主要规格及技术指标

二次元系统 数量：5 套
1.安全防护：IP20急停；机械部分有保护外壳
2. 驱动方式：24V直流电机 ，电机额定扭矩27.1mMN，电机额定转速 7680 转。
3.减速装置：MAXON144029+226806减速器，减速比 14:1。
4.编码器，分辨率1000线/转。设备采用瑞普HKT3004-C03G-1000B-5E，1000 线每圈，5V 。
5.总供电电压：24V DC。
6.控制系统：贝加莱PLC80VD100PS。

Secondary system Quantity: 5 sets
1. Safety protection: IP20 emergency stop; mechanical parts have protective shells.
2. Driving mode: 24V DC motor, motor rated torque 27.1mMN, motor rated speed 7680 revolutions.
3. Reduction device: MAXON144029+226806 reducer, reduction ratio 14:1.
4. Encoder, resolution 1000 lines/revolution. The device adopts Ruipu HKT3004-C03G-1000B-5E, 1000 lines per revolution, 5V.
5. Total power supply voltage: 24V DC.
6. Control system: B&R PLC80VD100PS.

主要功能及特色

结构描述：
该系统主要由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。
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）。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。
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，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。

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。

Structural Description:
The system consists of three cylindrical masses of different sizes fixed on a vertical support frame (the support frame is fixed on a base) by means of a central axis, and the central axes of the three masses are in a horizontal line.
The mass bodies are counted from the left: the first and the second, the second and the third are connected to each other by means of a spring with a certain degree of flexibility (the flexibility and elasticity of the spring can be sufficient to drive the axis and the mass bodies). The left end of the first mass is directly connected to a DC motor (with gearbox), which rotates the three masses.
In order to detect the state of the masses (angle and speed of rotation), an encoder is mounted on the right side of the third mass, and encoder mounting positions are provided on the right side of the support frame of the other two masses and on the left side of the motor.

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

主要附件及配置

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