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ELECTRO-MECHANICAL Engineering Control System (EMECS)

Features

EMECS is ophisticated 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, using The Mathworks Embedded Code and Texas Instruments Code Composer Studio, the user can automate the implementation of real-time control on a DSC-target board.

TeraSoft EMECS is to provide multi-function control model experiments to carry out the procedure of Theories→ Program simulations →Controller design → Hardware implements. Students can easily learn the control design theories from the whole procedure and verify it by implementing the laboratory experiences.

Multi-Function Model Experiments

EMECS consists of DSC-Target Controller, software and control module:

  1. DSC-Target Controller：

    • High performance 150MHz TI-F28335 Micro Controller and MATLAB/Simulink auto-code supported.

  2. Inertial Load Control Tuner：

    • Φ 60mm,Weight 75g
    • Supports position/speed/haptic control mode.

  3. Rotary Inverted Pendulum

    • ※ Arm
      → length: 16cm, Weight 60±5g
      ※ Pendulum
      → length: 16cm, Weight 25±3
      ※ Encoder:
      → 500 Pules/Rev. Weight 58±3g

  4. Servo-Motor Module

    • Weight: 3±0.1kg
    • Includes Servo-Motor and Enconder:
    • ※ Enconder(500 Pules/Rev.)
      ※ Servo-Motor（M5068-24V-6K）
      → Hightest efficiency: 5800RPM 1.6°/0.4Kgf-cm
      → Export power: 31.5 Watt
      → Starting Injector : 1.8Kgf-cm
    • Flexible Control System: Can also connect with other controllers.
Specification

Inertial Load Control Tuner：

  • Φ 60mm,Weight 75g
  • Supports position/speed/haptic control mode.

DSC-Target Controller：

High performance 150MHz TI-F28335 Micro Controller and DCmotor drive board

  • Rotary Inverted Pendulum
    • Arm : length 16cm, Weight 60±5g
    • Pendulum : length 16cm, Weight 25±3g
    • Encoder : 500 Pulses/Rev. Weight 58±3g

Servo-Motor Module

  • Weight: 3±0.1kg
  • Includes Servo-Motor and Encoder:
    • Encoder(500 Pulses/Rev.)
    • Servo-Motor(DC 24V)
      • Hightest efficiency: 5800RPM/1.6A/0.4kgf-cm
      • Output Power : 31.5 Watt
      • Starting Torque : 1.8Kgf-cm
  • - Flexible Control System:
    • → Can also connect with other controller

1 . DSC-Target Controller：

DSC target controller is an integration of a DSC Target controller and motor power driver.

  • Includes TMS320 F28335
  • 68K bytes on chip RAM
  • 512K bytes on chip Flash
  • 256K bytes off chip SRAM
  • I/O Functions
    • ADC*16(12 Bit)
    • PWM*12
    • Digital I/O*56(shared)
    • CAP/QEP*6
    • CAN*2
    • SCI*2
    • DC Motor Driver Circuit
    • Power Supply：DC 24V

2 . Software Requirements

Auto-Code：Work on MATLAB/Simulink Model-based environment, and with Real-Time workshop to have auto-code generation. Compiling the code by TI CCS (Version 3 or above), then download it to DSC target controller with JTAG Emulator.
Software：MATLAB (Version 7) / Simulink / MATLAB Coder / Simulink Coder / Embedded Coder / Signal Processing Blockset / Control Toolbox / Fixed Point Toolbox / RTW Embedded Coder(Optional) and TI CCS (Version 3 above) including JTAG Emulator。

Hand-Code：Write C –Source Code and compile it by TI CCS (Version 3 or above), then download it to DSC target controller with JTAG Emulator.

Function

  • 1.Swing up and balancing control of rotary inverted pendulum

    A laboratory exercise is to configure EMECS as a rotary inverted pendulum. The rotary inverted pendulum is a highly nonlinear system. The control purpose of this experiment is to design a hybrid controller for swing up and balancing control of the pendulum in the vertical-upright position.

  • 2.Position Control

    EMECS can be configured to control a DC servo motor with an attached inertial load. A position control system is designed such that the output angle tracks a commanded position.

  • 3.Speed Control Mode

    EMECS can be configured to control the speed of a DC servo motor. The configuration is the same as that of position control above. A feedback controller is designed to regulate the speed of the output shaft and reduce the closed-loop steady state error.

  • 4.Haptic Control

    The objective of this experiment is to establish the detent-action models for haptic control. Two Simulink models are provided and implemented on the servo motor module with the inertial load disc. The inertial load disc serves as a haptic knob. By turning the haptic knob, the user can feel the effects of the force-feedback of haptic detents.

Theory of Manipulation

1.System Modeling

System-Level Algorithm simulation a Root-Locus of the system-level Proportion controller / Unit step responsea DC Motor integration contro

2.EMECS Theories and Models

Rotary Inverted Pendulum System consists of servo- motor, shaft and pendulum rod. Use servo-motor to drive the shaft moving as a circle path, then control the pendulum rod swing up and stand still. The system is using MATLAB / Simulink to implement controller design and the simulation chat is as follow.