Flumes
TMMS04 – Mechatronics
27th August 2012
Lab 3 – Data Collection
Name:
P.Num:
Tutor:
Date:
1
Goals
Each group in the course has limited time to spend at the real application but unlimited time at the computer.
The control system will be developed in the simulation environment and then tested at the real application.
To achieve this, the simulation model needs to be accurate enough. In this laboration, measured data
from the fork lift will be collected and then compared with the simulation model. Thus, the goal with the
laboration is to measure relevant data in order to validate the simulation model.
2
Preparations (Do Before the Lab)
Before the laboration, each group should make a test plan where all intended measurements are specified in
detail. The test plan should include the objective of each measurement and a description of how the forks
should be controlled in order to perform the experiment. Furthermore, a description of which sensors that
are of interest for each measurement should be included. All available sensors and command signals are
specified in chapter 3. Show the test plan to the lesson assistants before your scheduled laboration. The test
plan needs to be approved before attending at the laboration.
3
Lab
At the laboration, you will have access to a Control Desk model of the fork lift. You do not need to
make your own model from scratch, like in laboration 1. The layout of the Control Desk model is shown in
figure 1. To control the fork lift, the Motor control should be switched on. The pump speed can be increased
with the SetPumpSpeed slider. Both the rotation and the traverse need to be enabled to move the forks. It
is done by switching Rotation control and Traverse control on. The forks can then be moved by controlling
the SetRotation and SetTraverse sliders. It is also possible to raise and lower the forks by pressing Fork up
and Fork down. The model will be explained in more detail by the laboration tutor.
The model consists of two more layouts, one for the rotation and one for the traverse, see figure 2 and 3.
With these layouts, data can be collected. The available sensor signals are
• Rotation angle [degrees]
• Rotation pressure A-side [bar]
• Rotation pressure B-side [bar]
• Command signal to the rotation valve [ampere]
• Traverse position [mm]
• Traverse pressure A-side [bar]
• Traverse pressure B-side [bar]
• Command signal to the traverse valve [ampere]
Page 1 of 4
Flumes
TMMS04 – Mechatronics
27th August 2012
Figure 1: You can control the pump speed and the movement of the forks from the main window in Control
Desk. Some important CAN messages are shown as well.
Page 2 of 4
Flumes
TMMS04 – Mechatronics
27th August 2012
Figure 2: The rotation of the forks can be controlled and data associated with the rotation can be saved.
Page 3 of 4
Flumes
TMMS04 – Mechatronics
27th August 2012
Figure 3: The traverse of the forks can be controlled and data associated with the traverse can be saved.
Page 4 of 4