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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 Target for TI C2000 DSP and Texas Instruments Code Composer Studio, the user can automate the implementation of real-time control on a DSP-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.

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Experiment

Servo-Motor Module

DSP-Target Controller

Link 1

Link 2

Inertial load Control Tuner

Swing up and balancing control of rotary inverted pendulum

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Swing up and balancing control of arm-driven inverted pendulum

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Position Control

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Speed Control Mode

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Haptic Control

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1 . DSP-Target Controller¡G
High performance 150MHz TI-F2812DSP and MATLAB/Simulink auto-code supported.

2 . Inertial Load Control Tuner¡G
¡@¡E £X 60mm,Weight 75g
¡@¡E Supports position/speed/haptic control mode.

3 . Servo-Motor Module Link 1/2
Including both M5068-24V-6K motor and 500 Pules/Rev. Encoder.
¡E Link 1¡GRotary Inverted Pendulum
¡@¡° Arm
¡@¡@¡÷ length: 16cm, Weight 60¡Ó5g
¡@¡° Pendulum
¡@¡@¡÷ length: 16cm, Weight 25¡Ó3
¡@¡° Encoder:
¡@¡@¡÷ 500 Pules/Rev. Weight 58¡Ó3g 		¡E Link 2¡GDouble-Link Inverted Pendulum
¡@¡° Arm
¡@¡@¡÷ length: 20cm, Weight 60¡Ó5g
¡@¡° Pendulum
¡@¡@¡÷ length: 16cm, Weight 25¡Ó3g
¡@¡° Encoder
¡@¡@¡÷500 Pules/Rev. Weight 58¡Ó3g

4 . Servo-Motor Module
¡@¡E Weight: 3¡Ó0.1kg
¡@¡E Includes Servo-Motor and Enconder:
¡@¡@¡° Enconder(500 Pules/Rev.)
¡@¡@¡° Servo-Motor¡]M5068-24V-6K¡^
¡@¡@¡@¡÷ Hightest efficiency: 5800RPM 1.6¢X/0.4Kgf-cm
¡@¡@¡@¡÷ Export power: 31.5 Watt
¡@¡@¡@¡÷ Starting Injector : 1.8Kgf-cm
¡@¡E Flexible Control System: Can also connect with other controllers.