发布日期：2021-06-07
浙江大学运动控制仿真实验室Motion Control Simulation Lab
浙江大学运动控制仿真实验室
Motion Control Simulation Lab
Quanser 3 DOF Helicopter
三自由度直升机，一台
The 3 DOF Helicopter system is a simplified helicopter model, ideally suited to introduce intermediate to advanced control concepts and theories relevant to real world applications of flight dynamics and control in the tandem rotor helicopters, or any device with similar dynamics.
Features:
- Three degrees of freedom (3 DOF): body rotates about pitch, travel and elevation axes
- Propellers driven by high-quality Pittman DC motors
- High-resolution optical encoders for precise position measurements
- Slip ring allows infinite motion about the vertical and travel axis
- Easy-connect cables and connectors
- Precise, stiff and heavy-duty machined components
- Fully compatible with MATLAB®/Simulink® and LabVIEW™
- Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
- Open architecture design, allowing users to design their own controller
Students learn how to:
- develop a state-space model of the system
- design a state-feedback controller to regulate the elevation and travel angels of the 3 DOF Helicopter
- simulate the closed-loop position controller and evaluate its performance using the linear model
- implement the designed controller on an actual system and evaluate its performance
Quanser 3 DOF Hover
3自由度四旋翼，两台
The 3 DOF Hover system is ideally suited to introduce intermediate to advanced control concepts and theories relevant to real world applications of flight dynamics and control in vertical lift off vehicles.
Features:
- Three degrees of freedom (3 DOF): body rotates about pitch and yaw axes
- Propellers driven by high-quality Pittman DC motors
- High-resolution optical encoders for precise position measurements
- Slip ring allows infinite motion about the yaw axis
- Easy-connect cables and connectors
- Precise, stiff and heavy-duty machined components
- Fully compatible with MATLAB®/Simulink® and LabVIEW™
- Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
- Open architecture design, allowing users to design their own controller
Students learn how to:
- develop a linear-space model that describes the position of the hover with respect to the motor voltages
- design a state-feedback control system that controls the roll, pitch and yaw of the 3 DOF Hover
- design a linear position controller for the hover
- implement the controller on the 3 DOF Hover and observe the performance of the system
Quanser Rotary Flexible Link
柔性臂，一台
The Rotary Flexible Link module is ideal to introduce various control concepts related to vibration analysis and resonance. You can use it to demonstrate real-life control challenges encountered in large, lightweight structures that exhibit flexibilities and require feedback control for improved performance.
Features:
- High resolution strain gage to sense link deflection
- Flexible Link module easily attaches to the Rotary Servo Base Unit
- High quality aluminum chassis with precision-crafted parts
- Easy-connect cables and connectors
- Precise, stiff and heavy-duty machined components
- Fully compatible with MATLAB®/Simulink® and LabVIEW™
- Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
- Open architecture design, allowing users to design their own controller
Students learn how to:
- find the stiffness experimentally
- use Lagrange to develop the system model
Quanser Linear Servo Base Unit with Inverted Pendulum
倒立摆，一台
The Linear Servo Base Unit (IP02) is the fundamental unit for Quanser linear motion control experiments. It is ideally suited to introduce basic control concepts and theories relevant to real world applications of servomotors, for example for cruise control in automobiles.
Features:
- High quality MICROMO™ DC motor and gearbox
- High resolution optical encoders to sense position of the cart and pendulum angels
- Pendulum easily attaches to front shaft of the Linear Servo Base Unit
- Two pendulum sizes supplied: medium and long
- Seven add-on modules to expand the use of the base unit (modules can be purchased separately)
- Easy-connect cables and connectors
- High quality aluminum chassis with precision-crafted parts
- Fully compatible with MATLAB®/Simulink® and LabVIEW™
- Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
- Open architecture design, allowing users to design their own controller
Students learn how to:
- derive the dynamics equation representing the linear motion servo plant using first-principles
- find a transfer function that describes the linear motion of the cart
- develop a proportional-velocity feedback system to control the position of the cart
- design a lead compensator to control speed of the cart
- simulate the controllers using the plant model to ensure the specifications are met
- implement the controllers on the system and evaluate its performance
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