Teach servo dynamics... with a TWIST!
FEATURES
| Theory of Operation |
The Flexi-Drive PP-400 consists of a DC servo motor driving a load through a 12cm link. The load is a sum of two components: (1) constant inertia load in the form of a flywheel and (2) variable load generated by magnetic field. The link may be rigid (stainless steel) or flexible (aluminum or rubber strip). By using a flexible link, backlash willl be introduced between motor and flywheel position.
Both motor and flywheel position are sensed by optical encoders. The flywheel position can also be observed on a gradulated scale. The motor velocity is also measured by tachometer.
| Technical Specifications |
| Motor control inputs | Drive: PWM (TTL) |
| Motor voltages: 0 to 5Vdc (analog) or PWM (digital) | |
| Direction: TTL LOW - CW & TTL HIGH - CCW | |
| Brake: TTL LOW - FREE & TTL HIGH - STOP | |
| Measurements | Motor & load encoder: A, B & Z (TTL compatible signals, 1000/500 lines) |
| Motor & load position: 0-360° scale (visual) | |
| Tacho: 7V per 1000rpm | |
| Motor current: 1.67V/A upto 5V(max) | |
| Coupling Link | Materials: high-speed steel & aluminum |
| Thickness: high-speed steel (~0.5mm), aluminum (~2mm) | |
| Properties: high-speed steel (flexible), aluminum (rigid) | |
| Power supply | Voltage: 110Vac @ 60Hz or 240Vac @ 50Hz |
| Power: 100watts (max) | |
| Operating conditions | Normal: 15-25°C @ 45-90%RH |
| Max. Limits: 5-30°C @ 30-90%RH | |
| Transportation & storage limits: 0-70°C @10-95%RH | |
| Dimensions | Size: 580mmL x 180mmD x 180mmH |
| Weight: 15kg (approx.) |
Specifications may subject to change without notice
| Applications |
The KRi Flexi-Drive PP-400 is a low-cost and versatile DC servo system designed for teaching and demonstrating system concepts and practice in control engineering. Position, velocity and current measurements are available. Typical actuators and sensing equipment such as PWM amplifiers, optical encoders and tachometer are used.
In position control, the control objective may be to drive the constant inertia load to a desired angle with a prescribed transient response. Alternatively, the objective may be to regulate position in the presence of disturbance from the variable load. Setpoint control and disturbance rejection in velocity control can also be realised. With an appropriate controller, the apparatus can further demonstrates three level cascade control - with current, velocity and position loops.
As the load can be coupled to the motor using a rigid or flexible link, the apparatus can be used in the study and evaluation of advanced control algorithms. With a flexible link, the apparatus may be viewed as a plant with distributed modes or a high order system. This allows studies on flexible link control, reduced order modelling and control, and even non-linear phenomenon such as limit cycling.
| Software & Hardware Support |
| Ordering Information |
FlexiDrive, part no.: PP-400
comes with:
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Last Updated 2 February 2003