3 menu execute W95Server. The WinCon server screen will

appear.

4. Open the .wcp ﬁle you just created (Lab3.wcp). The Start button will now become activated. You can start and

stop the application, and record data just as you did before.

LAB 4 Motor Cart Control -- Freestyle

Goals

Explore closed-loop control phenomenon by designing a position controller for the motor/cart system such that the

cart can be accurately positioned to any point on the track, speciﬁcally

• The cart should be fast (go from the 0 position to 10 cm in under 0.5 seconds)

• The cart should be accurate (position error less than 2 mm, and overshoot less than 4 mm)

Equipment List

Item Qty

DRAFT Table 4.1: Equipment

Description

3 1 Metal ruler

5 1 Encoder cable

Introduction

During the rest of this course you will learn systematic methods for designing closed-loop control systems. Hope-

fully, this lab, where you try to design a controller in an ad-hoc manner, will provide motivation for that process. As

you test your control designs strange and disturbing things may happen. Make sure you document all your

approaches, and the results as described below.

Pre-Lab

(50 pts) Develop two different control strategies to accomplish the goal above. Describe your approaches using both a

block diagram and a written description. Develop your ideas on scratch paper ﬁrst, then document them neatly in the

Pre-Lab - Lab 4

space provided. Your description must contain elements such as (1) the control strategy, (2) how sensors will be used

for cart position feedback, and (3) how the motor command will be generated. The primary element of the system is

the motor/cart “plant” shown in Figure 1, and should form the heart of block diagram descriptions

motor cart

input Motor/Cart position

(volts) Plant (cm)

Pre-Lab - Lab 4

Control Strategy #1

Block Diagram

Written Description

Pre-Lab - Lab 4

Control Strategy #2

Block Diagram

Written Description

In-Lab Tasks - Lab 4

In-Lab Tasks

1. Have your lab instructor check your two strategies and help you to choose the most promising approach for

implementation. Circle your choice below.

1 2

2. Implement your control strategy using the necessary Simulink blocks. With the UPM ampliﬁer powered off,

build your application as you did in Lab #2. If there are errors, then go back to your Simulink block diagram and

correct them. After getting a successful “build”, develop a Wincon application with the following features

• A horizontal sliding control allowing the user to specify the commanded position of the cart in centimeters

• A plot window displaying the cart’s voltage input

• A plot window displaying the cart’s position in centimeters

Save your Wincon application as Lab3.wcp.

3. Have your lab instructor inspect your control strategy implementation, and your Wincon application. With your

lab instructor watching, power on the UPM and run the application by commanding the cart to go from 0 to 10

cm. If it works, then proceed to answering the questions below, if it does not work, then discuss with your

instructor possible modiﬁcations to your strategy. Make the necessary ﬁxes, and rerun your application. You may

need to iterate several times before obtaining satisfactory positioning performance. When you are done iterating,

have your lab instructor inspect your ﬁnal implementation and proceed to the questions below.

4. (16 pts) Using your Wincon application command the cart to go from 0 to 10 cm, acquire both the position and

voltage data and answer the following questions.

a. Does the voltage saturate, and if so, at what voltage?______________________________________

b. How long does it take the position response to go from 0 cm to 9.5 cm?_______________________

c. What is the maximum excursion of the position response above 10 cm?_______________________

d. After the cart stops, what is the error between what you commanded (10 cm) and the actual cart position (use

both the encoder measurement, and a visual inspection of the ruler)? _________________________

5. (16 pts) Using your Wincon application command the cart to go from 0 to 20 cm, acquire both the position and

voltage data and answer the following questions.

a. Does the voltage saturate, and if so, at what voltage?______________________________________

b. How long does it take the position response to go from 0 cm to 9.5 cm?_______________________

c. What is the maximum excursion of the position response above 10 cm?_______________________

d. After the cart stops, what is the error between what you commanded (10 cm) and the actual cart position (use

both the encoder measurement, and a visual inspection of the ruler)? _________________________

6. (8 pts) Is there a relationship between your answers in 4 (b)-(d) and 5 (b)-(d) (e.g. is one twice as much as

another, etc.) _______________________________________________________________________

7. (10 pts) With the controller on, and the cart in the zero position, displace the cart 5 cm positive, hold it a couple

of seconds, then let it go.

a. After the cart stops, what is the error between what you commanded (0 cm) and the actual cart position (use

both the encoder measurement, and a visual inspection of the ruler)? _________________________

b. When you displaced the cart and held it by hand, what common device did it feel like? __________

8. Saving the Wincon application (the .wcp ﬁle) is very useful if you want to run the application at a later date with-

out going through the build process again. To examine this capability, power OFF the UPM, and re-save your

Wincon application as Lab2.wcp, and exit Wincon. In addition, exit from Simulink. Using the Windows Start

menu (at the bottom left corner of the screen) start the WinCon server application. The start/stop bar should

appear. From it, open your .wcp application, power ON the UPM and start your application. Since you built your

application previously, you do not need MATLAB or Simulink.

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