Advanced Control Systems - Automation Control

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• 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

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• 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

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• 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

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• 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.

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• 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.

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• 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.

• 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.

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• 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.

• 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.

• 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

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• 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.

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

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• 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.

• 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.

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• 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.

• 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.

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

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

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• 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.

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• 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 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.

• 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.

• 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

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• 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.

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

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• 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

• 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.

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

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• 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.

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

Product Price :Get Latest Price

• 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.

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.

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• 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.

• 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.

• 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.

Product Price :Get Latest Price

• 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.

• 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.

• 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.

Product Price :Get Latest Price

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

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

¿¿¿  Pole Placement Experiment

¿¿¿  State Feedback Experiment

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