Advanced Control Systems - Automation Control

The circular double pendulum acrobatic robot is a new product of the inverted pendulum family. Based on the control of multiple-stage inverted pendulum swing up, the acrobatic robot controls the pendulum rod in different equilibrium status and interchange status so that the rod can erect when it is in motion. It can be applied in simulation of artificial intelligent control and other automatic control research and experiments. The robotic system adopts a large base to enhance its stability. Planetary gear and belt pulley are used for deceleration. Noise is thus reduced when the system is in motion. The length of the arm is adjustable; the electrical system uses industrial standard AC servo drive system and encoder to ensure its reliability when it is in motion. The electrical wiring of the rotation part adopts slip ring connection. Googol’s PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.

System model and characteristics:

• Open architecture system structure.
• Unlimited revolutions of the arm.
• Encoder signal is fed via the slip ring, no limitation on number of revolutions.
• System input: acceleration of the motor; system output: motor position and speed, angular speed, angle of the pendulum rods.
• A typical single-input, multiple-outputs, coupled non-linear system.

 

Reference experiments:

• Modeling and analysis of nonlinear system
• Modern control theory experiment
• Intelligent control algorithm experiment
• Swing up control experiment

The 3DOF helicopter simulator, which has 3 degrees of freedom in rotation, is a new educational product developed by Googol Technology. It is not only of great value in the field of aviation and space flight research but also ideal to evaluate feedback strategies, such as PID, LQR, H infinity, fuzzy, neural net - any one you wish to implement. As one of the newly recommended products, its hardware system is matched with a textbook which covers classical control, modern control and dynamic modeling experiments in details, so it offers the students and researchers in the fields of automation and mechatronics a unique opportunity to control the pitch and yaw of a simplified helicopter.

Structure and Operation Principle

The 3DOF helicopter simulator consists of a pedestal upon which a long arm is mounted. The arm carries the "helicopter body" on one end and a counterweight on the other. The arm can also tilt about an "elevation" axis as well as swivel about a vertical (travel) axis. Optical encoders mounted on these axes allow for measuring the elevation and travel of the arm. The helicopter body mounted at the end of the arm is free to pitch around the "pitch" axis. The pitch angle is measured via a third encoder. Two motors with propellers mounted on the helicopter body can generate a force proportional to the voltage applied to the motors. The force generated by the propellers causes the helicopter body to lift off the ground. The counterweight can reduce the power requirements on the motors; it is adjusted so that the effective mass of the body is proper. All electrical signals to and from the arm are transmitted via a slip-ring in order to eliminate the possibility of tangled wires and reduce the amount of friction.

System Features

• Hardware platform based on PC and DSP-based motion controller.
• Experimental entity platform provided for the major of aviation.
• Comprehensive experiment kit, covering the dynamic modeling, classic control experiment, modern control experiment, optimized control experiment and intelligent control experiments. Users can select relevant algorithm for the experiment and teaching needs of various courses.

 

Applicable Courses

• Mechanical control engineering
• Automatic control principle
• Modern control engineering
• Linear control system
• Computer control system

Magnetic Levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

System Features

• Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
• Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
• Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
• Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.

 

Control Principle

• When the ball moves up and down vertically under the electromagnet, the laser sensor right below the ball detects the distance between the apex of the ball and the lowest part of the electromagnet. It converts the voltage signal to the controller. The controller calculates the output current level of the electromagnet coils. The emerged magnetic force can levitate the ball under the electromagnetic stably in any arbitrary position within the range.
• Due to the characteristic of the mathematical modeling of the device that the composed unit is unstable without the controller, a corresponding controller must be designed to stabilize the system. As the linearization has to be carried out around a non-zero operating point, it is therefore very challenging.

 

Experiment Content:

• Based on Matlab platform:
• System modeling experiment and analysis;
• PID tuning & PID controller design;
• Root locus tuning, frequency domain method tuning, and status feedback
• Based on analog control system:
• PID tuning & analog control experiments.

Matlab Control Interface

Overview:
An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and some other key performance in control will be examined in the process of controlling such system. The self-balancing robot is in fact a movable 3 Dof inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels.

System Characteristic:

• More degree of freedom compare to linear and planar inverted pendulum
• Using real-time workspace in MATLAB.
• Embedded PC104 system with windows operating system
• Online editing and modifying the control algorithm.
• Various extension interface for add-on sensors, e.g. vision
• Providing MATLAB functions

 

Reference Experiments:

• Gyro application and experiments.
• System Modeling
• Open Loop System Analysis
• PID Controller Design
• Pole Placement Controller Design
• LQR Controller Design
• User Defined Controller Design

 

Ordering Guide:

Overview:
Automatic Storage System consists of mechanic, electrical, control and management system, which covers all aspects of modern logistic technology, such as motion control, PLC control, database and network technology, etc. It is the indispensable subsystem of realizing modern automatic manufacturing and automatic logistic system. The automatic storage system developed by Googol Technology is based on storages systems that are similar to industrial ones. They are suitable for the of graduation design projects of technical institutes, course design, internship experiments, research of instructors, development and other requirements.

Main Components:

• Warehouse structure containing 24 storage bins
• Stacker crane: 2 AC servo motors for XY plane positioning, the cart is pneumatically actuated
• Exchange table: controlled by step motor
• Electrical control module: motor driver + GT-400-SG motion controller

 

Ordering Guide:

Introduction:

• The Inverted Pendulum System (IP) is a classical experiment device for undergraduate and graduate students for learning control algorithm. Rotary motor is usually used and linear motion is achieved by indirect conversion of synchronous belt. The all new Direct Drive Motor Inverted Pendulum System by Googoltech using advanced cylindrical linear motor for direct driving. It gets rid of intermediate transformation segment of indirect control mode. The modeling process is thus more accurate and reliable. This new type of direct drive mode is modern and can stimulate the curiosity as well as learning passion of the students.

System Characteristics:

• Cylindrical linear motor and advanced position detection technology are adopted so that the system structure is simple. Students can better understand the motion principle of electromechanical system through learning.
• Students can carry out PID, root locus, LQR and other controller design with the attached Matlab examples. They can feel the enchantment of automatic control technology.
• When implementation of control algorithm in Matlab environment is completed, students can set up their own DSP, ARM, FPGA, MCU and other platforms for higher efficiency real-time control of the inverted pendulum.

 

Control Principle:

• DDR Linear Inverted Pendulum is a typical single input double output system with acceleration of motor as input, swinging rod angle and motor position as outputs. By detecting and sending back angle of swinging rod and motor position to the controller, a suitable acceleration control generated by the controller is transferred to the motor to keep the swinging rod in vertical upward state. The motor is also kept stably within the set balanced position. The below diagram is the system diagram of the DDR IP based on LQR control algorithm.

 

Experiment Content:

• System modeling
• PID controller design, Root locus controller design
• Frequency domain model controller design
• State space model controller design etc.

 

Ordering Guide:

Overview:
GBB series Ball & Beam control system are specially designed for courses in automatic control principle, modern control engineering, and electrical motor control. It is able to control the position of a stainless steel ball on the track by adjusting the rotating angle of a beam. The system consists of two parts, namely the Ball & Beam body and the control system. The Ball & Beam body consists of a v-grooved steel bar and a free rolling ball. The linear sensor measures the position of the ball on the track by measuring the output voltage from the stainless steel bar. A DC motor is connects to a gear reducer, which controls the angle of beam, accordingly realize the position control of the ball. Experiments such as system modeling, design of feedback controller, P, PD and PID control system design, design controllers using root locus methods, and frequency response methods etc. can be achieved with this experiment platform.

Ordering Guide :

Overview:
The analog control module can be combined with Googol Techs automatic control experiment devices to perform typical closed-loop analog circuit experiments, magnetic levitation ball control experiments, ball & beam control experiments and many other experiments. Students can apply the analog control in many different fields and have a better understanding of automatic control theories and knowledge through these experiments. It is suitable for mechatronics, machinery and automations, automation majors and other related experiments teaching purpose.

System configuration:

• The analog control module is composed of the followings:
• Linear amplifying driving circuit, voltage: 24V, current: 5A;
• operational amplifiers which can form 2 PID controllers;
• Signal generator: triangle wave, sinusoidal wave and square wave;
• Adjustable voltage output;
• Circuit board for students to set up their own circuits;
• Current loop, speed loop are used to detect the circuit;
• DC power, 24V, 6A

 

Ordering Guide:

Overview:
The Magnetic Levitation System (MLS) is composed of an LED light source, an electromagnet, an optoelectronic sensor, amplifier module, an analogue control module, data acquisition card, and a steel ball, etc. Its structure is simple, yet the control effect is very intuitional and interesting. One can easily levitate one or more steel balls in a steady-state position and keep them floating. This system synthesizes main experimental contents in control area and satisfies many experiment requirements such as automatic control, control theory, and feedback system, etc, which are suitable for UG or PG course designs and algorithm research as well.

Control Principle:

• The MLS is a typical non-linear open-loop unstable system. By passing a certain amount of electric current through the electromagnetic winding, it will generate an electromagnetic force. By regulating the electric current in the circuit, the electromagnetic force can be adjusted to be equal to the weight of the steel ball, thus the ball will levitate in equilibrium state. However, this state is an open-loop unstable equilibrium; it is because the electromagnetic force between the electromagnet and the steel ball is inverse proportional to the square of the distance between them. Once the equilibrium state is slightly interfered (For instance, pulsation of the voltage across the electromagnet winding, or vibration around the system, etc), the ball will drop or be gripped by the electromagnetic winding, so the system has to be a closed-loop control system.
• The measuring equipment, which is composed of an LED light source and a sensor, can detect the variation of the distance between the steel ball and the electromagnetic winding. When the ball is dropping due to interference, the distance will increase. The sensor detects the variation of light intensity and generates a related signal. After the adjusting process by the controller and the magnifying process by the amplifier, the control electric current passing the electromagnetic will increase, the steel ball will be attracted back to the equilibrium position.

 

Ordering Guide:

Overview:
The GSMT series DC servo control experiment platform provides the basic experiment device for elementary control and automation courses in electronic and computer engineering, mechanical engineering. Various experiments such as system identification, modeling of DC servo motor, controller design and controller performance analysis etc. can be performed. With this platform, users can understand the basic principles of PID's influence on system performance index, master the method to adjust the PID current controller, speed controller and position controller parameters of the DC servo motor and comprehend the influence of damping torque and disturbing torque on position and speed control performance, so as to learn the practical skills of the motion control. The series contains GSMT2012, the system of intelligent servo drive-based single motor; and GSMT2014, the system of twin motors based on high-performance motion controller GT-400 developed by Googoltech and the intelligent servo drive, which enables the real time control experiment under MATLAB/Simulink, and covers system modeling and stability analysis, time-domain analysis of second-order system, root locus analysis of third-order system, frequency-response analysis, PID calibration, root locus correction, frequency domain method correction and state feedback. By contrasting different control methods, one can better understand the control theories and learn their applications. In addition, Googoltech also provides controller free DC servo experiment platform GSMT2004 that allow users to integrate the self-developed controller or third party controllers flexibly. The model GSMT2004 come with sensors of DC servo motor, encoder, speed measuring motor, rectilinear potentiometer.

Control Modes:

• Digital Control: The basic model (GSTM2012) uses PC com port to communicate with the intelligent driver and motor with velocity and position.
• Analog Control: The optional analog control box model GAES1001 directly uses amplifier to control the motor by the analog circuit. User could implement simple PID control.
• Control under Googoltech motion controller: For model GSTM2014 only, using dedicated PCI motion controller model from Googoltech to achieve real time control in the MatLab environment with high accuracy and degree of linearity.

Overview:
Magnetic levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

System Features:

• Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
• Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
• Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
• Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.

 

Control Principle:

• When the ball moves up and down vertically under the electromagnet, the laser sensor right below the ball detects the distance between the apex of the ball and the lowest part of the electromagnet. It converts the voltage signal to the controller. The controller calculates the output current level of the electromagnet coils. The emerged magnetic force can levitate the ball under the electromagnetic stably in any arbitrary position within the range.
• Due to the characteristic of the mathematical modeling of the device that the composed unit is unstable without the controller, a corresponding controller must be designed to stabilize the system. As the linearization has to be carried out around a non-zero operating point, it is therefore very challenging.

 

Experiment Content:

• Based on Matlab platform
• System modeling experiment and analysis;
• PID tuning & PID controller design;
• Root locus tuning, frequency domain method tuning, and status feedback.
• Based on analog control system
• PID tuning & analog control experiments.

Matlab Control Interface:

• Use Root Locus Control as an example (support Matlab version 2012b or above)

 

Control Configurations:

• Digital Control
• The standard model (GML2001) uses PCI Data acquisition card to communicate with the Magnetic levitation system drive.
• Analog Control
• The analog control box model GAES1001 directly uses amplifier to control the system by two control schemes: current control and voltage.
• Any other third party or self developed controller.

Overview:
The circular inverted pendulum series of products adopts an open architecture control solution and a modularized experiment platform. With the circular motion module as the base platform, it is easy to build circular one-stage inverted pendulum, circular two-stage serial inverted pendulum, circular two-stage parallel inverted pendulum, and even the combined serial-parallel inverted pendulums of three- and four-stages, satisfying the various needs for control teaching and research.Googol＊s PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.

Main Feature:

System Specification

• Circular track with no travel limit for the inverted pendulum, suitable for swing up algorithm design.
• Slip ring to feed signal to the controller.
• Floor-standing structure, no workbench is required.
• Industrial incremental encoder l feedback and AC servo motor.

 

Open Architecture

• Open platform based on PC and DSP-based motion controller.
• Open experiment verification and demonstration program of DOS version, with source codes provided, especially suitable for research of control algorithm.
• Googol Simulink software experiment platform provided for experiments such as system modeling, simulation and real time control.

 

User Creativity

• Configure unique experiment platform
• Develop and verify one＊s own control algorithm.
• Tackle the challenging control problems of controlling t the balance of parallel inverted pendulum and starting of serial inverted pendulum.

 

Modularized Platform

• Circular motion module
• Circular one-stage inverted pendulum
• Circular two-stage serial inverted pendulum
• Circular two-stage parallel inverted pendulum
• Combined serial and parallel inverted pendulum of three- and four-stages

 

Ordering Guide:

 

  

EMECS is a set of electro-mechanical devices for control engineering research and education. EMECS consists of modular mechanical and electrical hardware such that a variety of control experiments can be easily constructed and are suitable for all level of instruction. It is also sophisticated enough to provide a platform for investigating a variety of control related problems such as system modeling, system identification, linear control, nonlinear control, optimal control, haptic control, intelligent control, and switching control to name just a few. In addition to hardware, Simulink blocks for the experiments are provided to help users in control design and simulation. Furthermore, in Simulink environment, xPC Target™ provides a high performance host-target environment that enables you to connect your Simulink® and Stateflow® models to physical systems and execute them in real time on Micro-Box 2000/2000C. xPC Target includes proven capabilities for rapid prototyping, hardware-in-the-loop testing, and application deployment in an open hardware architecture. The required hardware and software are given below.

Overview:
The planar inverted pendulum series adopt an open architecture control solution and a modularized experiment platform. With XY table and 2-DOF robot arm module as the base platform, adding a 2-DOF ball joint, an one-stage or a two-stage inverted pendulum is developed to provide a more challenging research and experiment platform. A planar inverted pendulum simulates more closely the control and visual effect of an inverted handstand of an acrobat or the launching position control of a missile or rocket.

Industrial Grade Experiment Platform:

• XY table, 2-DOF robot arm and 2-DOF ball joint are all designed and manufactured according to industrial standards.
• Industrial incremental encoder and AC servo motor

 

Open Architecture:

• Hardware platform based on PC and DSP-based motion controller.
• Experiment verification program (DOS version), with source codes provided.
• Control software in MATLAB Simulink. Easy to development users controllers.

 

User Creativity:

• Developing and testing ones own control algorithms.
• Challenging the control problems concerning the two-grade Planar IP control algorithms.

 

 Ordering Guide :  

Overview:

The 3DOF helicopter simulator, which has 3 degrees of freedom in rotation, is a new educational product developed by Googol Technology. It is not only of great value in the field of aviation and space flight research but also ideal to evaluate feedback strategies, such as PID, LQR, H infinity, fuzzy, neural net - any one you wish to implement. As one of the newly recommended products, its hardware system is matched with a textbook which covers classical control, modern control and dynamic modeling experiments in details, so it offers the students and researchers in the fields of automation and mechatronics a unique opportunity to control the pitch and yaw of a simplified helicopter.

Structure and Operation Principle:

The 3DOF helicopter simulator consists of a pedestal upon which a long arm is mounted. The arm carries the "helicopter body" on one end and a counterweight on the other. The arm can also tilt about an "elevation" axis as well as swivel about a vertical (travel) axis. Optical encoders mounted on these axes allow for measuring the elevation and travel of the arm. The helicopter body mounted at the end of the arm is free to pitch around the "pitch" axis. The pitch angle is measured via a third encoder. Two motors with propellers mounted on the helicopter body can generate a force proportional to the voltage applied to the motors. The force generated by the propellers causes the helicopter body to lift off the ground. The counterweight can reduce the power requirements on the motors; it is adjusted so that the effective mass of the body is proper. All electrical signals to and from the arm are transmitted via a slip-ring in order to eliminate the possibility of tangled wires and reduce the amount of friction.

System Features:

• ardware platform based on PC and DSP-based motion controller.
• Experimental entity platform provided for the major of aviation.
• Comprehensive experiment kit, covering the dynamic modeling, classic control experiment, modern control experiment, optimized control experiment and intelligent control experiments. Users can select relevant algorithm for the experiment and teaching needs of various courses.

 

Applicable Courses:

• Mechanical control engineering
• Automatic control principle
• Modern control engineering
• Linear control system
• Computer control system

 

Ordering Guide:

Overview:
Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics, thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling. The linear inverted pendulum series products developed by Googol Technology adopt an open control solution and a modularized experiment platform. With the linear motion module as the base platform, it is easy to build more than 10 teaching and experiment control platforms, satisfying the various needs for control teaching and research.

Industrial Grade Components:

• All the modules are designed and manufactured with industrial components. For example, the sliding guide bars are made of precision stainless steel, the synchronization gear belt is a gear belt of industrial grade, and the base platform has the vibration absorption function.
• Industrial grade encoder, AC servo motor and drive to ensure best quality and reliability. Compared with similar products of other brands using DC motors, the AC servomotor offers the additional advantage of no maintenance on brushes and longer service life.
• Limit switches, anti-collision buffer device, as well as the unique structure design provide excellent system safety, especially suitable for students.

 

Open Architecture:

• Hardware platform is based on PC and DSP-based motion controller.
• Experiment verification and demonstration program of DOS version, with source codes provided.
• MATLAB Windows2000 experiment program, with SIMULINK as user interface can build model, perform simulation and analysis, evaluate control performance, and improve control system directly.
• Comprehensive experiment kit , covering the dynamic modeling, classic control experiment, modern control experiment, optimized control experiment and intelligent control experiment. Users can select relevant material for the experiment and teaching needs of various courses.

 

User Creativity:

• Flexible configuration of customized experiment platform.
• Develop and verify one's own control algorithm.
• Tackle the challenging control problems related to three- and four-stage inverted pendulum.

 

Applicable Courses:

Mechanical engineering control fundamentals, automatic control principle, modern control engineering, linear control system and computer control system etc.

 

Recommended Text Books

Modern Control Engineering (Third Edition)

[USA] Author: Katsuhiko Ogata, Translated by Lu Boying, Yu Haisun, etc. Published by Electronic Industry Publishing Company, 2000.

Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics, thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling. The linear inverted pendulum series products developed by Googol Technology adopt an open control solution and a modularized experiment platform. With the linear motion module as the base platform, it is easy to build more than 10 teaching and experiment control platforms, satisfying the various needs for control teaching and research.

Industrial Grade Components

• All the modules are designed and manufactured with industrial components. For example, the sliding guide bars are made of precision stainless steel, the synchronization gear belt is a gear belt of industrial grade, and the base platform has the vibration absorption function.
• Industrial grade encoder, AC servo motor and drive to ensure best quality and reliability. Compared with similar products of other brands using DC motors, the AC servomotor offers the additional advantage of no maintenance on brushes and longer service life.
• Limit switches, anti-collision buffer device, as well as the unique structure design provide excellent system safety, especially suitable for students.

Applicable Courses:

Mechanical engineering control fundamentals, automatic control principle, modern control engineering, linear control system and computer control system, etc.

The Four-Rotor Hover Vehicle consists of motors with air screws, encoders, drive modules, motion controllers and slip rings, etc. It is a highly coupled multiple degrees of freedom system. Different flight controls such as elevation and depression, inclination and hovering of the vehicle can be achieved. The system is suitable for undergraduates, postgraduates and control theory researchers to carry out verification and research of control theory such as optimal control, robust control, etc.

The four-rotor hover vehicle is powered by the 4 airscrews of the motors placed at the gumball shaft. The front, left and right motors drive the corresponding airscrews to fulfil the elevation and depression of the vehicle, the left and right motors drive the corresponding airscrews to overturn the vehicle, while the rear motor drives the corresponding airscrews to realize the navigation of the vehicle. The 3 encoders which are installed on the platform detect the different aviation statuses of the vehicle and form a closed loop system, thus fulfil precise positioning of the elevation and depression, tilting and hovering of the vehicle. Slip rings are installed in the base of the vehicle so that the wirings will not tangle up when the vehicles rotate freely. It also helps to reduce friction.

Main Features

• Open architecture design
• Hardware platform based on PC and open architecture DSP motion controller
• Typical multi-input multi-output system (MIMO)
• Attractive appearance

 

Reference Experiments

• System modelling and analysis experiment
• System open loop response analysis
• PID controller design

The circular inverted pendulum series of products adopts an open architecture control solution and a modularized experiment platform. With the circular motion module as the base platform, it is easy to build circular one-stage inverted pendulum, circular two-stage serial inverted pendulum, circular two-stage parallel inverted pendulum, and even the combined serial-parallel inverted pendulums of three- and four-stages, satisfying the various needs for control teaching and research.Googol’s PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.

System Specification

• Circular track with no travel limit for the inverted pendulum, suitable for swing up algorithm design.
• Slip ring to feed signal to the controller.
• Floor-standing structure, no workbench is required.
• Industrial incremental encoder l feedback and AC servo motor.

Open Architecture

• Open platform based on PC and DSP-based motion controller.
• Open experiment verification and demonstration program of DOS version, with source codes provided, especially suitable for research of control algorithm.
• Googol Simulink software experiment platform provided for experiments such as system modeling, simulation and real time control.

User Creativity

• Configure unique experiment platform
• Develop and verify one’s own control algorithm.
• Tackle the challenging control problems of controlling t the balance of parallel inverted pendulum and starting of serial inverted pendulum.

Modularized Platform

• Circular motion module
• Circular one-stage inverted pendulum
• Circular two-stage serial inverted pendulum
• Circular two-stage parallel inverted pendulum
• Combined serial and parallel inverted pendulum of three- and four-stages

The planar inverted pendulum series adopt an open architecture control solution and a modularized experiment platform. With XY table and 2-DOF robot arm module as the base platform, adding a 2-DOF ball joint, an one-stage or a two-stage inverted pendulum is developed to provide a more challenging research and experiment platform. A planar inverted pendulum simulates more closely the control and visual effect of an inverted handstand of an acrobat or the launching position control of a missile or rocket.

Industrial Grade Experiment Platform

• XY table, 2-DOF robot arm and 2-DOF ball joint are all designed and manufactured according to industrial standards.
• Industrial incremental encoder and AC servo motor

Open Architecture

• Hardware platform based on PC and DSP-based motion controller.
• Experiment verification program (DOS version), with source codes provided.
• Control software in MATLAB Simulink. Easy to development users’ controllers.

User Creativity

• Developing and testing one’s own control algorithms.
• Challenging the control problems concerning the two-grade Planar IP control algorithms.

Magnetic Levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

System Features

• Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
• Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
• Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
• Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.

Control Principle

• When the ball moves up and down vertically under the electromagnet, the laser sensor right below the ball detects the distance between the apex of the ball and the lowest part of the electromagnet. It converts the voltage signal to the controller. The controller calculates the output current level of the electromagnet coils. The emerged magnetic force can levitate the ball under the electromagnetic stably in any arbitrary position within the range.
• Due to the characteristic of the mathematical modeling of the device that the composed unit is unstable without the controller, a corresponding controller must be designed to stabilize the system. As the linearization has to be carried out around a non-zero operating point, it is therefore very challenging.

Experiment Content

• Based on Matlab platform
• System modeling experiment and analysis
• PID tuning & PID controller design
• Root locus tuning, frequency domain method tuning, and status feedback.
• PID tuning & analog control experiments.

Pilot Plant for the production of bio-ethanol from sugar cane or, optionally, from tubers (sweet sorghum, manioc, potatos, rice or corn). The pilot plant for the production of bio-ethanol from de lorenzo reflects the experiencethat our company has accumulated in the field of renewable energies. the production is in four steps according to the following block diagram and specifications. on request, it is possible to produce alcohol with tubers (sweet sorghum, manioc, potato, rice and corn) with additional grinders.

Automatic Control Experiment BoxThe automatic control experiment box uses a semi-physical simulation to achieve an understanding of the principles of automatic control. The semi-physical simulation is to connect the mathematical model, the solid model and the actual equipment of the system to form a simulation system. When simulating this system, the physical intervention in the analog loop requires that the simulation be performed on-the-fly. The simulator must acquire dynamic input signals under the conditions of synchronization with the real system and generate dynamic output responses in real time. The experiment box is free to design a variety of circuits with various components, and the Matlab software platform can be used to simulate experimental phenomena and results in real time. The experimental box design is compact and suitable for large-volume placement in the laboratory to meet the experimental needs of the team.

Experiment Details:

¿¿¿  Mechanism Modelling
¿¿¿  Experimental Modelling
¿¿¿  Time Domain Analysis
¿¿¿  Frequency Domain Analysis

¿¿¿  PID Correction
¿¿¿  Root Locus Correction
¿¿¿  Time Domain Correction

¿¿¿  Pole Placement Experiment

¿¿¿  State Feedback Experiment

• Item Code: GPNSCC-201703
• Delivery Time: 8 to 10 weeks