Flumes
TMMS04 – Mechatronics
4th October 2013
Lab 4 – Auto Rotation
Name:
P.Num:
Tutor:
Date:
1
Goals
The goal with the laboration is to perform a smooth and sufficiently fast (less than 5 seconds) auto rotation.
2
Preparations (Do Before the Lab)
• Write a plan of how to connect your controller with the provided Simulink model, see figure 1. Which
signals should be used and how should they be connected? Make sure that you understand how all
signals are defined.
• You should also have a plan for which signals that are to be included in the Control Desk layout and
which instruments that are appropriate to use.
• Bring your controller to the laboration, for example on an USB stick or some area on the web. Save
your controller in Simulink 6.1 format!
• Design a filter to remove any spikes from the rotation angle and traverse position sensor signals. They
will be used as feedback signals in your controller and we do not want the system to react to noise
spikes. Decide the necessary butterworth filter break frequency and order.
3
Lab
In this laboration, you should connect your controller with the provided Simulink model. The Simulink
model which the control system should be attached to is shown in figure 1. You should also add appropriate
instruments in the Control Desk layout. For example, it should be possible to switch between manual and
automatic control. The same Control Desk models as in laboration 3 will be used, see figure 2, 3 and 4.
When completing a smooth and sufficiently fast auto rotation in both directions, the group is approved.
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Flumes
TMMS04 – Mechatronics
4th October 2013
Figure 1: The provided Simulink model. You should attach your control system in order to perform an
automatic auto rotation. Manual control should be possible as well.
Figure 2: You can control the pump speed and the movement of the forks from the main window in Control
Desk. Appropriate instruments to perform the auto rotation should be added.
Page 2 of 3
Flumes
TMMS04 – Mechatronics
4th October 2013
Figure 3: The rotation of the forks can be controlled and data associated with the rotation can be saved.
Figure 4: The traverse of the forks can be controlled and data associated with the traverse can be saved.
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