P Pe en nd du ul lu um m C Co on nt tr ro ol l S Sy ys st te em m P PC CS S2 2

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15 Νοε 2013 (πριν από 3 χρόνια και 6 μήνες)

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© Bytronic Ltd

P
CS2
-
P
L01
11




P
P
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n
d
d
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u
l
l
u
u
m
m


C
C
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n
t
t
r
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o
o
l
l


S
S
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s
s
t
t
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m
m




P
P
C
C
S
S
2
2




Key Features:




C
ontrol of inhere
ntly unstable systems and

of
systems

with very oscillatory dynamics



Study of control engineering theory



Stand
-
alone
A
nalogue control



Classic
control model for Analogue, Direct
Digital o
r

Fuzzy Logic control



Two different m
odes, an inverted pendulum
or
overhead crane



Software with attempted
L
inear control,
attempted
Harmonic control, Direct Digital
c
ontrol and Fuzzy Logic

control


The
Pendulum Control System
, PCS2,

is
designed for the stu
dy of

control engineering

and theory
.

The PCS2 consists of a carriage
module and analogue
control module with
a mimic of the

system.
It can function as a stand
-
al
one analogue system or
be interfaced to
an external controller such as a PC

using a suitable i
nterface card.

The PCS2 is supplied with an interface card and PCSDS software.
The software includes attempted
Linear

control, attempted
Harmonic

control,
and Direct

Digital Control and Fuzzy Logic control.
S
tudent
s

can

compare the performance of the diffe
rent controllers
.
Connection is through 4mm
-
shrouded colour coded sockets and to
an interface card through the IDC connection.


The
PCS2
can be used in two different modes,
an

inverted

pendulum or an overhead crane, e
ach mode presents a control situation
t
hat requires a separate approach and solution

and an understanding of how a feedback systems function
.
The first mode; control of
an inherently unstable system
,
to balance the pendulum in the inverted position the pivot must be continuously moved to correc
t the
falling pendulum. In the second mode
;

the carriage module is turned upside down
to act as
a crane
, t
he pendulum swings into an
equilibrium position with the cent
re of mass below the pivot,
control the
Linear

position of the load, w
ith

very oscillator
y dynamics.


Curriculum Coverage



Getting
s
tarted



Using the PCS as an a
nalogue
c
ontrol
s
ystem



Using the PCS as a digital c
ontrol
s
ystem



The
p
endulum c
ontrol
p
roblem

f
undamentals



Two modes: swinging crane and inverted pendulum



Calculation and instability of

y

for inverted pendulum



Analogue and digital modelling



Derivation of p
lant
c
ontroller



Recommended
t
exts for

b
lock
d
iagrams Laplace and Z
t
ransforms



MATLAB
solutions for DDC
,
i
nverted
p
endulum,
c
rane


Labworks



Static and
d
ynamic
c
haracteristics of the

p
endulum
c
ontrol
s
ystem



Carriage
s
ervo



Effect of
s
ervo
g
ain on
h
ysteresis



Transient
r
esponse of the
s
ervo
s
ubsystem



Dynamic
m
odel of the
p
endulum



M
odelling of the
c
arriage
s
ervo



Analogue
c
ontrol of an
i
nverted
p
endulum



Measurement of the
m
ass
p
osition



Softw
are Linear
c
ontrol of the
p
endulum



Software Harmonic
c
ontrol of the
p
endulum



Transfer
f
unction for the
i
nverted
p
endulum



Stabilisation using
p
hase
l
ead
c
ompensation



The
e
ffect of
h
ysteresis in the
s
ervo
s
ub
-
s
ystem



Fuzzy
Logic
c
ontrol of the
i
nverted
p
endul
um



Description of the Fuzzy
Logic c
ontroller



Fuzzification

,
r
ules
,
d
efuzzification



Use of the Fuzzy
Logic c
ontroller



Direct Digital
c
ontroller
d
esign and
i
mplementation:
i
nverted
p
endulum



Design of a DD
c
ontroller using a
s
implified
m
odel



Design
c
riteria a
nd
s
ample
r
ate
s
election



Pole
p
lacement



Implementing the
c
ontroller using the PCDS software



Direct Digital
c
ontroller
d
esign and
i
mplementation:
s
winging
c
rane



Sample
t
ime and
d
esign
o
bjectives



Dead
-
Beat
c
ontroller
d
esign using
s
implified
p
lant
m
odel



Use o
f Dead
-
Beat
c
ontroller



Frequency
r
esponse of
p
lant and
c
ompensator



Dead
-
Beat
c
ontroller using
p
lant
m
odel with
d
amping



Ringing Pole
p
roblem



Correct
d
esign
a
pproach to
a
void Ringing Pole
p
roblem


© Bytronic Ltd

P
CS2
-
P
L01
11



Specification

Mains s
upply

110V a.c. or 220


240V a.c
.

(s
witch select)

Mains fuses

2 x 5 Amp

Control
u
nit fuses

2 x 250mA

Internal PSU

+

20V d.c. unregulated

+

15V d.c. regulated

+

10V d.c. regulated

Servomotor with
i
ntegral
t
achometer

Normal s
upply
v
oltage 24V d.c.


Maximum continuous torque

14Ncm

Maximum

p
eal
t
orque

36Ncm

Motor
v
oltage
c
onstant

10.3v/1000rpm

Motor
t
orque
c
onstant

9Ncm/A

Mechanical
t
ime
c
onstant

20ms

Rod
i
nertia

214gcm
2

Tacho
a
ssembly
i
nertia

10.5gcm
2

Drive
b
elt

Kevlar b
raided

Angle
θ

measured

5K
-
servo potentiometer.

Position
X

measured


5K
-
multiturn potentiometer.

Control
s
oftware

Multiple controllers with graphical output


Required

A suitable PC with
m
inimum; Pentium processor, 1GB R
AM, 20GB HDD, CDROM Drive, and Windows XP

or a
bove


Ordering Information

Model Number
:

P
CS2

Consists of:


1 x
Pendulum c
art

1 x
Analogue
c
ontroller

1 x Interface
c
ard

1 x Weight and
s
haft

1 x
Star
n
ut and
m
etal
b
ar

2 x
Set of compensator PCB’s

1 x 䍯nnec瑩ng
c
ab汥

2 x 4mm c
onnec瑩ng
c
ab汥

1 x
Ma楮s

汥ld

1 x
m
䍄C



1 x 啳e爠and cou牳rwa牥
m
anual



Weights and Dimensions

Un
-
Packed

Approximate Dimensions (mm)

Approximate Weights


685
W x
220
D x
425
H

12.4
Kg


Packed

Approximate Dimensions (mm)

Approximate Weights


770W x 520
D x
330
H
1
7.6
Kg

Bytronic L
td
.

reserves the right to make product improvements at any time and without notice and is not responsible for typographical error
s.























Bytronic Limited

124 Anglesey Court, Towers Business Park,

Rugeley, Staffordshire, WS15 1UL.


Uni
ted Kingdom

Tel; +44(0)8456 123 155 Fax; +44(0)8456 123 156

Email: sales@bytronic.net Website: www.bytronic.net