Control moment gyroscope by ECP
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Educational four-axis control moment gyroscope - Model 750 from Educational Control Products (ECP).
Located currently at K26 lab.
- the system is provided with the so-called turnkey solution, which means that besides the model itself, an amplifier and also the software was delivered.
Student projects finished with the system:
- Evyatar Bukai. Modeling and control of a four-axis control moment gyroscope. Undergraduate final thesis (2013).
MATLAB® Controll using Real-Time Windows Target® and Humusoft Control Board
- Dedicated control software provided by ECP is very outdated. It requires old 32 bit processor architecture and the user interface does not match today's standards.
- Most of the control models being used in education are controlled via MATLAB® using universal Humusoft control board. Using the same board to control different models is way more flexible and allows switching the controll PC's without need of hardware changes.
- Find the correct setup of Humusoft board according to pin-out specification provided by ECP.
- Set up and run the RTWT® communication in MATLAB®
- Describe the input values to actuators and output values from sensors.
- Experiment with regulators and feedback control.
1. Model Description
2. Humusoft board setup
- Gyroscope Ampflier/Interface box uses 60-pin Flat Cable for connetnion with original ECP control board. 14 pins are used to provide power supply and data acces to four encoders (Encoder 1-4) and two Digital-to-analog converters that drive motors (DAC 1-2). All devices are described in previous section.
- Each Encoder requires 4 wires. Two for TTL Signal data on Channel A and B, one for power supply (+5 Volts) and one for ground. Power supply and ground are common for all four encoders.
- Each Motor requires 2 wires. One for input DAC Signal (input range +/-10 Volts) and one for ground.
- The original pin-out specification provided by ECP (on request) contained several errors. Following specification table is already corrected.
|Signal Description||Pin Number||Very Important Notes|
|Encoder 1 A Channel||25||TTL Signal|
|Encoder 1 B Channel||21||TTL Signal|
|Encoder 1 +5 V Power Supply||1||DO NOT MIX UP +5 Volt & Ground. Causes immediate damage to encoders.|
|Encoder 1 Ground||3||Encoder Power Common|
|Encoder 2 A Channel||26||TTL Signal|
|Encoder 2 B Channel||22||TTL Signal|
|Encoder 2 +5 V Power Supply||1||DO NOT MIX UP +5 Volt & Ground. Causes immediate damage to encoders.|
|Encoder 2 Ground||3||Encoder Power Common|
|Encoder 3 A Channel||13||TTL Signal|
|Encoder 3 B Channel||9||TTL Signal|
|Encoder 3 +5 V Power Supply||1||DO NOT MIX UP +5 Volt & Ground. Causes immediate damage to encoders.|
|Encoder 3 Ground||3||Encoder Power Common|
|Encoder 4 A Channel||14||TTL Signal|
|Encoder 4 B Channel||10||TTL Signal|
|Encoder 4 +5 V Power Supply||1||DO NOT MIX UP +5 Volt & Ground. Causes immediate damage to encoders.|
|Encoder 4 Ground||3||Encoder Power Common|
|DAC 1 Spin Motor||43||MAX +/- 10 Volts|
|DAC 1 Return||58||DAC 1 Common|
|DAC 2 Gimbal 2 Motor||44||MAX +/- 10 Volts|
|DAC 2 Return||59||DAC 2 Common|