||The Model 205 apparatus is a highly versatile platform that is ideal for introductory undergraduate lab use and intermediate controls study. It has also been used extensively in advanced research. In its many possible configurations, this system represents a broad and important class of practical plants including: rigid bodies, flexibility in drives, and coupled discrete vibrating systems. It easily transforms into second, fourth, and sixth (optional) order plants with collocated or noncollocated sensor / actuator control. An optional secondary drive may be positioned at any output (disk) to create a MIMO plant (requires Executive USR® or RTWT/RTLT software) and provides for the study of disturbance rejection.
The ability to readily adjust physical parameters such as inertia values and spring constants make it ideal for multiple student work group assignments. This apparatus closely follows its dynamic model and the theoretical predictions of open and closed loop behavior provided in the manual. It has proven to be highly robust and reliable in the field.
This system is furnished with a comprehensive set of experiments that provide an excellent introduction to applied control systems fundamentals and continue through flexible structure control.
|Number of Unique Configurations
||Six. Nine with optional 3rd inertia disk. Eighteen including MIMO using secondary drive accessory.
|Spring Constant Adj.
||Poles & zeros adjustable in range from 0.8 to 7 Hz
||High res. encoders, 16000 counts/rev.
||2.0 N-m Fe-Co brushless
||5 KHz current loop bandwidth
||30x30x96 cm. (12x12x36 in.)