Download User`s Manual - Alpha Control Lab

Table of contents
INTRODUCTION ..............................................................................................................3
1.1
1.2
1.3
1.4
1.5
2
LABORATORY SET-UP ............................................................................................3
HARDWARE AND SOFTWARE REQUIREMENTS.........................................................4
FEATURES OF MLS ................................................................................................5
TYPICAL TEACHING APPLICATIONS ........................................................................5
SOFTWARE INSTALLATION .....................................................................................5
ML MAIN WINDOW ................................................................................................6
2.1
IDENTIFICATION .....................................................................................................7
2.1.1
Sensor ...........................................................................................................7
2.1.2
Actuator static mode...................................................................................11
2.1.3
Minimal control ..........................................................................................14
2.1.4
Actuator dynamic mode ..............................................................................17
2.2
MAGLEV DEVICE DRIVERS ...................................................................................19
2.3
SIMULATION MODEL & CONTROLLERS................................................................22
2.3.1
Open Loop ..................................................................................................22
2.3.2
PID..............................................................................................................28
2.3.3
LQ ...............................................................................................................31
2.3.4
LQ tracking.................................................................................................34
2.4
LEVITATION .........................................................................................................37
2.4.1
PID..............................................................................................................37
2.4.2
LQ ...............................................................................................................39
2.4.3
LQ tracking.................................................................................................41
3
DESCRIPTION OF THE MAGNETIC LEVITATION CLASS PROPERTIES44
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
BASEADDRESS.....................................................................................................45
BITSTREAMVERSION............................................................................................45
PWM...................................................................................................................45
PWMPRESCALER ................................................................................................46
STOP ....................................................................................................................46
VOLTAGE .............................................................................................................46
THERMSTATUS ....................................................................................................47
TIME ....................................................................................................................47
QUICK REFERENCE TABLE ....................................................................................47
MLS User’s Manual
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