直線電機一級倒立擺(圓筒型)

磁懸浮系統(嵌入式)

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下一個:

直線電機一級倒立擺(U型)

 

產品介紹


        直線倒立擺是一款經典的自動控制理論實驗裝置,適合自動控制及相關專業的本科、研究生等學習經典控制理論和現代控制理論之用。直線一級倒立擺是單入雙出系統,輸入量為小車的加速度,輸出量為擺桿角度和小車位移。通過設計控制器控制擺桿角度和小車位移,使學生理解和掌握自動控制理論的基本原理和應用方法;通過選擇不同方法,確定不同參數,觀察不同的實驗效果,可以深入理解控制方法之間的差異以及參數對控制系統性能指標的影響。

全新的直線電機倒立擺系統采用先進的圓筒型直線電機作為驅動方式,代替了之前的傳動控制方式。因此,實驗系統的建模會更加準確,可控性和動態響應特性會更加優秀。此款實驗裝置將激發學生學習和實驗的極大興趣。

系統特性


圓柱型直線電機采用精密的光柵尺反饋,所以系統模型更加直觀,建模和實驗平臺一致性更好。學生在學習的時候可以更加清晰的理解機電系統的運動模型。 

學生通過Matlab可以設計并實驗PID控制、根軌跡法、LQR控制算法和其它自動控制算法。通過選擇不同方法,確定不同參數,觀察不同的實驗效果,可以深入理解控制方法之間的差異以及參數對控制系統性能指標的影響。

學生用DSP、ARM、FPGA、MCU或其它實時控制平臺,將Matlab環境下完成的算法構建成自己的控制器來控制倒立擺系統。

控制原理


直線電機倒立擺是一個典型的單輸入、雙輸出系統,輸入量為小車的加速度,輸出量為擺桿角度和小車位移。通過擺桿鉸鏈后方的編碼器和滑動小車的光柵編碼器,可以測量擺桿偏離法線的角度和小車的左右位移。通過設計合適的控制器來計算出滑動小車的控制量,控制直線電機運動,可以使擺桿保持垂直向上,并且小車位于滑軌設置的平衡點。下圖為直線倒立擺系統基于LQR控制算法設計的控制模型。

Matlab Simulink LQR控制算法示例

實驗內容


● 系統建模和穩定性分析

● 根軌跡校正、PID校正、頻域法校正

根軌跡復合法校正、PID復合法校正、頻域復合法校正

● 狀態反饋控制

● 不同狀態下狀態反饋控制效果比較

 LQR控制

● 倒立擺自動起擺控制

訂購指南


 

產品名稱

產品型號

產品參數

直線電機一級倒立擺

(圓筒型)

GLIP3001-LM-03

運動控制器:通過CE認證,PCI插卡式,可控制軸數4軸,控制伺服周期為200um,脈沖最大輸出頻率1MHz;;軸通道增量式編碼器輸入4路,四倍頻,最大頻率8MHz;輔助增量式編碼器輸入4路,四倍頻,最大頻率8MHz;模擬量輸入8路,輸入范圍±10V,分辨率12bit,模擬量輸出4路,輸出范圍±10V,分辨率16bit;數字量輸入16路,光耦隔離,輸入電壓+12~+24DCV,輸入電流3.7~7.6mA,隔離電壓5000V RMS;數字量輸出16路,最大輸出電流30mA;每軸帶專用的正負限位、Home信號、驅動報警信號、驅動使能信號,驅動復位信號及編碼器Index高速捕獲信號;提供運動控制DOS系統下的函數庫,Windows系統下的VC、VB及Delphi動態鏈接庫,支持S-曲線模式、梯形曲線模式、速度控制模式及電子齒輪模式,支持點位運動、同步運動、PT運動、PVT運動、多軸同步運動、圓弧插補運動及直線運動及多軸協調運動軌跡速度規劃。

本體:擺桿長度400mm;擺桿質量0.105kg;滑塊質量1.7kg;直線電機編碼器分辨率10000Pulse/r,旋轉編碼器分辨率2400pulse/r,最大加速度10m/s2,最大速度1.5m/s,伺服控制周期200us,電機節距10mm,尺寸620mm×95mm×415mm

軟件:Windows7 32位操作系統,基于Matlab/Simulink的GTBox工具包及ServoStudio驅動器軟件

配置電腦要求:Windows XP/Windows 7 32位/64位,帶1個空閑PCI插槽(電腦非標配,需客戶自購)

 

 

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