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 for an ISA slot and
an executable controller program (MS-Windows) Option
600-12. The adapter card as well as the program require
an IBM-AT-compatible PC. The "Practical Program"
(Win 3.1/Win 95) 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 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 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++/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.
Technical data are subject to change (Date
15-April-1999) |
