Teaching students to control mechanical systems through an engaging laboratory activity

Abstract

This paper describes a didactic activity in which students learn how to control a mechanical system composed of two pulleys and two springs powered by a DC motor. The control types studied in the course are P, PD, PI, and PID; these controls were applied for both velocity and position control, with and without ground springs, and students were instructed on system modeling and control implementation using Arduino in conjunction with Matlab and Simulink. The experimental results were finally compared with theoretical expectations. The students worked in groups of four to five people, and all of them successfully implemented the required control algorithms and submitted comprehensive final reports. Feedback from students was gathered anonymously through a questionnaire, revealing that students appreciated the activity as it provided clarity on theoretical concepts that might have been challenging if taught solely in a traditional classroom setting. The positive response from students has led to the decision to repeat this activity in subsequent years.