• Description

獨立可運作的教學平台,設計給學生來學習包含不穩定系統的基礎與進階控制理論

Description
The Ball and Beam Apparatus shows the control problems of unstable systems, for example a rocket or missile during
launch, which needs active control to prevent the missile going unstable and toppling over.
The apparatus has a steel ball which is free to roll on two parallel tensioned wires. The wires are on a beam that
pivots at its centre. A servo motor controls the beam angle and sensors measure the beam angle and ball position.

The basic control problem is to vary the beam angle to control the ball position. The system is a double integrator,
so it is naturally unstable. It needs active feedback control using phase-advance methods.

Essential Base Unit
• Controller (CE120) – A controller with analogue and
digital controls and instruments
or
• Digital Interface (CE122) – An interface which connects
between most products in the Control Engineering
range and a suitable computer (not included)
or
• Other suitable controller with +/– 10 V inputs and
outputs
Both the CE120 and the CE122 include TecQuipment’s
CE2000 Control Software with editable, pre-made control
experiments for use with the CE106.


Standard Features
• Supplied with comprehensive user guide
• Five-year warranty
• Made in accordance with the latest European Union
directives


Experiments
• Measurement of system dynamics by transient and
closed-loop methods
• Design of analogue phase-advance compensators
• Design of state reconstructors to obtain estimates of ball
velocity and position
The flexible design of the equipment allows the user to
develop many other analysis and control exercises to suit
their needs. It is good for extended or advanced control
experiments, and is ideal for student project work.

Essential Services
Electrical supply:
90 VAC to 250 VAC, 0.4 A, 50/60 Hz, with earth
Bench space needed:
1.5 m x 750 mm


Operating Conditions
Operating environment:
Laboratory
Storage temperature range:
–25°C to +55°C (when packed for transport)
Operating temperature range:
+5°C to +40°C
Operating relative humidity range:
80% at temperatures < 31°C decreasing linearly to 50% at
40°C


Sound Levels

Less than 70 dB(A)


Specifications
Nett dimensions and weight:
1070 mm x 330 x 420 mm, 18 kg
Packed dimension and weight:
0.64 m3, 52 kg (approx – packed for export)
Input: 0 to 10 VDC
• Motor
Outputs: 0 to +/– 10 VDC
• Ball position
• Beam angle
Other parts included:
• Connecting cables
• Spare balls and wire
• Accessories for cleaning the wire