The laboratory experimental setup "Loading Bridge" contains the technical realization of a practical plant together with an actuator and a digital controller. The digital controller realizes an observer based state feedback or a fuzzy controller. The laboratory setup is based on the plant "Position Control PS600".
The basic system includes an actuator as well as the mechanical setup (PS600) with a premounted loading bridge extension kit (Opt. 600-30). The documentation consits of the instructions for start-up as well as the technical data of the system. 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. Only one lead with a multi-polar terminal provides the electrical connections. The loading bridge mechanics is mounted on top of the cart of the position control plant by means of 4 knurled screws. By a DC-motor, a toothwheel, a toothbelt and a clutch, the cart can be driven along a guiding bar over a length of approximately 1.5m.
The standard digital control of the basic system consists of a PC adapter card (Opt. 600-03) for an ISA slot and an executable controller program (MS- Windows) (Opt. 600-32). The adapter card as well as the program require an IBM-AT-compatible PC (minimum 486/33MHz).
The controller program (Win 3.1 / Win95) allows for a menu-driven operation of the laboratory experiment. The control algorithm realizes a state feedback with estimation of the angular speed of the rope and 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 conveniently adjustable. The controller performance is examined by recording the measurements and observed signals of the system.
The graphic ouput 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 is extended by the program operation and the theoretical background with the mathematical model of the plant. Additional options are available to extend the standard version of the laboratory experiment such that the system "Loading Bridge" is useable as a real process applicable for research studies in the field of complex control algorithms or fault detection methods. For this purpose a fuzzy controller as well as the "C++" sources of the software are offered in addition.
The Option 600-33 extends the executable program of the option 600-32 by a fuzzy controller including a module to adjust the rules and membership functions and to store the resulting fuzzy knowledge basis which may be represented in a graphic output in addition. The fuzzy controller realizes a cascaded control. The documentation is extended by the background of a fuzzy controller and the operating instructions. Switching between the controller modes allows for control performance comparison of state controller and the fuzzy controller.
The Option 600-35 contains the C++/Pascal source files of the PC controller program including library functions for fuzzy operations and graphic output. 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 Borland C++ compiler version 4.52 as well as Delphi V1.0 are required to generate an executable program.
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