Specifications

ManualsBrandsBard ManualsAir ConditionerMC4000 SERIES

“Motorlab” Dynamics and Controls System

Mechanical

System

Detail

Interface to motion

control card

Power

supply

Motor

amplifier

Load

encoder

Motor

encoder

Brushless motor

Load

inertia

Load lock

down screw

Spring coupling

“Motorlab”

Apparatus

System Description

Below is a schematic representation of the motorlab system in a closed-loop position or velocity control

configuration. There are two position sensors on the apparatus. The position of the motor inertia is measured using

the motor encoder and the position of the load inertia is measured using the load encoder. This is done using

hardware on the DSP motion control card that counts the pulses from the encoders. Each pulse corresponds to a

certain increment of rotation. The velocities of the two inertias are measured using hardware on the MC4000

motion control card that measures the time between pulses coming from the encoders. The motor amplifier has a

control loop that measures and controls the electric current in the motor windings. This results in what is commonly

known as a “torque controlled” motor, since the magnetic torque is proportional to the current in the windings. The

DSP motion control card is interfaced to the motor amplifier through a +/-10V analog signal from a digital to analog

converter (DAC) on the card. By varying the magnitude of this voltage from the DAC the current in the motor is

varied. This voltage, which is proportional to the controlled current, serves as a current command for the current

control loop in the amplifier. An additional sensor, not shown below, is the current sensor in the amplifier. This

sensor is also read by the DSP card, using an analog to digital converter (ADC) to read the actual current measured

by the amplifier. Although this signal is not used in the control loops on the DSP card, it is recorded for data

analysis.

ikT

2121

,,,

24 V Supply,

and Motor

Amp with

Current Control

24 V Supply,

and Motor

Amp with

Current Control

Summary of content (21 pages)

PAGE 1
“Motorlab” Dynamics and Controls System Motor amplifier “Motorlab” Apparatus Power supply Mechanical System Detail Interface to motion control card Load encoder Load inertia Load lock down screw Motor encoder Brushless motor Spring coupling System Description Below is a schematic representation of the motorlab system in a closed-loop position or velocity control configuration. There are two position sensors on the apparatus.
PAGE 2
Several different configurations of the system can be utilized in experiments. Either sensor, the motor or load encoder, can be used for the feedback of the control loop. The selection is made in the software interface. The motor encoder is known as a “collocated” sensor since it is co-located with the input to the mechanical system, the motor torque. The load sensor is separated from the input to the system by a spring and is therefore known as a “non-collocated” sensor.
PAGE 3
MotorLabVelocity.exe This is the velocity control program. The feedback sensors (encoders) are used to close the velocity control loop. The DAC output from the motion control card to the motor amplifier is determined by the controller algorithm, while the velocity command is determined by the wave command buttons and the jog buttons.
PAGE 4
Data Acquisition When the “Store Data” button is pressed in the host GUI the software stores data from the dynamic system in a circular buffer. The buffer is 2048 data samples in length. After 2048 sample periods the buffer begins to be overwritten, and will continue to be overwritten as long as the “Store Data” button is depressed in the host program. Pressing either the “Save Data” button or the “Store Data” button again will stop data storage, leaving the last 2048 data samples in the buffer.
PAGE 5
Hardware Specifications Important Scaling Considerations • Motor Amplifier Scaling = 1 Amp/Volt (i.e. one volt from the DAC on the MC4000 is a one Amp command to the current loop in the motor amplifier). The plotting routines provided take this scaling into consideration. • Position is measured in degrees and velocity is measured in RPM. The output of the controller algorithm on the MC4000 is the DAC voltage, and is measured in Volts.
PAGE 6
Current Control Loop Model The motor amplifier has a current control loop. As configured in the Motorlab apparatus this loop has a bandwidth of approximately 400 Hz. Using data acquired from step and sinusoidal responses the following two closed loop transfer functions have been identified as approximate models for the closed-loop current control dynamics. z = 170 ⋅ 2π (rad/sec) 2 2 ω n = 230 ⋅ 2π (rad/sec) ω n (s + z) ω n (s + z) Ti = and Tidelay = e −td s where 2 2 2 2 ς = 0.
PAGE 7
Schematic For the “Motorlab” Apparatus 7
PAGE 8
PAGE 9
Manual for the Motor Amplifier
PAGE 10
Model 503 DC Brushless Servo Amplifier FEATURES • CE Compliance to 89/336/EEC • Recognized Component to UL 508C • Complete torque ( current ) mode functional block • Drives motor with 60° or 120° Halls • Single supply voltage 18-55VDC • 5A continuous, 10A peak more than double the power output of servo chip sets • Fault protected PRODUCT DESCRIPTION Short-circuits from output to output, output to ground Over/under voltage Over temperature Self-reset or latch-off • 2.
PAGE 11
Model 503 DC Brushless Servo Amplifier FUNCTIONAL DIAGRAM MOMENTARY SWITCH RESETS FAULT WIRE RESET TO GROUND FOR SELF-RESET 3 SHORT/O.T. POWER FAULT NORMAL CH2 1.5 NF RH1 499K LED'S R R G 8 STATUS & CONTROL LOGIC 4 5 +5V 6 1nF 7 REF AMP 10K 10K RH7 REF(-) 10 - REF(+) 11 + 470 PF 2.
PAGE 12
Model 503 DC Brushless Servo Amplifier APPLICATION INFORMATION To use the model 503 set up the internal header with the components that configure the transconductance, current limits, and load inductance. Current-limits and load inductance set up the amplifier for your particular motor, and the transconductance defines the amplifiers overall response in amps/volt that is required by your system. COMPONENT HEADER SETTINGS Use the tables provided to select values for your load and system.
PAGE 13
Model 503 DC Brushless Servo Amplifier APPLICATION INFORMATION (CONT’D) COMPONENT HEADER HEADER LOCATION WARNING! DISCONNECT POWER WHEN CHANGING HEADER COMPONENTS. REPLACE COVER BEFORE APPLYING POWER TO PREVENT CONTACT WITH LIVE PARTS.
PAGE 14
Model 503 DC Brushless Servo Amplifier TECHNICAL SPECIFICATIONS Typical specifications @ 25°C ambient, +HV = +55VDC. Load = 200µH. in series with 1 ohm unless otherwise specified. OUTPUT POWER Peak power Unidirectional After direction change Continuous power ±10A @ 50V for 0.5 second, 500W ±10A @ 50V for 1 second, 500W ±5A @ 50V, 250W OUTPUT VOLTAGE Vout = 0.97HV -(0.
PAGE 15
Model 503 DC Brushless Servo Amplifier OUTLINE DIMENSIONS Dimensions in inches (mm.) 4.75 (120.7) (19.1) (3.0) 0.75 0.17 3.27 (83.1) 2.00 (50.8) 4.50 (114.3) (14) 0.55 1.28 (32.5) ORDERING GUIDE Model 503 5A Continuous, 10A Peak, +18-55VDC Brushless Servoamplifier OTHER BRUSHLESS AMPLIFIERS 226 Model 505 Same power output as 503. Adds Hall / Encoder tachometer feature for velocity loop operation. 5001 Series Six models covering +24-225VDC operation, 5-15A continuous, 10-30A peak.
PAGE 16
PAGE 17
Data Sheet for the MC4000 DSP Motion Control Card
PAGE 18
MC4000 PCI-Bus The Versatile Motion Control Board with Easy-to-Use Software The MC4000 is Precision MicroDynamics’ multi-axis, PCI-Bus motion control DSP board. It is ideal for both Original Equipment Manufacturers (OEMs) and Test and Measurement applications. PC-BASED MULTI-AXIS DSP MOTION CONTROL Four off-the-shelf versions of the M C 4 0 0 0 a r e o ff e r e d : t h e MC4000 Version Servos Open-loop Steppers Closed-loop Steppers Analog Inputs Position Cap./Com.
PAGE 19
Hardware Linkport MC4000-PRO Overview The MC4000-PRO is a DSP-based motion control board that communicates with the Host PC through the PCI bus. The card supports data rates with the host PC as high as 7.2 MBytes/s . The core of the MC4000-PRO is its 32-bit floating-point DSP processor. The standard memory configuration is 48 bits wide and includes 20K words of on-chip SRAM, 256K words of on-board SRAM and 330Kwords of FLASH memory.
PAGE 20
PMDi å Preload in hardware by index pulse or by software register å Each encoder axis input configurable for differential or single ended termination å Power for +5V and +12V encoders å Up to 40MHz maximum input edge rate Digital Outputs å Digital outputs, usually used as amp enable and emergency shutdown.
PAGE 21
PMDi System Configuration WH-60 † Group0 and 1 2 WH-60 cables connected to ‡ MC4000 2 Breakout60 interconnect boards Group2 and 3 WH-60 Amplifiers* Encoders Sensors Relays Servos Steppers Switches † † also available in shielded version (WHS-60) ‡ regular terminal block available (TERM/60) * PMDi Linear amplifier available (BTA-XXV-6A) Ordering Information MC8000-PRO* -LITE* -STEP* -DUAL* WH-60 WHS-60 BreakOut60 TERM/60 SYNC/10-ZZ DNG-9 4 servo axes and 4 stepper axes motion control and data acqui