Académique Documents
Professionnel Documents
Culture Documents
Trainer
! Modular Servo System ! Transducers kit ! Programmable Logic
Control Applications
! Dual Conveyor plc Workcell ! Elevator ! Digital Pendulum Control
system
! Magnetic Levitation System ! Twin Rotor MIMO System ! Precision Modular Servo
Control Workshop
! Coupled Tanks System
Control Engineering is of significant interest in most areas of industry new and established. The Feedback range of Control Engineering training equipment has been designed to provide a modern, efficient approach to training the engineers and technicians working in this field. Feedbacks philosophy is to equip students with the fundamental ideas and principles that underpin modern engineering practice by using versatile trainers that quickly and clearly demonstrate the required technology. Paramount to all Feedback equipment is the principle that students of Engineering and Technology should work with hardware and be allowed to take a hands-on approach. All of Feedbacks teaching hardware is supported by extensive teaching and theoretical courseware, either in the form of paper manuals or software. Within the Control Engineering range, Feedback offers hardware that can be used in conjunction with a combination of:! Conventional test and measurement equipment ! Industry standard control devices ! Computer Assisted Learning techniques with Feedbacks Discovery
Benefits
! Ideally suited for University
systems
! Teaching material and
challenging applications
Linear Servos
Curriculum Coverage
Analogue
! Operational amplifier characteristics ! Motor, tachogenerator and brake characteristics ! Simple control & speed systems ! Error channel and feedback polarity ! Influence of gain ! Velocity feedback ! System following error ! Speed control systems ! Introduction to 3-term control ! Applications of 3-term control ! Single amplifier control circuits ! Transient velocity feedback and derivative feedforward ! Transfer functions & frequency response principles ! Application of frequency response methods to the system
This trainer introduces the theory and practice of automatic control systems and allows investigation of open and closed loop analogue, digital, speed and position control. The system consists of three main units: Mechanical Unit: with input and output potentiometers, motor, tachogenerator, absolute and incremental encoder and on-board waveform generators. Analogue Unit: with four-input error amplifier. Optional additional time constant. Variable gain and velocity feedback. Single, two term or full PID control. Digital Unit: provides access to PC via a USB interface, has A/D and D/A converters, linear or PWM motor drive, LED display. Feedback Discovery software supports both the Analogue and Digital units and allows assignment work to be carried out with on-screen theory, background, practicals and questions. The three equipment package options are: 33-001-USB Servo Fundamentals Trainer; comprising the Analogue Control unit, Digital Control unit and the Mechanical unit. 33-002-USB Analogue Servo Trainer; which is comprised of the Analogue Control unit and the Mechanical unit. 33-003-USB Digital Servo Trainer; which is comprised of the Digital Control unit and the Mechanical unit. All packages are supplied with dc Power Supply, interface cables, Discovery software and courseware. The software supplied with the Digital unit contains PC-based instrumentation, including a chart recorder. A Servo Fundamentals Trainer Upgrade Pack 33-021 is also available for customers to upgrade their existing 33-001, enabling it to be connected to a PC using USB technology and Discovery software.
Digital
! ! ! ! ! ! ! ! ! ! ! ! A/D and D/A conversion Motor control Potentiometer position sensors Digital encoders Gray code encoder Incremental encoder Speed & directional encoding Position control using analogue and digital sensors Speed control using analogue and digital sensors Position servo using P+D control Position servo using P+I control Position servo using PID control
Linear Servos
The Modular Servo System is a unique equipment designed to study the theory and practice of automatic control systems. It illustrates modern circuit and constructional techniques and has been used in technical Institutes and training establishments throughout the world for many years. The system is modular and very versatile, making it possible for individual units to be arranged to create operating block schematic systems. The system also provides a linear quantitative control application for more advanced work. The following systems are available: MS150 dc Modular Servo System; the basic dc set. MS150A ac Modular Servo System; the basic ac set. MS150-2 ac/dc Modular Servo System; the MS150-2 is used in more specialised and advanced control applications, some detailed knowledge of ac carrier systems is required. It is available as a stand-alone, complete system or by adding extra modules to the dc system. MS150-3 Complete Modular Servo System; in addition to the subject areas covered by the MS150 and MS150A, the full system allows additional subjects (see Curriculum) to be studied. Comprehensive assignment manuals are provided with each system. As well as the four main systems the modules are available separately and as two conversion kits as follows: Simulated Relay Unit Differential Synchro Unit Sample and Hold Unit Proportional, Integral and Derivative Unit MS150 to Hybrid System Conversion Kit MS150 + 150RST to ac Operation Conversion Kit SR150G DS150J SH150M PID150Y MS150RST MS150UVW
There is an Upgrade Pack 33-310-PCI available for customers who would like to upgrade their existing MS150 system to a 33-008 (see page 9). This enables an MS150 to be used with MATLAB software.
Transducers
Curriculum Coverage
Electro-mechanical Transducers
Utilising variation in resistance:
! ! ! ! ! Wheatstone bridge Amplifiers Liquid depth and resistivity Displacement Strain
Many engineering applications and systems depend on accurate measurements and monitoring. Transducers are fundamental to the measurement process, consequently the study of different types of transducers, how they operate and how their output signals may be processed, is essential background knowledge for any engineer. The Transducers Kit introduce students to the concepts and understanding of common transducer devices and standard signal conditioning methods. They are available in three kits: Transducers Kit TK2942-001 which comprises; the Measurements Package, Electro-mechanical, Heat and Light Transducers Kits, 01-100 dc Power Supply with all leads, accessories and courseware, TK2942-1 Complete Transducers Kit which includes the items in TK2942-001 plus Function Generator, Timer Counter, Oscilloscope and Capacitance and Resistance boxes. There is also an Introduction to Transducers Kit TK2941 available which contains the TK2941E and TK2941M. The student manual contains 28 assignments, covering the use of all three Transducers Kits (TK2941E, 2941H and 2941L) and includes relevant theory and practical information. The Transducers Kit consists of a measurements package (containing a comprehensive instrumentation module and a test rig) and three self-contained transducers kits, which are all available separately but must be used with the Measurements package:
Light Transducers
! ! ! ! ! The nature of light Photoconductive cell Semiconductor photodiode Phototransistor Spectral response
Heat Transducers
! ! ! ! ! ! Heat distribution Thermocouples Thermistors Resistance thermometers Temperature control (on/off) Temperature control
Phototransistor
PLC Applications
Automatic Washing Machine 34-401 This process allows a sequence of events to be controlled. The development of several different programs is possible, which can be set-up as conditional jumps.
Traffic Signal Control 34-402 This application allows traffic light control of crossroads using a timed sequence. The control program can be developed to cope with interrupts from pedestrian crossing requests or off-peak vehicle detector inputs.
! Setting initial conditions ! Time-based process controls ! Use of interrupts and emergency stop
Curriculum Coverage
! Fundamentals of logic ! Basics of PLC programming ! Developing ladder logic programmes ! Programming timers ! Programming counters ! Structure of control systems ! Sequencer programmes ! Jump instructions and subroutines ! Combined counter and timer functions ! PLC installation practices
The Dual Conveyor Workcell is a complete system which can be used to develop the parts selection task into a simple assembly process. Plastic and metal components are selected by size and are fed onto the chutes for dispensing into a final assembly task where they are combined with a 2nd component. The finished product can then be sorted by material, assembly or type. The system allows complex control scenarios to be developed using combinations of timers and counters with master and zone control functions. An optional Diameter Gauging Unit 34-110 is also available which can be added to the workcell to allow the diameter of any components on the conveyor to be measured. Using a similar system to the height detector, the unit provides three possible outputs: under size, over-size, or the logical NAND of the two providing one input to the PLC for correct sized components. The position of the parts probe is controlled by two sensors detecting top dead-centre of the drive cam. Acceptable tolerances for components can be preset. The addition of the second gauge unit allows programs of greater complexity to be developed. The programming of the detector is an excellent introduction to the use of logical detectors for in-process inspection and quality control.
NB: The plc in the picture is not supplied with the equipment.
PLC Applications
The elevator provides a sophisticated application to illustrate the principles of PLC interfacing and control based on a real-life application. Starting with simple programme sequences to control elevator speed, direction and floor arrival/ departure, the student can progress to advanced floor request handling and continuous (analogue) control with acceleration profiling and compensation for varying car loads. The elevator car moves between floors in response to requests from call buttons at each floor or within the elevator car (located on an external panel). Sensors indicate which floor the elevator car is at and provide advance warning to allow the car to be slowed prior to arriving at the destination floor. A brake allows the car to be held at a floor while the motorised car door is operated allowing the occupants to enter or leave. An audio sounder is provided to announce arrival at a floor. The internal controller unit provides closed-loop motor speed control with both logic & analogue interfaces so the elevator can be controlled by a basic PLC with minimal digital I/O. More sophisticated control may be implemented using additional analogue I/O. An integral load-cell and motor position feedback can extend the application to continuous control. The load-cell indicates elevator car loading and a set of weights simulate varying numbers of passengers. The position feedback signal allows advanced control of the elevator car motion.
Digital inputs:
Open/close car door Brake release Car going up indicator Car going down indicator Car on its way floor 4 down Car on its way floor 3 down Car on its way floor 3 up Car on its way floor 2 down Car on its way floor 2 up Car on its way floor 1 up Destination floor 4 (car indicator) Destination floor 3 (car indicator) Destination floor 2 (car indicator) Destination floor 1 (car indicator) Car 100%, 60% & 30% speed Car direction up/down Arrival bell
Curriculum Coverage
! Fundamentals of logic ! Basics of PLC programming ! Developing ladder logic programmes ! Basic and advanced sequence control
Analogue outputs:
Car speed Car position Car passenger load
Analogue inputs:
Car speed demand Motor current demand
MATLAB Matlab
SOFTWARE
Phenomenological process models Dynamics analysis Discrete models identification Controller design Controller tests on the model Controller implementation in real-time applications Implementation of various control strategies Data visualisation
The Phenomenological process models are designed in SIMULINK to provide initial models for the user to test. Model linearization is then discussed and the use of simple dynamics analysis - like bode diagrams poles and zeros maps are introduced. To obtain accurate models Identification procedures incorporating MATLAB functions are described. The user has a chance to go step-by-step through the discrete models identification. One of the obtained models is used for the Controllers design and PID control is explained. A guide is given for PID controller design, testing, tuning and implementation on the model. Root locus technique is used to illustrate the changes that PID controller tuning inflicts on the control system performance. The designed controllers are prepared in SIMULINK to be built and tested through the Real-time Workshop using the Feedback control applications. The series of assignments provide a comprehensive course, and the user has a choice of using the pre-written applications, according to the manual, or designing their own.
time (sec)
Plot showing comparison between pendulum angle and corresponding control signal
MATLAB Matlab
SOFTWARE
position
! Real-time PID control of cart
position
! Real-time swing-up control ! Inverted pendulum control of
swing-up
! Inverted pendulum stabilisation ! Crane control ! Combined control techniques ! Swing-up and hold ! Up and down model
The Digital Pendulum is a modern version of a classical control problem; that of erecting and balancing a free swinging pendulum in its inverted position or moving a hanging pendulum in a controlled manner. The cart on the track is digitally controlled to swing up (SELF ERECTING) and to balance the pendulum into an upright sustained position or to move the cart with pendulum in an unperturbed down position. The cart track is of limited length, imposing constraints on the control algorithm. In pendulum mode the system is used to control the twin arm pendulum from an initial position, hanging at rest with the cart in the centre of its travel along the track, to a final position with the pendulum upright and the cart restored to its central position. In crane mode the control problem is to move the position of the cart without undue movement of the pendulum. This problem is typical of that experienced when controlling a gantry crane.
This classic magnetic levitation control problem is now presented in a new and innovative form. A 25mm diameter, hollow steel sphere is suspended in space with visually appealing results and convenient time constants. Both analogue & digital control solutions are implemented. Convenient sockets on the enclosure panel allow for quick changes of analogue controller gain and compensation components. The equipment is self-contained in analogue mode, with built-in power supply. In the digital mode the system operates within a MATLAB environment which allows the system parameters to be determined and the system to be modelled. Once the digital controller parameters have been determined, the controller can be used to run the hardware and the actual control performance can be seen and analysed.
Digital operation
! Unstable system ! Linearisation about an operating point ! Non linear model ! A/D and D/A conversion ! State space PD control ! PID control ! Calibration ! Regulation and tracking control
MATLAB Matlab
SOFTWARE
Curriculum Coverage
! 1- Degree of Freedom (DOF) PID stabilising and tracking horizontal controller ! 1- DOF PID stabilising and tracking vertical controller with gravity compensation ! 2- DOF PID stabilising and tracking controller ! Parameter tuning ! Coupled dynamics analysis ! Dynamics decoupling ! Phenomenology analysis ! Model identification
Curriculum Coverage
! Precision Modular Servo (PMS) ! Testing the dc motor model ! PMS model identification
! Static friction compensation Model 1 & 2 identification
The Precision Modular Servo Workshop has been designed to give a rapid and direct path from control system design to hardware implementation. The resolution and accuracy of the system, and the consistency of its performance, makes the Precision Modular Servo Workshop ideal for serious study of digital linear servo control systems. As well as allowing study of digital control the Precision Modular Servo Workshop also provides a complete introduction to servos, from fundamental studies of analogue servos through to full, real-time digital control using MATLAB, SIMULINK, Real-time Workshop and Real-time Windows Target. It is fully supported with laboratory assignments which have been designed to give students a full understanding of the control paths within the equipment. For those customers who wish to upgrade their existing MS150 system to a 33-008 there is an Upgrade Pack 33-310-PCI comprising a Incremental Encoder, D/A, A/D Converter, software, cables and Courseware.
MATLAB Matlab
SOFTWARE
and SIMULINK ! Self-contained unit can be either floor or bench mounted ! Connects via the Feedback Universal Control Interface (UCI) & uses Feedback Control Software (FCS) for the control signals ! Four tanks each with pressuresensor water level measurement and easy-to-read visual scale ! Two independently controlled pumps allow variable flow control ! Easy to configure coupling between tanks allows for a wide range of control scenarios from basic to advanced level ! Can be configured as Single Input Single Output (SISO) or Multiple Input Multiple Output (MIMO) system ! System dynamics can be modified using easy to change orifice caps ! The UCI can run with MATLAB or as a stand-alone controller using Feedback Control Software, where the same algorithms used in SIMULINK can be utilised
Curriculum Coverage
! Nonlinear model ! Linearisation and linear model simulation ! 1 tank and 2 tank model identification ! PID control of water level in top tanks ! PID control of water level in bottom tanks ! Parallel PID control in two double tank columns ! Cross-coupling introduction and analysis ! Dynamics decoupling with cross-coupling identification ! PID control with decoupling ! Disturbance compensator with PID control
The Coupled Tanks set-up is a model of a chemical plant fragment. Often tanks are coupled through pipes and the reactant level and flow has to be controlled. The Coupled Tanks experiment is designed so that the system can be configured. The Coupled Tanks system has four translucent tanks each with a pressure sensor to measure the water level. The couplings between the tanks can be modified by the use of seven manual valves to change the dynamics of the system imposing the use of different controllers. Water is delivered to the tanks by two independently controlled, submersed pumps. Step disturbances generation is provided by four manual valves. Drain flow rates can be modified using easy to change orifice caps. There are two ways to control the Coupled Tanks set-up. One with the use of SIMULINK and the Advantech PCI1711 card, the second possibility is to use the Feedback UCI as a stand-alone controller. The user may build their own models or use the models supplied together with the curriculum. The UCI can perform as a stand-alone controller. The same algorithms designed in SIMULINK can be performed using a Windows based application. The process variables can be observed online on plots. The product is supplied with comprehensive student manuals that provide information about the physical behaviour of the system models and guide the student through the control tasks. Control algorithms are developed, tested on the models and then implemented in a real-time application.
Features
! Uses industry standard Process Controller, 4-20mA signals and RS232/RS485 serial communication bus ! Dual loop control ! Typical Industrial Processes ! Discovery software ! Real-time measurements and Control
Processes Covered
! Level & Flow ! Temperature
Pressure Rig 38-714
! Pressure ! pH
The Temperature Rig 38-600 and Level & Flow Rig 38-100 linked to the Forced Air Cooler 38-610
Power Electronics
The Feedback range of Power Electronics equipment covers thyristor control circuit principles and applications, through to the control of a dc motor, using Single and Three phase thyristor circuits.
Curriculum Coverage
! Single and Three phase uncontrolled rectification ! Single and Three phase controlled rectification ! Single and Three phase motor speed and current control ! Zero crossing, burst firing circuits ! Four Quadrant control ! Single and Three phase equipment
Ordering Information
Linear Servos
Servo Fundamentals Trainer Analogue Servo Trainer Digital Servo Trainer Analogue & Digital Servo Fundamentals Trainer Upgrade dc Modular Servo System ac Modular Servo System ac/dc Modular Servo System Complete Modular Servo System Upgrade Pack 33- 001- USB 33-002-USB 33-003-USB Pack 33 - 021 MS150 MS150A MS150-2 MS150-3 33- 310- PCI
*Ancillary Equipment
B B B A B
Transducers
Transducers Kit Complete Transducers Kit Introduction to Transducers Kit Electro-mechanical Transducers Kit Heat Transducers Kit Light Transducers Kit Measurements Package TK2942-001 TK2942-1 TK2941 TK2941E TK2941H TK2941L TK2941M
A A A A A# B !
D D D D
Control & Instrumentation - 0608-4 Printed in England Registered in England number 990620. A subsidiary of Feedback plc. Feedback reserves the right to change these specifications without notice.
Feedback Incorporated
437 Dimmocks Mill Road, Suite 27, Hillsborough, NC 27278, USA Telephone: (919) 644 6466 Fax: (919) 644 6470 E-mail: info@feedbackinc.com Website: www.fbk.com