Description : The apparatus demonstrates salient properties of flexible systems such as mode
shapes, natural frequencies, and characteristic transient and frequency responses. A secondary drive is positioned at any output (mass carriage) to create a MIMO plant. The plant can be transformed into a variety of configurations. It can demonstrate both lumped parameter dynamics and generic control issues. The mechanism features adjustable masses, interchangeable springs, and adjustable air damping. The system provides vivid demonstrations of elementary topics such as rigid body PID control, lead/lag compensators, phase and gain margin, trajectory tracking, and regulation – as well as advanced high order collocated and non-collocated system control.
The system clearly demonstrates salient properties of flexible systems such as mode shapes, natural frequencies, and characteristic transient and frequency responses. A secondary drive can be positioned at any output (mass carriage) to create a MIMO plant and provides for the study of disturbance rejection.
System Configuration : Three-Mass Rectilinear Plant has the following :-
Adjustable Masses by removing brass weights.
Mass Carriages : Extremely low friction ball bearing carriers.
Damper : Air type, adjustable, movable to any output.
Feedback Sensors : High resolution optical encoders @ each mass.
Springs : changeable/removable, 3 stiffnesses provided.
Servo Actuator : Brushless DC motor plus precision rack & pinion)
Features:-
• Number of Unique Configurations :Configurations : 12 Std, 16 with 3rd mass, 18 with second drive accessory
• Dynamics: 2nd, 4th, and 6th order, System types 0, 1, and 2. I/O: SISO, SIMO, MIMO (with sec. drive accessory) Poles and Zeros: Adjustable 1.5-7 Hz
• Mass Adjustment Ratio: 5:1
• Spring Adjustment Ratio: 2:1 (certain configurations)
• Damping Adjustment Ratio: >10:1
• Feedback : High resolution encoder (160 count/mm) High torque brushless servo motor, precision rack & pinion, 8 N output
Bench-Top Size : 31 x 66 x 15 cm / 12 x 26 x 6 Inch approx.
Safety Features : • Amplifier over-current protection,
• Motion limit microswitches & cushions. In firmware (complete system only)
• Relative Displacement Protection
• Over-speed Protection,
• Thermal Protection.
Utilities Requirements :-
• Electricity Supply : 220 VAC, 50 Hz, Single Phase
• Bench / Floor Area
