Kit Didático Módulo de bola e viga Edibon KYC BB

O módulo de esferas e vigas “RYC-BB” foi projetado para estudar um sistema de controle prático, através do estudo de um sistema de controle clássico; o sistema de controle de bolas e vigas. O módulo “RYC-BB” consiste em dois componentes principais: o aparelho “RYC-BB” e a caixa de interface “RYC-BB”. O aparelho "RYC-BB" contém todos os sensores e atuadores, como um motor, uma haste de fio enrolado que funciona como sensor de posição, etc. e a caixa de interface "RYC-BB" contém todos os componentes necessários para fornecimento de energia, condicionamento de sinais, etc.

ESPECIFICAÇÕES:

RYC. Unit:

Unit:

 Metallic box.

 Diagram in the front panel with distribution of the elements similar to the real one.

 Reference signals module:

This module allows to generate four different

types of signals: step, square, ramp and sine.

The frequency and amplitude of the signals can

be adjusted through the computer.

Step output. Square output. Ramp output.

Sine output.

Step: amplitude: 0 V to 5 V, frequency: 0Hz

to 200 Hz.

Square: amplitude: ±10 V, frequency: 0Hz to

200 Hz.

Ramp: amplitude: ±10 V, frequency: 0Hz to

200 Hz.

Sine: amplitude: ±10 V, frequency: 0Hz to

200 Hz.

Frequency sweep: this module performs a

frequency sweep needed for calculating the

Bode plot.

 PID controller module:

This module is subdivided into proportional, integrative and derivative blocks. The module allows

to adjust each parameter independently from the computer:

 P controller: Kc: -10 to +10. I controller: Ti: 0 to 100 s. D controller: Td: 0 to 100 s.

 Sample time: 0.1 to 100 ms.

 Lead/Lag compensator:

This module represents a compensator system in the Laplace domain. The system allows to modify

the zero, the pole and the gain of the compensator through the computer:

 K lead: 1 to 100 s. K lag: 1 to 100 s. Gain: 1 to 10. Sample time: 0.1 to 100 ms.

 Integrator system:

This module represents and integrator system in the Laplace domain. The system allows to modify

the gain and the saturation valve of the system through the computer:

 Gain: -10 to 10.

 Saturation: -10 to 10.

 First order system:

This module represents a first order system in the Laplace domain. The system allows to modify

the time constant of the system through the computer. The gain can be also adjusted using the

computer:

 Gain: 0 to 10. Time constant T: 0 to 100 s.

 Second order system:

This module represents a second order system in Laplace domain. The system allows to modify

through the computer the three parameters of the system: gain, damping coefficient and the

natural frequency:

 Gain: 1 to 10.

 Damping coefficient x: 0 to 1.5 in steps of 0.1.

 Natural frequency (w n): 1Hz to 2 p*100 rad/s (100 Hz).

 Perturbation module:

This module allows to insert disturbances in the systems. The perturbation can be inserted in

different places of the control loop:

 Perturbation value: -10 to 10.

 Offset module:

 This module allows to add an offset to the input signal.

 Offset value: -10 to 10.

 Analog Inputs:

RYC-BB. Ball and Beam Module.

The “RYC-BB” Ball and Beam module has been designed to study a practical control system, through

the study of a classical control system; the Ball and Beam Control system.

The “RYC-BB” module consists of two main components: the “RYC-BB” apparatus and the “RYC-BB”

interface box. The “RYC-BB” apparatus contains all the sensors and actuators such as a motor, a wirewound rod that work as a position sensor, etc. and the “RYC-BB” interface box contains all necessary

components for power supplying, signal conditioning, etc.

The components are used in conjunction with the “RYC” unit to control the position of the steel

ball along the beam.

The system allows to insert disturbances manually.

Specifications:

 Metallic structure.

 DC Servo Motor:

 Motor supply: 10 Vdc.

 Max speed: 10700 rpm.

 Gear reduction: 21:1.

 Shaft angle position sensor:

 Transducer: Potentiometer (10 KΩ).

 Measurement range: 180 degrees.

 Output: ±10V.

 Ball position sensor:

 Transducer: Potentiometer (750Ω).

 Measurement range: ±200mm.

 Output: ±10V.

 Ball and Beam structure:

 Steel ball:

 Radius: 12.7 mm.

 Mass: 0.064 Kg.

 Beam length: 425 mm.

 Level arm length: 120 mm.

 Support arm length: 160 mm.

Dimensions: 1000 x 400 x 350 mm. approx. (39.37 x 15.74 x 13.78 inches approx.).

Weight: 18 Kg. approx. (39 pounds approx.).

This module is provided with 4 analog inputs. The inputs are used to visualize different signals in

the computer.

 Connector to computer.

 Control Interface included.