主要规格及技术指标

二次元系统 数量：5 套
配置：
1）三块大小不一的圆柱形质量体分别通过中心轴固定在立式支撑架上（支撑架固定在底座上），并且三个质量体的中心轴线处在一条水平线上。
2）质量体从左数起：第一块和第二块、第二块和第三块之间通过具有一定柔性的弹簧连接（弹簧的柔性和弹性可足以带动轴和质量体的运动）。
3）第一块质量体的左端直接与直流电机（带减速器）连接，电机转动则可以驱动三块质量体转动。
4）为了检测质量体的状态（转动角度和速度），在第三块质量体的右侧安装了编码器（上图第三块质量体右侧支撑架上黑色部分），另外在其它两块质量体的右侧支撑架及电机左侧也留有编码器安装位置。
5）有保护机制，急停；机械部分有保护外壳，装置工作时机械部分置于保护外壳内。
6 ） 驱 动 使 用 直 流 电 机 。 设 备 采 用 MAXON144029+226806，减速器减速比 14:1，电机额定扭矩27.1mMN，电机额定转速 7680 转。
7）编码器，分辨率1000线/转。设备采用瑞普HKT3004-C03G-1000B-5E，1000 线每圈，5V 。
8）装置供电电压不超过24V DC。
9）电控系统：贝加莱产品。

B&R Secondary Element System Quantity: 5 sets
Configuration:
1) Three cylindrical mass bodies of different sizes are fixed on the vertical support frame (the support frame is fixed on the base) through the central axis, and the central axes of the three mass bodies are on a horizontal line.
2) From the left: the first and second blocks, and the second and third blocks are connected by springs with certain flexibility (the flexibility and elasticity of the spring are sufficient to drive the movement of the shaft and the mass body).
3) The left end of the first mass body is directly connected to the DC motor (with reducer), and the rotation of the motor can drive the three mass bodies to rotate.
4) In order to detect the state of the mass body (rotation angle and speed), an encoder is installed on the right side of the third mass body (the black part on the right support frame of the third mass body in the above figure), and encoder installation positions are also reserved on the right support frame of the other two mass bodies and the left side of the motor.
5) There is a protection mechanism and emergency stop; the mechanical part has a protective shell, and the mechanical part is placed in the protective shell when the device is working.
6) The drive uses a DC motor. The equipment uses MAXON144029+226806, the reducer reduction ratio is 14:1, the motor rated torque is 27.1mMN, and the motor rated speed is 7680 rpm.
7) Encoder, resolution 1000 lines/rev. The equipment uses Ruipu HKT3004-C03G-1000B-5E, 1000 lines per turn, 5V.
8) The power supply voltage of the device does not exceed 24V DC.
9) Electronic control system: B&R product.

主要功能及特色

本实验装置可用于动态系统建模即相应控制算法编写及测试等的实验，具体包括但不限于：
1）动态系统建模（可基于MATLAB）及模型验证（使用本试验台测得数据与模型预测比较）。
2）基于PID的控制算法编写，测试，参数整定等，或者编写和测试更高级的控制算法等。

This experimental device can be used for dynamic system modeling, i.e., the writing and testing of corresponding control algorithms, etc., including but not limited to:
1) Dynamic system modeling (can be based on MATLAB) and model verification (using this test bench to compare the measured data with the model prediction).
2) PID-based control algorithm writing, testing, parameter setting, etc., or writing and testing more advanced control algorithms, etc.

主要附件及配置

无