ESSENTIALS OF AUTONOMOUS

SYSTEMS
23EE2230F

STUDENT ID: ACADEMIC YEAR: 2024-25

STUDENT NAME:
Table of Contents

1. Session 01: Modelling of Torque Equation ......................................................................... 01

2. Session 02: Modelling of Tractive Force ............................................................................. 01
3. Session 03: Verification of Closed Loop Speed Control using PI Controller .................. 06
4. Session 04: Verification of Temperature Sensor Characteristics ..................................... 11
5. Session 05: Interfacing Rotary Encoder to Digital Controller.......................................... 20
6. Session 06: Interfacing Gyroscope to Digital Controller ................................................... 26
7. Session 07: Verification of Data Logging ............................................................................ 31
8. Session 08: Verification of Bi-directional servo motor control ......................................... 36
9. Session 09: Verification of Control of relay ........................................................................ 41
10. Session 10: SPI Communication ......................................................................................... 46
11. Session 11: I2C Communication .......................................................................................... 51
12. Session 12: Verification of Cruise Control ......................................................................... 56
 A.Y. 2024-25 CONTINUOUS EVALUATION – LAB EXERCISES
S.No Date Exercise Description Pre- In-Lab (25M) Post- Viva Total Faculty
Lab Program/ Data Analysis Lab Voce (50M) Signature
(10M) Procedure and & (10M) (5M)
(5M) Results Inference
(10M) (10M)
1.

2.

3.

4.

5.

6.

7.

8.

9.

10.

11

12.
 Exercise Student ID
Date Student Name

Modelling of Torque Equation

Objective:
Develop MATLAB/SIMULINK schematic for modelling torque equation and verify speed of the
shaft for input torque.
Description:
This exercise provides modelling of torque equation which includes provided external torque,
acceleration of shaft and air friction. Input to the system is the torque available on the rotational element
and output is considered as the speed of the shaft.
Platform:
MATLAB/SIMULINK
Pre-Lab:
1. Identify the significance of physical constants of rotational element

2. Sketch the free body diagram of rotational element

3. Write the torque equation

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop MATLAB/SIMULINK schematic of torque equation
2. Verify speed against given input torque
• Schematic:

• Components Specifications:

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Exercise Student ID
Date Student Name

• Sketch Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
1. Develop MATLAB/SIMULINK schematic to verify translational force equation and sketch
the speed against input force. Consider the spring force opposition in addition to friction.

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Modelling of Vehicle Tractive Force Equation

Objective:
Develop MATLAB/SIMULINK schematic for modelling dynamics of vehicle tractive force
Description:
This exercise provides modelling of the speed of the vehicle for tractive force available on its axle in
against the opposing force on vehicle movement.
Platform:
MATLAB/SIMULINK
Pre-Lab:
4. Identify the opposing forces for the movement of vehicle.

5. Sketch the free body diagram of tractive force dynamics

6. Write the tractive force equation balancing the acceleration of vehicle against opposing
forces.

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 Exercise Student ID
Date Student Name

In-Lab:
3. Develop MATLAB/SIMULINK schematic
4. Verify speed against given tractive force
• Schematic:

• Components Specifications:

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Exercise Student ID
Date Student Name

• Sketch Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
2. Develop MATLAB/SIMULINK schematic to verify tractive force equation against uphill and
downhill movement of vehicle

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Closed Loop Speed Control using PI Controller

Objective:
Develop MATLAB/SIMULINK schematic for verification of closed loop speed control using PI
controller.
Description:
This exercise provides closed loop control to regulate the speed of the shaft to set value. The user
provided set value of speed is compared to feedback actual speed and corresponding PI control action
adjusts the torque to the shaft to regulate the speed to set value.
Platform:
MATLAB/SIMULINK
Pre-Lab:
7. Identify the components of closed loop control system

8. Write the significance of proportional control

9. Identify the significance of PI control

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 Exercise Student ID
Date Student Name

In-Lab:
5. Develop MATLAB/SIMULINK schematic for closed loop speed control
6. Verify speed against various input speed commands changing the command following test
cases to increase an decrease speed
• Schematic:

• Components Specifications:

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Exercise Student ID
Date Student Name

• Sketch Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
3. Develop MATLAB/SIMULINK schematic to verify speed of the shaft for linearly changing
input torque.

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Temperature Measurement using ADC

Objective:
Develop programming and hardware for Temperature using ESP-32
Description:
This exercise provides application of Raspberry Pico for measuring temperature and through
on-chip ADC.
Platform:
Wokwi Simulator
Pre-Lab:
1. What is resolution of on-chip ADC?

2. Identify reference voltage magnitude for on-chip ADC.

3. How many channels are available on ADC on-chip

4. Describe the operation and draw timimg diagram for ADC.

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop programming Code and hardware measuring temperature through on-chip ADC
• Program:

• Hardware Connections block diagram:

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Exercise Student ID
Date Student Name

• Photograph of hardware and Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
1. Develop code and hardware for voltage sensor interface.

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Rotary Sensor Interface for Vehicle Speed Measurement

Objective:
Develop programming and Simulation of rotary encoder for measurement of vehicle speed
using ESP-32.
Description:
This exercise provides measurement and display of vehicle speed using rotary encoder, esp-32 and LCD
display.
Platform:
Wokwi simulator
Pre-Lab:
1. What is the principle of rotary encoder?

2. Identify the input of rotary encoder.

3. Identify the nature and range of output of the rotary encoder?

4. Identify the applications of rotary encoder.

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop simulation of rotary encoder for seed measurement using Wokwi Simulator
• Program:

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Exercise Student ID
Date Student Name

• Connections Diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
1. Develop simulation of ultrasonic sensor-based distance measurement and display.

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Vibration Measurement and Accelerometer Interface

Objective:
Develop programming and Simulation of rotary encoder for measurement of vibration using
gyroscope and interface accelerometer.
Description:
This exercise provides measurement and display of vibration using gyroscope and accelerometer
Platform:
Wokwi simulator
Pre-Lab:
6. What is the principle of gyroscope?

7. Identify the input of accelerometer.

8. Identify the nature and range of output of the aceelerometer?

9. Identify the applications of rotary encoder.

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 Exercise Student ID
Date Student Name

In-Lab:
2. Develop simulation of gyroscope and accelerometer using Wokwi Simulator
• Program:

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Exercise Student ID
Date Student Name

• Connections Diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
2. Develop simulation of pot hole detection using gyroscope and accelerometer.

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Data Logging
Objective:
Develop programming and hardware for data logging using ESP-32
Description:
This exercise provides measuring physical data sensor and logging into excel sheet
Platform:
Wokwi Simulator
Pre-Lab:
6. Which modules are necessary for data logging operaritions?

7. Identify volume of data that can be logged.

8. Identify frequency of data transfer for logging operation

9. Describe the operation and draw timing diagram for data logging.

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 Exercise Student ID
Date Student Name

In-Lab:
2. Develop programming Code and hardware for logging temperature sensor data
• Program:

• Connections block diagram:

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Exercise Student ID
Date Student Name

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
2. Develop programming code and simulation for logging vibration data.

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

DC Motor Speed Control

Objective:
Develop programming and hardware for DC Motor Speed Control using ESP-32
Description:
This exercise provides application of Raspberry Pico for DC Motor Speed Control
Platform:
Wokwi Simulator
Pre-Lab:
11. What is PWM?

12. Identify application of PWM.

13. How many channels are supported for PWM

14. Describe the operation of PWM.

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 Exercise Student ID
Date Student Name

In-Lab:
3. Develop simulation of speed control of dc servo motor.
• Program:

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Exercise Student ID
Date Student Name

• Connections Diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
3. Develop programming code and simulation for varying and displaying speed of dc motor

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Control of Relay
Objective:
Develop simulation for single channel relay using ESP-32
Description:
This exercise provides application of ESP-32 for ON/OFF control of single channel relay
Platofrm:
Wokwi Simulator
Pre-Lab:
1. What is NC connection in realy?

2. What is NO connection in realy

3. What is active LOW relay control?

4. What is active HIGH relay control.

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop simulation and program for control of relay.
• Program:

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Exercise Student ID
Date Student Name

• Connections diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
1. Develop simulation of active HIGH type relay

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Interfacing SPI compatible device

Objective:
Develop programming and hardware for Interfacing SPI compatible device with ESP-32
Description:
This exercise provides application of Esp-32 for Interfacing SPI compatible device
Platform:
Wokwi Simulator
Pre-Lab:
1. What is SPI serial communication

2. Identify applications of SPI

3. How many channels are supported for SPI in ESP-32

4. Describe the operation of SPI communication.

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop simulation for SPI communication
• Program:

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Exercise Student ID
Date Student Name

• Connections diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
2. Develop simulation for SPI interface to multiple IR sensors

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

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 Exercise Student ID
Date Student Name

Interfacing I2C compatible device

Objective:
Develop programming and simulation for Interfacing I2C compatible device to ESP-32
Description:
This exercise provides interfacing I2C compatible device to ESP-32
Platofrm:
Wokwi Simulator
Pre-Lab:
1. What is I2C serial communication

2. Identify application of i2C

3. How many channels are supported for I2C in ESP-32

4. Describe the operation of I2C communication.

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 Exercise Student ID
Date Student Name

In-Lab:
1. Develop wokwi simulation for I2C communication
• Program:

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Exercise Student ID
Date Student Name

• Connections diagram:

• Photograph of Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
1. Develop I2C interface for LCD display using ESP-32

• Procedure/Program:

• Results and Inferences:

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

Course Title ESSENTIALS OF AUTONOMOUS SYSTEMS ACADEMIC YEAR: 2024-25

Course Code(s) 23EE2230EF Page 44 of 50
 Exercise Student ID
Date Student Name

Verification of Cruise Control

Objective:
Develop MATLAB/SIMULINK schematic for verification of cruise control of automobile
Description:
This exercise provides closed loop control to regulate the speed of the vehicle to set value. The user
provided set value of speed is compared to feedback actual speed and corresponding PI control action
adjusts the torque to the shaft to regulate the speed to set value.
Platform:
MATLAB/SIMULINK
Pre-Lab:
10. Identify the components of closed loop control system

11. Write the significance of proportional control

12. Identify the significance of PI control

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 Exercise Student ID
Date Student Name

In-Lab:
7. Develop MATLAB/SIMULINK schematic for closed loop speed control
8. Verify speed against various input speed commands changing the command following set
command of speed and cut off beyond threshold value.
• Schematic:

• Components Specifications:

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Exercise Student ID
Date Student Name

• Sketch Results:

• Analysis and Inferences:

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 Exercise Student ID
Date Student Name

Post-Lab:
4. Develop MATLAB/SIMULINK schematic to verify speed of the vehicle for urban drive
cycle set speeds.

Evaluator Remark (if Any):

Marks Secured: _____out of 50

Signature of the Evaluator with Date

Course Title ESSENTIALS OF AUTONOMOUS SYSTEMS ACADEMIC YEAR: 2024-25

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