Advanced Control Systems - Automation Control

Four-Rotor Hover Vehicle

Product Details:
  • Phase: Single Phase
  • Airscrews: 4
  • Type: Hover Vehicle

The Four-Rotor Hover Vehicle consists of motors with air screws, encoders, drive modules, motion controllers and slip rings, etc. It is a highly coupled multiple degrees of freedom system. Different flight controls such as elevation and depression, inclination and hovering of the vehicle can be achieved. The system is suitable for undergraduates, postgraduates and control theory researchers to carry out verification and research of control theory such as optimal control, robust control, etc.

The four-rotor hover vehicle is powered by the 4 airscrews of the motors placed at the gumball shaft. The front, left and right motors drive the corresponding airscrews to fulfil the elevation and depression of the vehicle, the left and right motors drive the corresponding airscrews to overturn the vehicle, while the rear motor drives the corresponding airscrews to realize the navigation of the vehicle. The 3 encoders which are installed on the platform detect the different aviation statuses of the vehicle and form a closed loop system, thus fulfil precise positioning of the elevation and depression, tilting and hovering of the vehicle. Slip rings are installed in the base of the vehicle so that the wirings will not tangle up when the vehicles rotate freely. It also helps to reduce friction.

Main Features
  • Open architecture design
  • Hardware platform based on PC and open architecture DSP motion controller
  • Typical multi-input multi-output system (MIMO)
  • Attractive appearance

 

    Reference Experiments
    • System modelling and analysis experiment
    • System open loop response analysis
    • PID controller design

    Linear Inverted Pendulum

    Product Details:
    • Material: Stainless Steel
    • Use: Institute
    • Type: Linear Pendulum

    Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics, thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling. The linear inverted pendulum series products developed by Googol Technology adopt an open control solution and a modularized experiment platform. With the linear motion module as the base platform, it is easy to build more than 10 teaching and experiment control platforms, satisfying the various needs for control teaching and research.

    Industrial Grade Components
    • All the modules are designed and manufactured with industrial components. For example, the sliding guide bars are made of precision stainless steel, the synchronization gear belt is a gear belt of industrial grade, and the base platform has the vibration absorption function.
    • Industrial grade encoder, AC servo motor and drive to ensure best quality and reliability. Compared with similar products of other brands using DC motors, the AC servomotor offers the additional advantage of no maintenance on brushes and longer service life.
    • Limit switches, anti-collision buffer device, as well as the unique structure design provide excellent system safety, especially suitable for students.

    Applicable Courses:

    Mechanical engineering control fundamentals, automatic control principle, modern control engineering, linear control system and computer control system, etc.

    Circular Inverted Pendulum

    Product Details:
    • Material: Stainless Steel
    • Open Architecture: PC and DSP-Based Motion Controller
    • Type: Circular

    The circular inverted pendulum series of products adopts an open architecture control solution and a modularized experiment platform. With the circular motion module as the base platform, it is easy to build circular one-stage inverted pendulum, circular two-stage serial inverted pendulum, circular two-stage parallel inverted pendulum, and even the combined serial-parallel inverted pendulums of three- and four-stages, satisfying the various needs for control teaching and research.Googol’s PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.

    System Specification
    • Circular track with no travel limit for the inverted pendulum, suitable for swing up algorithm design.
    • Slip ring to feed signal to the controller.
    • Floor-standing structure, no workbench is required.
    • Industrial incremental encoder l feedback and AC servo motor.
    Open Architecture
    • Open platform based on PC and DSP-based motion controller.
    • Open experiment verification and demonstration program of DOS version, with source codes provided, especially suitable for research of control algorithm.
    • Googol Simulink software experiment platform provided for experiments such as system modeling, simulation and real time control.
    User Creativity
    • Configure unique experiment platform
    • Develop and verify one’s own control algorithm.
    • Tackle the challenging control problems of controlling t the balance of parallel inverted pendulum and starting of serial inverted pendulum.
    Modularized Platform
    • Circular motion module
    • Circular one-stage inverted pendulum
    • Circular two-stage serial inverted pendulum
    • Circular two-stage parallel inverted pendulum
    • Combined serial and parallel inverted pendulum of three- and four-stages

    Circular Double Inverted Pendulum Acrobatic Robot

    Product Details:
    • Material: Stainless Steel
    • Use: Industrial
    • Design: Double Inverted

    The circular double pendulum acrobatic robot is a new product of the inverted pendulum family. Based on the control of multiple-stage inverted pendulum swing up, the acrobatic robot controls the pendulum rod in different equilibrium status and interchange status so that the rod can erect when it is in motion. It can be applied in simulation of artificial intelligent control and other automatic control research and experiments. The robotic system adopts a large base to enhance its stability. Planetary gear and belt pulley are used for deceleration. Noise is thus reduced when the system is in motion. The length of the arm is adjustable; the electrical system uses industrial standard AC servo drive system and encoder to ensure its reliability when it is in motion. The electrical wiring of the rotation part adopts slip ring connection. Googol’s PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.

    System model and characteristics:
    • Open architecture system structure.
    • Unlimited revolutions of the arm.
    • Encoder signal is fed via the slip ring, no limitation on number of revolutions.
    • System input: acceleration of the motor; system output: motor position and speed, angular speed, angle of the pendulum rods.
    • A typical single-input, multiple-outputs, coupled non-linear system.

     

      Reference experiments:
      • Modeling and analysis of nonlinear system
      • Modern control theory experiment
      • Intelligent control algorithm experiment
      • Swing up control experiment

      Planar Inverted Pendulum

      Product Details:
      • Material: Stainless Steel
      • Use: Industrial
      • Type: Planar Pendulum

      The planar inverted pendulum series adopt an open architecture control solution and a modularized experiment platform. With XY table and 2-DOF robot arm module as the base platform, adding a 2-DOF ball joint, an one-stage or a two-stage inverted pendulum is developed to provide a more challenging research and experiment platform. A planar inverted pendulum simulates more closely the control and visual effect of an inverted handstand of an acrobat or the launching position control of a missile or rocket.

      Industrial Grade Experiment Platform

      • XY table, 2-DOF robot arm and 2-DOF ball joint are all designed and manufactured according to industrial standards.
      • Industrial incremental encoder and AC servo motor
      Open Architecture

      • Hardware platform based on PC and DSP-based motion controller.
      • Experiment verification program (DOS version), with source codes provided.
      • Control software in MATLAB Simulink. Easy to development users’ controllers.
      User Creativity

      • Developing and testing one’s own control algorithms.
      • Challenging the control problems concerning the two-grade Planar IP control algorithms.

      3DOF Helicopter Simulator

      Product Details:
      • Material: Steel
      • use: Airport
      • Type: Helicopter

      The 3DOF helicopter simulator, which has 3 degrees of freedom in rotation, is a new educational product developed by Googol Technology. It is not only of great value in the field of aviation and space flight research but also ideal to evaluate feedback strategies, such as PID, LQR, H infinity, fuzzy, neural net - any one you wish to implement. As one of the newly recommended products, its hardware system is matched with a textbook which covers classical control, modern control and dynamic modeling experiments in details, so it offers the students and researchers in the fields of automation and mechatronics a unique opportunity to control the pitch and yaw of a simplified helicopter.

      Structure and Operation Principle

      The 3DOF helicopter simulator consists of a pedestal upon which a long arm is mounted. The arm carries the "helicopter body" on one end and a counterweight on the other. The arm can also tilt about an "elevation" axis as well as swivel about a vertical (travel) axis. Optical encoders mounted on these axes allow for measuring the elevation and travel of the arm. The helicopter body mounted at the end of the arm is free to pitch around the "pitch" axis. The pitch angle is measured via a third encoder. Two motors with propellers mounted on the helicopter body can generate a force proportional to the voltage applied to the motors. The force generated by the propellers causes the helicopter body to lift off the ground. The counterweight can reduce the power requirements on the motors; it is adjusted so that the effective mass of the body is proper. All electrical signals to and from the arm are transmitted via a slip-ring in order to eliminate the possibility of tangled wires and reduce the amount of friction.

      System Features
      • Hardware platform based on PC and DSP-based motion controller.
      • Experimental entity platform provided for the major of aviation.
      • Comprehensive experiment kit, covering the dynamic modeling, classic control experiment, modern control experiment, optimized control experiment and intelligent control experiments. Users can select relevant algorithm for the experiment and teaching needs of various courses.

       

      Applicable Courses
      • Mechanical control engineering
      • Automatic control principle
      • Modern control engineering
      • Linear control system
      • Computer control system

      Magnetic Levitation System

      Product Details:
      • Control: Analog Control
      • Design: PID Controller
      • Type: Magnetic

      Magnetic levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

      System Features

      • Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
      • Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
      • Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
      • Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.

      Experiment Content

      Based on Matlab platform:

      System modeling experiment and analysis;

      PID tuning & PID controller design;

      Root locus tuning, frequency domain method tuning, and status feedback.

      Based on analog control system:

      PID tuning & analog control experiments.

      Magnetic Levitation System

      Product Details:
      • Control System: DSP, ARM, MCU,
      • Type: Magnetic

      Magnetic Levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

      System Features
      • Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
      • Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
      • Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
      • Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.

       

        Control Principle
        • When the ball moves up and down vertically under the electromagnet, the laser sensor right below the ball detects the distance between the apex of the ball and the lowest part of the electromagnet. It converts the voltage signal to the controller. The controller calculates the output current level of the electromagnet coils. The emerged magnetic force can levitate the ball under the electromagnetic stably in any arbitrary position within the range.
        • Due to the characteristic of the mathematical modeling of the device that the composed unit is unstable without the controller, a corresponding controller must be designed to stabilize the system. As the linearization has to be carried out around a non-zero operating point, it is therefore very challenging.

         

        Experiment Content:
        • Based on Matlab platform:
        • System modeling experiment and analysis;
        • PID tuning & PID controller design;
        • Root locus tuning, frequency domain method tuning, and status feedback
        • Based on analog control system:
        • PID tuning & analog control experiments.
        Matlab Control Interface

        New Magnetic Levitation System

        Product Details:
        • Design: PID tuning & PID Controller
        • Control System: Based on Analog
        • Type: New Magnetic

        Magnetic Levitation is a classical technology in mechatronics. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. The technology is widely used in many industry fields such as magnetic levitation train, magnetic suspension bearing, miniature transmission equipment, measuring instrument, robotic wrist, magnetic levitation educational system, etc. The Magnetic Levitation System (Model: GML2001) from Googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory. Apart from its modern designed appearance, laser sensor is also applied as feedback signal to measure moving distance of the floating ball accurately. In addition, the Magnetic Levitation body (Model: GML2001A) can be provided as a standalone experimental device for any third party or self-designed controller.

        System Features
        • Students can thoroughly comprehend PID tuning, root locus tuning, frequency domain method tuning, status feedback control method with Matlab software platform experiment course.
        • Via optional analog control system, by observing and comprehending the structure of control system and the characteristic of driving module, students can construct embedded magnetic levitation controller by combining the analog control system with DSP, ARM, MCU, etc. The embedded discrete control algorithm can be perfected by comparing control results.
        • Students can select components such as photoelectric, ultrasonic, infra-red distance detecting sensor to build up the magnetic levitation body; and construct complete magnetic levitation system with self-designed embedded controller.
        • Laser sensor is used as feedback signal. Through the experiments, the non-linearity of the system can be directly viewed by the distribution of the electromagnetic field.
        Control Principle
        • When the ball moves up and down vertically under the electromagnet, the laser sensor right below the ball detects the distance between the apex of the ball and the lowest part of the electromagnet. It converts the voltage signal to the controller. The controller calculates the output current level of the electromagnet coils. The emerged magnetic force can levitate the ball under the electromagnetic stably in any arbitrary position within the range.
        • Due to the characteristic of the mathematical modeling of the device that the composed unit is unstable without the controller, a corresponding controller must be designed to stabilize the system. As the linearization has to be carried out around a non-zero operating point, it is therefore very challenging.
        Experiment Content
        • Based on Matlab platform
        • System modeling experiment and analysis
        • PID tuning & PID controller design
        • Root locus tuning, frequency domain method tuning, and status feedback.
        • PID tuning & analog control experiments.

        Bio-Ethanol Pilot Plant

        Product Details:
        • Sugar Weight: 250 kg
        • Capacity: 150 Liters
        • Alcohol: 94/96 %

        Pilot Plant for the production of bio-ethanol from sugar cane or, optionally, from tubers (sweet sorghum, manioc, potatos, rice or corn). The pilot plant for the production of bio-ethanol from de lorenzo reflects the experiencethat our company has accumulated in the field of renewable energies. the production is in four steps according to the following block diagram and specifications. on request, it is possible to produce alcohol with tubers (sweet sorghum, manioc, potato, rice and corn) with additional grinders.

        1 Wheel Balancing Robot

        Product Details:
        • Size: 260(L) mm 450(W) mm 730(H) mm
        • DC Servo Power: 85 W
        • Motion Controller: DSP and FPGA Based Embedded Controller ,PC104 Bus,3 Axes Motion Controller
        • Software Envir: WIN98/MATLAB6.5
        • Maximum Speed: 1.6m/s
        • Power: NiMH Battery 8.5Ah(24V)
        • Duration: Grater Than 1.5 H
        • Maximum Ramp Angle: 20 Degree
        • Gyro Power: 9-12V
        • Operating Temperature: -40-50 Degree C
        • Analog Output: 0-4.096 V
        • Repeatability: 0.10 Degree
        • Weight: 20 g
        • Range: 360 Degree (25 Degree C)
        • Sampling Frequency: 150 HZ
        • Current: 30 mA
        • Gear Ratio: 8:1

        Overview:
        An inverted pendulum system is a highly coupled multivariable, nonlinear, unstable system. It is the perfect experimental device to examine various control theories. Controllability, stability, robustness and some other key performance in control will be examined in the process of controlling such system. The self-balancing robot is in fact a movable 3 Dof inverted pendulum system. The system, taking the gyro as feedback, is balanced by outputting different torque in two wheels.

        System Characteristic:
        • More degree of freedom compare to linear and planar inverted pendulum
        • Using real-time workspace in MATLAB.
        • Embedded PC104 system with windows operating system
        • Online editing and modifying the control algorithm.
        • Various extension interface for add-on sensors, e.g. vision
        • Providing MATLAB functions

         

          Reference Experiments:

          • Gyro application and experiments.
          • System Modeling
          • Open Loop System Analysis
          • PID Controller Design
          • Pole Placement Controller Design
          • LQR Controller Design
          • User Defined Controller Design

           

            Ordering Guide:

            Model Number

            Product Name

            Product Configuration

            GBOT1001

            Self-Balancing Robot

            ABOT-MB-1001 Self-Balancing Robot Main Body
            ABOT-CS-1001 Self-Balancing Robot Software
            S-UP-MAT GoogolTechs Simulink Toolbox

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