Active Control Of Vibration Educational Kit User Manual
Contents
1. 1 shows a mounted educational kit E E W nre Accelerometer Mechanical beam Electronic Rack Amplified Piezo 5 Actuator co Figure 1 Educational Kit of Cedrat Technologies CEDRAT TECHNOLOGIES 4 Version 1 05 06 06 Educational Kit Product and warranty information Figure 2 shows in detail the connections of the CA45 electronic rack Input of the 1 7 5V Output of the Amplifier 20 150V Accelerometer Output Power On Off Figure 2 CA45 Electronic rack description CEDRAT TECHNOLOGIES a Version 1 05 06 06 Educational Kit Product and warranty information Figure 3 shows the GUI Interface of the controller UC45 B HDPM45 14 i 5 x Highly dynamic and CEDRAT Vibration Controller Prec se moti on 4 5 TTA lt Chi ch2 ch3 Teos Loop CONNECTION Coren GENERAL Open fey 09 010 7 a P I D FA 7 r EE ef2so0 Jfes AL Ok 10000 20000 0 004 0 006 CONTROL Y Y 25000 a eee 2 25 50007 T 0 002 01 008 Serene 0 10 2 32000 0 0 01 earl Filter type Frequency filter 1 Frequency filter 2 ae 2 Notchs Order 2 vi 1000 Hz 200 Hz ardini F2 y 150 V Sena co 7 so 75 3 Vi 100 25 Yi 100 Peas 125 a 125 oe Te 20 150 Low 20 150 High viai SAVE PARAMETERS RELOAD DEFAULT LOCAL HELP Figure 3 GUI Interface of the controller LOADING The GUI interface ena2. Active Control Of Vibration Educational Kit User Manual Version 1 Date 2011 08 11 CEDRAT TECHNOLOGIES 15 Chemin de Malacher Inovall e F 38246 MEYLAN Cedex FRANCE URL http www cedrat com Email actuator cedrat com Phone 33 0 4 76 90 50 45 Fax 33 0 4 56 38 08 30 Educational Kit Product and warranty information CAUTION READ BEFORE OPENING For safety purposes these instructions must be read before use of this product Piezoelectric products are not warranted against mechanical damage resulting from improper use wherein excessive forces or voltages that are outside specified ranges are applied High voltage is present in this product Only qualified personnel should work on or around this equipment and only after becoming thoroughly familiar with all warnings safety notices and procedures contained herein The successful and safe operation of this equipment is dependent on proper handling installation and operation A qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition he she has the following qualifications e is trained and authorized to energize de energize clean and ground equipment in accordance with established practices is trained in the proper care and use of protective equipment in accordance with established safety practices CEDRAT TECHNOLOGIES 2 Version 1 05 06 06 Educational Kit P
3. OMMUNICATION nothing else can be done excepting EMERGENCY STOP 3 3 3 Parameters section On the right side the screen is composed of four sections where the operator could pass different parameters for the numeric PID controller CEDRAT TECHNOLOGIES 11 Version 1 05 06 06 Educational Kit Product and warranty information Figure 3 7 Right section of the HMI parameter section GENERAL e Command is a selector to chose between two possible command to send to the actuator o Internal In this case the command is issued from the Applied voltage command The operator can select the voltage that he would like to send on the actuator between 1 to 7 5 Volts o External In this case the command is issued from the Input BNC connector of the CA45 to command the actuator This command must be adjusted between 1 to 7 5 Volts e Applied voltage command is used to send on the actuator directly a static command in Volt between 1 to 7 5V e OL CL is a command to close or to open the control loop OL indicates that the controller works in open loop and CL indicates that the controller works in closed loop i e the regulator is on with the parameters in the control section e Sensor Invert is used to invert the data s sensor e A Sensibility is used to adjust the sensibility of the data s sensor CONTROL eP I D commands adjust the PID parameters as described in the previous paragraphs o The P parameter can be adjusted between O
4. ameters at the screen RELOAD Call back the parameters from the SAVE PARAMETERS action DEFAULT Call back initial parameters HELP Display a short form of the user manual REMOTE The USB link is disable and the HMI is disconnected from LOCAL REMOTE the UC45 controller LOCAL The USB link is enable and the HMI is connected to the UC45 controller EMERGENCY STOP CEDRAT TECHNOLOGIES 14 Version 1 05 06 06 Educational Kit Product and warranty information 4 WORKING MODES OF THE EDUCTIONNAL KIT The educational kit can operate in 2 working modes The first mode is in closed loop The input of the electronics is null see Figure 8 The actuator APA60SM is used to damp the vibrations of the beam This is the normal working condition The second mode is in open loop It uses the actuator as a forced exciter of the beam see Figure 9 A signal between 1V 7 5V is sent on the input of the electronics goes through the amplifier and supplies the actuator If the input signal is a sine the beam starts to oscillate at the same frequency and with proportional amplitude It is highly recommended to be in open loop in this mode and to work at low level of voltage OV 3V on the input to avoid damages at resonance The Servo has to OFF PID Amplifier Controller CA45 Figure 8 First working mode of the educational kit Active Control of Vibrations Input 0 3V ax PID Amplifier Actuator DC or AC ee Controller CA45 beam Serv
5. bles to dialogue with the PID controller Several parameters of the controller can be modified The description of the parameters is given in 3 3 3 2 USER MANUAL OF APAGOSM PIEZO ACTUATOR AND CA45 ELECTRONIC RACK The APA actuator and the CA45 are standard industrial products of Cedrat Technologies The relative user manuals can be found at http www cedrat com en mechatronic products user s manual html CEDRAT TECHNOLOGIES 6 Version 1 05 06 06 Educational Kit Product and warranty information 3 INSTALLING THE EDUCATIONAL KIT The educational kit is easy and fast to install 3 7 CONNECTING THE HARDWARE Follow the procedure 1 Connect the CA45 to the grid 2 Switch off the CA45 3 Leave the pin In unconnected 4 Plug the brown cable in the pin Out and in the actuator Respect the colors of the connectors 5 Plug the dark cable in the pin Sensor 6 Connect the USB to the PC Open the software HDPM45 7 Switch ON the CA45 The front LED is green The software connects to the controller 8 Switch Servo On into the right position 9 By shaking the beam manually you can observe if the system is damped properly 3 2 INSTALLING SOFTWARE This paragraph describes the different instructions to connect the UC45 microcontroller and to install the software The operator in the same time must connect the mechanism to the rack following the instruction in the user manual LA75 Linear amplifier for piezoelectr
6. check the value of the driver with an oscilloscope Turn if necessary the offset potentiometer of the CA45 see user manual of CA45 for additional information A We recommend when you tune the regulator to place the Low and High commands with small amplitudes to limit a potential risk of damage on the actuator during an instability phase by limiting the amplitude of the applied voltage on the actuator Each channel can be selected and modified with the Channel button In a 3 channels configuration the operator can select independently the parameters of each channel for the GENERAL CONTROL FILTER and DRIVER sections CEDRAT TECHNOLOGIES 13 Version 1 05 06 06 Educational Kit Product and warranty information 3 3 4 Summary Each parameter are summarized in the following table including their states Pp Noe Range S Connection Section S Parameters Section Po 0 to 10 resolution es Do Otto te 2 resolution es SSS Filter type Low pass Order 2 Notch Order 2 Notch Order 4 2 Notchs Order 2 None TERS Serial Number UC45 S O Channel US O Serial Number of sensor O SAR in dB O Calibration for SG75 Strain Gages gain um V Amplifier Gain V V System Gain um V Calibration for ECS75 Gain in um V Linearity error in General command section SS O RUNNING NO COMMUNICATION Display the state of the communication between the PC and the boards SAVE PARAMETERS Save the par
7. ic actuators Product and warranty information A DO NOT CONNECT THE USB DRIVER ON THE PC BEFORE INSTALLING THE SOFTWARE 3 2 1 Required equipments You must install the Software on the following Personal Computer configuration e Change in in the regional configuration of your PC if it is not the case Settings Controls Panel Regional and language Options Customize Decimal symbol Your screen cannot be higher than 1200 per 800 pixels CEDRAT TECHNOLOGIES 7 Version 1 05 06 06 Educational Kit Product and warranty information The installation is simple A unique CD or a download on Cedrat website http www cedrat com en mechatronic products software download html 0 includes the installation of the drivers to dialogue with the UC45 and the installer for the application software It contains the autonomous application too 3 2 2 First time installation 1 The operator has to run the setup exe following the giving indications a HoPmasv11 ii O x Destination Directory Select the primary installation directory It is strongly recommended that you exit all programs before running this installer Applications that run in the background such as virus scanning Z 4 All software will be installed in the following location s To install software into a utilities might cause the installer to take longer than average to complete gt different location
8. ns le pr sent Contrat les mots suivants ont les significations indiqu es ai danmmrmn accept the License Agreement s do not accept the License Agreement s lt lt Back Next gt gt Cancel Figure 3 2 License Agreement CEDRAT TECHNOLOGIES 8 Version 1 05 06 06 Educational Kit Product and warranty information E HDPM45v11 l ox CORES Sle x BEE Start Installation Review the following summary before continuing Upgrading HDPM45 11 Files Adding or Changing National Instruments system components Overall Progress Currently installing HDPM45v11 Part 1 of 1 Click the Next button to begin installation Click the Back button to change the installation settings Save File lt lt Back Next gt gt Cancel Figure 3 3 Starting Installation 2 After this installation is finished an other driver will be install automatically and then restart your PC 3 Connect your PC with the UC45 by USB cable see Erreur Source du renvoi introuvable and power on the rack 4 Now the operator can run the software HDPM45_vxx exe which is normally on your desktop 3 3 RUNNING THE SOFTWARE 3 3 1 Introduction In this paragraph we describe how to use the Highly dynamic and precise motion 45 software with a pair piezo actuator sensor The software provided with the UC45 permits to command some parameters At first the software make a research of the several boa
9. o OFF Figure 9 Second working mode of the educational kit Forced Excitation of the beam Actuator beam CEDRAT TECHNOLOGIES 15 Version 1 05 06 06 Educational Kit Product and warranty information 5 ELECTROMAGNET OPTION In construction 6 WARRANTY CONDITIONS AND EXCEPTIONS The equipment is warranted for a period of one year from date of shipment including parts and labor and only under standard technical conditions as outlined above and expressly mentioned in the technical data sheet Repairs will be carried out at Cedrat Technologies or through your vendor During the warranty period Cedrat Technologies will at its option either repair or replace products which prove to be defective Interventions or attempts to service or repair the Actuators by any unauthorized persons will invalidate this warranty In addition this warranty will not apply if the actuator is subjected to any of the following e improper handling including but not limited to shocks and abrasions e improper installation including but not limited to excessive mechanical forces and moments failure to use the standard electrical and mechanical interfaces e excessive voltage including but not limited to peak values outside the recommended operating range DC values applied for excessive time periods e inappropriate environmental conditions including but not limited to high temperatures or high humidity e attempt to modif
10. rds which could be connected During this first step a button LOADING appears This first step can be 1 or 2 minutes long Figure 3 4 First step During a second step the software will read the parameters on the boards a button NO COMMUNICATION appears When those two steps are ok the Human Machine Interface is ready to use the button RUNNING appears The screen is cut in three areas e The first one on the left manages the several boards CEDRAT TECHNOLOGIES 9 Version 1 05 06 06 Educational Kit Product and warranty information e The second one on the right manages the regulator with some parameters that the operator can change e The last one on the bottom of the screen includes several main commands to manage the state of the software 11 gt ee EMERGENCY STOP Figure 3 5 Human Machine Interface description Each section is named which helps the operator to know what kind of parameter is modified 3 3 2 Connection Section On the left side the screen is composed of twelve possible boards maximum number The software search automatically the boards and the operator can choose the board he wanted to change the parameters CEDRAT TECHNOLOGIES 10 Version 1 05 06 06 Educational Kit Product and warranty information HUE Figure 3 6 Left section of the HMI Connection section Until the connection is not established correctly button RUNNING NO COMMUNICATION stay in the state NO C
11. roduct and warranty information 1 Description of the educational kit 4 2 User Manual of APA60SM PIEZO actuATor and CA45 ElectroniC Rack 6 3 INSTALLING THE education RI Toistaa AAE EAEAN ETE 7 3 1 Connecting the NAT AWARe ae id ivntiinniwloaneanlnenetestwumcnsees 7 3 0 ns ANA SOPIWOPES En nt tacos 7 3 2 1 Required SCQUIDIMENTS scsoccescacssscsczessasts PAR ce ee 7 3 2 2 Erst iimeins talat Oiasson nduidentidsilnclies a entoveaae 8 B55 RNING Ne SONORE dd dd a ete dt 9 3 3 1 LATOU fc ea anes nee ter ent oe Emme En ene dee tn amr ete etn eran yee ae etn eee 9 3 3 2 CONNECTION SECTIONS nn rm to terne 10 3 93 Parameters SECTOR nt eee Giant 11 3 3 4 SUMMO V En ee dd 13 4 Working modes of the eductionnal kit 15 Di ClECTPOMGQNET OPTION perairan an ES a ta aan 16 6 Warranty Conditions and exceptions 16 Fe ENGDECTION UDN T eCEID TR Rd T 16 8 After Sale Servi Ceinia a iA E E db an A 17 ANNEX 12 Trouble Shooting FORM aseina E E R A A 18 CEDRAT TECHNOLOGIES 3 Version 1 05 06 06 Educational Kit Product and warranty information 1 DESCRIPTION OF THE EDUCATIONAL KIT MATERIAL The Educational Kit includes e An Amplified Piezo Actuator APA60SM e A electronic rack including o a linear amplifier CA45 o a signal conditioner SG75 o a digital PID controller UC45 e An accelerometer e A mechanical beam e Cables e A GUI interface with USB connection making the bridge between the PC and the digital controller UC45 Figure
12. s click the Browse button and select another directory 4 a Directory for HDPM45y 11 y A C Program Files HDPM 454115 Browse Please wait while the installer initializes Directory for National Instruments products C Program Files N ational Instruments Browse Cancel lt lt Back Next gt gt Cancel Figure 3 1 Destination directory Hopmasvi 215 xi License greement You must accept the license s displayed below to proceed CONTRAT DE LICENCE LOGICIEL NATIONAL INSTRUMENTS GUIDE D INSTALLATION LE PRESENT DOCUMENT EST UN CONTRAT AVANT DE TELECHARGER LE LOGICIEL ET OU DE FINALISER LE PROCESSUS D INSTALLATION VEUILLEZ LIRE ATTENTIVEMENT LE PRESENT CONTRAT EN TELECHARGEANT LE LOGICIEL ET OU CLIQUANT SUR LE BOUTON PERMETTANT DE FINALISER LE PROCESSUS D INSTALLATION VOUS SOUSCRIVEZ AUX CLAUSES DU PRESENT CONTRAT ET ACCEPTEZ D ETRE LIE PAR LE PRESENT CONTRAT SI VOUS NE VOULEZ PAS DEVENIR PARTIE AU PRESENT CONTRAT NI ETRE LIE PAR L ENSEMBLE DE SES CLAUSES ET CONDITIONS VEUILLEZ CLIQUER SUR LE BOUTON QUI ANNULE LE PROCESSUS D INSTALLATION N INSTALLEZ PAS ET N UTILISEZ PAS LE LOGICIEL ET RETOURNEZ CELUI CI DANS LES TRENTE 30 JOURS DE SA RECEPTION ACCOMPAGNE DE TOUS LES DOCUMENTS ECRITS QUI LE COMPLETENT AINSI QUE DE LEURS EMBALLAGES A L ENDROIT OU VOUS LES AVEZ OBTENUS TOUS LES RETOURS SERONT SOUMIS A LA POLITIQUE DE NI ALORS EN VIGUEUR EN MATI RE DE RETOURS 1 D finitions Da
13. to 10 by step of o The I parameter can be adjust between O to 32000 by step of 1 o The D term can be adjusted between O to 1e 2 by step of 1 The command can be sent by rotating the button or by writing the number independently 1 FILTER e Filter type indicates the kind of filter is inline with the PID regulator o Low pass Order 2 is a filter based ona 2 order low pass filter In this case only the frequency filter 1 can be change o Notch Order 2 is a filter based on a 2 order stop band filter In this case only the frequency filter 1 can be change o Notch Order 4 is a filter based on a 4 order stop band filter In this case only the frequency filter 1 can be change o 2 Notches Order 2 are two filters based on a 2 order stop band filter In this case the frequency filter 1 and the frequency filter 2 can be change o None indicates that no filter is added with the PID controller e Frequency filter 1 2 are integers and can be adjust between 50 to 2000 Hz CEDRAT TECHNOLOGIES 12 Version 1 05 06 06 Educational Kit Product and warranty information DRIVER e Low indicates the lowest limitation of the voltage output of the driver e High indicates the highest limitation of the voltage output of the driver The limitation can be adjusted between 20 to 150V These values are correct if the offset of the driver is adjusted at O Volt To verify place the command in the internal mode section General and
14. tor and communicate it to your vendor This form must be completed by the customer in order to allow Cedrat Technologies to authorise the product return back to the factory help Cedrat Technologies in repairing it Product Please give mention here the references and delivery date History Please summarise here every action which has been performed with the device since the delivery Problem description Please describe here the problems CEDRAT TECHNOLOGIES 18 Version 1 05 06 06
15. y the standard electrical connection of the APA soldering out of electrical wires plugs change or the standard mechanical interfaces No other warranty is expressed or implied Cedrat Technologies specifically disclaims the implied warranties of merchantability and fitness for a particular purpose 7 INSPECTION UPON RECEIPT This product has been inspected and shown to operate correctly at the time of shipment as verified by the Factory Verification form that accompanies the actuator Immediately upon receipt of the product it should be inspected carefully for any signs of damage that may have occurred during shipment If any damage is found a claim should be filed with the carrier CEDRAT TECHNOLOGIES 16 Version 1 05 06 06 Educational Kit Product and warranty information The package should also be inspected for completeness according to the enclosed packing list If an order is incorrect or incomplete contact your distributor 8 AFTER SALE SERVICE If a device requires service please contact Cedrat Technologies or your local vendor Please include the device model and serial number in all correspondence with Cedrat Technologies or your vendor CEDRAT TECHNOLOGIES 17 Version 1 05 06 06 Educational Kit Product and warranty information ANNEX 1 TROUBLE SHOOTING FORM In case of trouble or breakdown with the piezo actuator please check the electrical impedance capacitance and insulation resistance of the actua
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