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현재위치: > 공학교육장비 > 제어계측
제어계측
Position Control, PS600A
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The laboratory experimental setup "Position Control" contains the technical realization of a position control plant with an actuator and a digital controller. The digital controller realizes an observer based state feedback or a fuzzy controller. The laboratory setup can be used as a basis for the plants "Inverted Pendulum" and "Loading Bridge".

The basic system includes an actuator as well as the mechanical setup (PS600). The documentation contains the instructions for start-up as well as the technical data of the system. By a DC-motor, a toothwheel, a toothbelt 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 DC-motor by an electronic drive. The measurement of the cart position obtained by an incremental encoder.

The standard digital control of the basic system consists of a PC adapter card Option 600-03 and an executable controller program Option 600-12. The adapter card as well as the program require an IBM-AT-compatible PC with a numeric coprocessor. The "Practical Program" 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 the recorded data may be directed to the screen, to a file, to an HP-compatible plotter with a serial interface or to an Epson-compatible matrix printer.

The documentation contains 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 an additional fuzzy controller and the 'C++' source files of the programs are available. The Option 600-13 extends the executable program (Option 600-12) by a fuzzy controller including modules to define fuzzy rules and membership functions, to store and load a corresponding description file and to display a graphic representation of the fuzzy knowledge base. The fuzzy controller uses the fuzzy knowledge base to realize a cascaded control structure. 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 600-15 contains the 'C++' 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 3.1 with the Turbo-Vision library is required to generate an executable program.

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