DC Servo Trainer - Googol Technology

DC Servo Trainer - Googol Technology
GOOGOL
TECHNOLOGY
DC Servo Trainer
USER AND EXPERIMENTAL
MANUAL
Suitable for GSMT Series
First Edition, July, 2009
Be sure to give this instruction manual to customers!
z Thank you very much for purchasing DC SERVO TRAINER (GSMT Series) of Googol Tech.
z Be sure to read this manual carefully before operation.
z For any technical trouble, call us or visit http://www.googoltech.com on the World Wide Web
for consultation.
z After reading this manual, keep it handy so that it can be referred to at anytime.
©Googol 2009
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GOOGOL TECHNOLOGY
DC Servo Trainer
Copyright Statement
Googol Technology (HK) Limited
All rights reserved
Googol Technology owns the patent, copyright or any other intellectual property right of this
product and its software:
DC SERVO TRAINER series including ljDC SERVO TRAINER User and Experiment ManualNJ
Under the copyright laws, no one shall directly or indirectly duplicate, produce, process or use
this product and its relevant parts in any form without the prior written permission of Googol
Technology.
Disclaimer
Googol Technology reserves the right of modifying the products and product specifications
described in this manual without notification in advance.
Googol Technology is not responsible for any direct, indirect, special, incidental or
consequential loss or liability caused by using this manual or product incorrectly.
Trademarks
Windows and Microsoft are registered trademarks of Microsoft Corporation.
Matlab is trademark of Mathworks Inc.
CAUTIONS ON SAFETY
Linear inverted pendulum systems are mainly used for education and research purpose.
Before installation, operation and maintenance, please read this manual carefully. After reading
this manual, keep it handy so that it can be referred to at anytime.
CAUTIONS ON USING
Before use (installation, operation, maintenance, examine and repair), please
make sure to comprehend this manual and other related materials. Do not use the
©Googol 2005
I
GOOGOL TECHNOLOGY
DC Servo Trainer
equipment until user get familiar with the machine property, safety caution and
instructions.
For Technical or Customer Support
You can reach our Customer Support group in the following ways:
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E-mail questions to Support@googoltech.com
Fax questions to (+86) 755-26970846
Call us at (+86) 755-26970835
Contact your local Googol sales office or authorized Googol distributor
Send questions by mail to:
Googol Technology (sz) Ltd
Room W211 IER Building, South Area ShenZhen Hi-tech Industrial Park.
Post code: 517057
Googol Technology (HK) Limited
Googol Technology (SZ) Limited
Room 3639, Annex Building, HKUST,
Clear Water Bay, Kowloon, Hong Kong
2/F, West Wing, IER Building, High-Tech
ParkˈNanshan, Shenzhen, China
Tel.: (852) 2358 1033, (852) 2719 8310
Tel: (86)755 2697 0817; (86)755 26970838
Fax: (852) 2719 8399
Fax: (86)755 2697 0846
http://www.googoltech.com
http://www.googoltech.com.cn
©Googol 2005
II
GOOGOL TECHNOLOGY
DC Servo Trainer
Contents
Copyright Statement ................................................................................................................. I
Disclaimer ................................................................................................................................. I
Trademarks................................................................................................................................ I
CAUTIONS ON SAFETY........................................................................................................ I
CAUTIONS ON USING .......................................................................................................... I
For Technical or Customer Support ......................................................................................... II
Contents ............................................................................................................................................3
Overview...........................................................................................................................................4
Experiment 1: DC servo motor modeling and identification ....................................................6
Experiment purpose ..........................................................................................................6
Experimental principle ......................................................................................................6
Experiment device.............................................................................................................8
Experiment content ...........................................................................................................9
Experiment 2: Intelligent servo controller ..............................................................................10
Experiment purpose ........................................................................................................10
Experiment principle.......................................................................................................10
Experiment device...........................................................................................................13
Experiment content .........................................................................................................13
Experiment 3: Sensor measurement and motor control in MATLAB.....................................15
Experiment purpose ........................................................................................................15
.Experiment principle......................................................................................................15
Experiment device...........................................................................................................17
Experiment content .........................................................................................................17
Experiment 4: DC servo velocity adjustment with PID ..........................................................18
Experiment purpose ........................................................................................................18
Experiment principle.......................................................................................................18
Experiment device...........................................................................................................19
Experiment content .........................................................................................................19
Course project .................................................................................................................................20
Experiment 5: Control system using root locus method .........................................................20
Experiment 6: Control system design using frequency response analysis ..............................20
Experiment 7: Control system design sing pole-placement method .......................................20
Experiment 8: PID controller design for analogue control system .........................................20
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GOOGOL TECHNOLOGY
DC Servo Trainer
Overview
This platform is mainly used in DC servo motor control experiments. It can
satisfy the basic experiments and researches on motion control system such as motor
control, electronic and tracking and so on. Because of its simple structure, it is
convenient to do experiments and easy to analyze the results.
DC servo motor has the advantage of small volume, fast dynamic performance,
high overload and large range of velocity adjustment. So it is widely used in the servo
systems for precious velocity adjustment or position tracking. Despite of the quick
development of AC servo motor, DC servo motor still plays an essential role,
especially in cannon stable system, warship-based platform, radar antenna, robotic
control system.
Two loops architecture, i.e. velocity loop and current loop is usually used in
traditional DC servo control system, and velocity measure motor, current sensors (hall
devices) or analogue electronic circuits are used to realize velocity closed-loop
control. So it is simple, high reliable and low cost but hard to manipulate. While in
modern DC servo control system, high speed digital signal processor (DSP) is adapted
to sample the velocity and current signal, and to realize various functions such as
comparing, filtering, pulse width modulation (PWM), and precious velocity control.
Although digital velocity adjustment system has a more complicated structure, little
higher cost, it is easier to adjust and has much higher precision.
In this platform, one can use PWM servo driver which has torque, velocity and
position control models. In addition, one can use analogue control model as well
which adapts linear amplifier in driving circuit, so it is convenient to do electric and
electronic experiments just like in analogue control system. MATLAB and LabVIEW
can be used as experiment graphic interface and VC Libraries used in VC
environment is provided as well.
System control diagram is shown as follows:
Usc
Us
Cotroller
Driver
Motor
Encoder
Sensor
4
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