PC60
Position Control
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The basic system includes an actuator as well as the mechanical setup (PC60). By a threephase synchronous drive, 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 setpoint. The position control is accomplished by a digital controller. Based on a sensor signal, the controller generates a suitable signal which controls the integrated electronics of the synchronous drive. The measurement of the cart position obtained by an incremental encoder. The standard digital control of the basic system consists of the PC adapter card MF634 (Option 60-03) and an executable controller program (MS-Windows) Option 60-12. The adapter card as well as the program require a PC with PCIe slot. The "Practical Program" (WINDOWS 7-10) is driven by pull-down menus. The control algorithm realizes a state feedback with estimation of the speed of the cart as well as a disturbance observer to compensate the effects of the friction. The friction compensation force acts on the bearing of the cart. All of the controller and observer parameters are comfortable adjustable. The controller performance is examined by recording the measurements and observed signals of the system. The graphic output of recorded data may be sent to a window. Its content may be printed, saved as a WMF file or copied into the clipboard. The documentation includes sections for assembly and startup, the technical data, the program operation, the theoretical background with the mathematical model of the plant, practical instructions as well as solutions of the experiments. Thus, the basic system with the standard digital controller is suitable as a laboratory experiment in student practicals of automatic control. Additional options extend the version of the laboratory setup described above to support research studies in the field of arbitrary control algorithms or applied fault detection methods. For this purpose ‘C++’ source files of the program are available. By means of the PC plug-incard MF634 of Humusoft the laboratory experiment "PC60 Position Control" can easily be integrated in Matlab/ Simulink with real-time environment. The user now has the opportunity to test its own controller designs under Matlab/ Simulink. The Option 60-15 contains the C++ source files of the PC controller program including library functions for graphic output, controlling the sampling period as well as controlling the PC adapter card. With this option the user is able to implement special algorithms for control, supervision or fault detection in the frame of the menu-driven program. The Embarcadero C++ Builder V10 is required to generate an executable program.
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