Using the modularity of EMB, students can easily create spring-mass-damper plants and explore the response to various inputs, including sine sweep. Both, free and forced vibrations can be studied. A sine sweep input current (torque) is fed to the motor that drives the rack and pinion attachment, moving the cart. A spring is mounted to the cart and grounded to the base plate. No dashpot was added. As the sine frequency increases, the students can quickly identify the system natural frequency. The code was created with pysimCoder, including the real-time code that was deployed to the target. Hardware: - EMB-AM4 (Motor) - EMB-LM1 (Linear slide with encoder) - Spring with K=500 N/m - EMB Rack and Pinion Attachment - EMB-DAQ1 (Real-Time Target) - Maxon ESCON (Amplifier) - Power Supply Software: - pysimCoder - NuttX - RTScope (real-time plotting) #robotics #controlsystems #mechatronics #engineering #engineeringeducation
This is really good. You are making a great contribution to showing what vibration study looks like. Seeing is believing!
Very nice lab equipment!
It would be a great exercise for the team to code the required auto and cross spectrums, do the division, average, and display the Open Loop Transfer function.