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Laboratory experiment PS600
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The laboratory experimental setup PS600 includes four different plants – "Position control", "Inverted pendulum", "Tandem pendulum" and "Loading bridge".
Experimental "Position control" contains the technical realization of a position control plant with an actuator and a digital controller. By a DC-motor, a toothed wheel, a toothed belt and a clutch, the moving base can be driven along a guiding bar over a length of approximately 1.5m such that its position is controlled at a preassigned set-point. The position control is accomplished by a digital controller. Based on a sensor signal, the controller generates a suitable signal, which controls the DC-motor by an electronic drive. The measurement of the cart position is obtained by an incremental encoder. This laboratory setup can be used as a basis for the plants "Inverted Pendulum", "Tandem Pendulum" and "Loading Bridge".
The laboratory experimental setup "Inverted Pendulum" contains the technical realization of an unstable plant together with an actuator and a digital controller. By a "Position control" plant, the moving base can be driven along a guiding bar such that the pendulum is stabilized in upright position at a preassigned position. The stabilization of the pendulum is accomplished by a digital controller. Based on measurements, the controller generates a suitable signal, which controls the DC-motor by an electronic drive. The measurements are the pendulum angle and the cart position obtained by incremental encoders.
The laboratory experimental setup "Tandem Pendulum" contains the technical realization of an unstable, complex plant together with an actuator and a digital controller. The plant is represented by two revolving pendulums with different lengths mounted on top of a moving base. One pendulum (length 50 cm) is mounted on a sleeve shaft. An inner shaft is fixed to the second pendulum (length 10 cm). Both pendulums are pivoted independently from each other. By a "Position control" plant, the moving base can be driven along a guiding bar such that both pendulums are stabilized in upright positions at a preassigned position. The stabilization of the pendulums is accomplished by a digital controller. Based on measurements, the controller generates a suitable signal, which controls the DC-motor by an electronic drive. The measurements are the pendulum angles and the cart position obtained by incremental encoders.
The laboratory experimental setup "Loading Bridge" contains the technical realization of a practical plant (crane) together with an actuator and a digital controller. The extension kit is represented by a gear motor with a winch combined with an incremental encoder to detect the rope length and another incremental encoder to measure the rope angle. The loading bridge mechanics is mounted on top of the cart of the "Position control" plant. By a "Position control" plant, the cart can be driven along a guiding bar over a length of approximately 1.5m. The standard version of the laboratory experiment "Loading Bridge" can be extended so that it is useable as a real process applicable for research studies in the field of complex control algorithms or fault detection methods.
Laboratorijska naprava Amira PS600 omogoča štiri različne eksperimente – regulacijo položaja, invertirano nihalo, dvojno nihalo in nakladalni žerjav.
Regulacija položaja omogoča tehnično izvedbo servosistema z uporabo digitalnega regulatorja. Z enosmernim motorjem in ustreznimi zobniško-jermenski prenosi lahko voziček premikamo vzdolž vodilne osi v dolžini cca. 1,5 m. Položaj lahko reguliramo in sledimo referenci. Glede na signal senzorja regulator določi ustrezen regulirni signal, ki krmili enosmerni motor. Položaj vozička meri inkrementalni enkoder. Regulacija položaja je osnova za kompleksnejše eksperimente, kot so invertirano nihalo, dvojno nihalo in nakladalni žerjav.
Invertirano nihalo omogoča tehnično izvedbo nestabilnega kompleksnega sistema z uporabo aktuatorja in digitalnega regulatorja. Z osnovno regulacijo položaja lahko voziček premikamo vzdolž vodilne osi in s tem stabiliziramo navpično nihalo, kar dosežemo z uporabo digitalnega regulatorja. Glede na signal senzorjev regulator določi ustrezen regulirni signal, ki krmili enosmerni motor. Položaj vozička in kot nihala merita inkrementalna enkoderja.
Nakladalni žerjav omogoča tehnično izvedbo realne naprave z uporabo digitalnega regulatorja. Na voziček je pritrjen vitel, s katerim je mogoče dvigati in spuščati utež. Inkrementalni enkoder lahko meri spremembo dolžine vrvi, na kateri je obešena utež. Dodaten inkrementalni enkoder pa meri kot zaradi nihanja uteži. Z osnovno regulacijo položaja lahko voziček premikamo vzdolž vodilne osi. Laboratorijski eksperiment je mogoče nadgraditi in uporabiti pri raziskovanju kompleksnih algoritmov vodenja in metod za zaznavanje napak.
Contact: gorazd.karer(at)fe.uni-lj.si
Manual of PS600.
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