Educational Products
Robot& Mechatronics
Automatic Control
CNC System
Manufacturing
Automation
System
Advanced Logistic System
Based on open architectural motion control as the core
technology, Googol developed its educational products family
to facilitate the study and research in the area of robotics and
automation……
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Equipments and Systems for Automation Control
Today's training, tomorrow’s challenge
IP Family
• 1-4 stage LIP
• 1-3 stage PIP
• Circular IP
• Configurable IP
• Flexible Joint IP
3DOF Helicopter
Magnetic Levitator
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Ball & Beam
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Multi-Platform Support for Teaching and Research
Example:
Inverted Pendulum…
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Multi-Platform Support for Teaching and Research
Multiple Modules
Linear Flexible
Modules
Linear Flexible 1-Stage
Inverted Pendulum
2-Stage FIP
Linear Modules
Pendulum Modules
Linear 1-Stage
Inverted Pendulum
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2-Stage IP
http://www.googoltech.com
Family of Inverted Pendulum - Circular
Circle Modules
Circle 2-Stage
in Series IP
Circle 1-Stage IP
Pendulum Modules
Circle 2-Stage
Parallel Connection IP
Family
of Inverted Pendulum - Planar
XY Table
Modules
Planar IP
Modules
2DOF SCARA
Robot
Planar 1 Stage IP
Based on XY Table
Planar 2 Stages IP
Based on XY Table
Planar 1 Stage IP
Based on SCARA Robot
Multi-Platform Support for Teaching and Research
Multi-Platform Support
• Drivers for G400
• Sample .vi on request
• Full Experiments Doc• Source Code Provided
• Simulink Models
for DOS with Turbo C
• Experiments Files
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Multi-Platform Support for Teaching and Research
Demo: Linear Inverted
Pendulum using SIMULINK
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Multi-Platform Support for Teaching and Research
3 and 4 Stages Linear and
Flexible Inverted Pendulum
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Multi-Platform Support for Teaching and Research
Example 2: Ball and Beam System
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Ball & Beam System
™Digital Feedback Control System
™Suitable for University Level Students
™Experimental Device for Feedback Control
Course
Ball & Beam Control system
Ball & Beam Control System
Computer
IPM100
Servo drive
DC Servo
Motor
Ball &
Beam
Encoder
Position sensor
™Typical Feedback Control Problem
™Various Control Theories Apply
ƒ
ƒ
ƒ
ƒ
PID
Root Locus
Frequency Response
User Defined Controller
System Components
™Actuator
ƒ DC Motor
ƒ Timing Belt with Pulley
™Feedback Sensor
ƒ Motor Encoder
ƒ High Precision Linear Potentiometer
To ADC GND +5V
‹
‹
Stainless steel lever
Length: 400 mm
Precision: 0.01mm
Open Loop Model
™Ball&Beam represents a Single Input
Single Output (SISO) system.
θ (s)
X (s )
W(s)
Open Loop Model
™Ball&Beam represents a Single Input
Single Output (SISO) system.
θ (s)
X (s )
W(s)
™Where the transfer function is
1
1
X (s)
mgd
W ( s) =
=
=c 2
2
θ ( s ) L ( J + m) s
s
R2
g = 9.8
m = mass of ball
d = radius of pulley
L = length of beam
J = moment of inertial
r = position of ball
R = radius of ball
Open Loop Model
™The step responds for this model is
™Unstable System
™Close loop controller should be
designed
ƒ
ƒ
ƒ
ƒ
PID
Root Locus
Frequency Responds
User Defined Controller
Ball&Beam PID Controller
™The transfer function for a general PID
controller is
KI
KD s2 + KP s + K I
+ KDs =
KP +
s
s
ƒ P Controller
ƒ PD Controller
ƒ PID Controller
Ball&Beam P Controller
™P (Proportional) Controller
θ (s)
X d (s)
GP(S)
X (s )
W(s)
™The transfer becomes
GP ( s )W ( s )
cK
X ( s)
=
= 2 P
X d ( s ) 1 + GP ( s )W ( s ) s + cK P
™Kp = 3, Step responds of the system
Ball&Beam PD Controller
™PD Controller
θ (s)
X d (s)
GPD(S)
X (s )
W(s)
™The transfer becomes
X ( s)
GPD ( s )W ( s )
c( K P + K D s )
=
= 2
X d ( s ) 1 + GPD ( s )W ( s ) s + cK D s + cK P
™Kp = 6, Kd = 6, Step responds is
Ball&Beam PID Controller
™PID Controller
θ (s)
X d (s)
GPID(S)
X (s )
W(s)
™The transfer becomes
X ( s)
GPID ( s )W ( s )
c ( K D s 2 + K P s + KI )
=
= 3
X d ( s ) 1 + GPID ( s )W ( s ) s + c( K D s 2 + K P s + KI )
™Kp = 10, Kd = 10, KI = 1 Step responds is
Multi-Platform Support for Teaching and Research
Control interface in IPM Motion Studio
Control interface in MATLAB Simulink
Control interface in LabVIEW
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Multi-Platform Support for Teaching and Research
Demo: Ball & Beam using
Labview
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Cross Application for Advance Research
Example 3: Ball and Plate
System
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Cross Application for Advance Research
Vision Feedback (Video
and Image processing)
Control Loop (Control
Design)
•Position
of the ball is detected by visual device.
•DC serve motors + 1000-line rotary encoders
•PC + open architecture motion control platform
•High performance image acquisition card
•High quality camera and lens
•Source code in C++ is provided.
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Cross Application for Advance Research
Demo: Ball & Plate for Vision
and Control Research
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Acrobatic Robot
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GOOGOL TECHNOLOGY (HK) LIMITED All Rights Reserved
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