Installation Levi

Magnetic Levitation System

Installation and Commissioning

33-006-0M5

MATLAB 5 Version

Feedback

Feedback Instruments Ltd, Park Road, Crowborough, E. Sussex, TN6 2QR, UK.Telephone: +44 (0) 1892 653322, Fax: +44 (0) 1892 663719.

email: [email protected] World Wide Web Homepage: http://www.fbk.com

Manual: 33-006-0M5 Ed01 991115 Printed in England by Fl Ltd, Crowborough

Feedback Part No. 1160–330060M5

Notes

MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Preface

33-006-0M5 i

THE HEALTH AND SAFETY AT WORK ACT 1974

We are required under the Health and Safety at Work Act 1974, to make available to users of this equipment certain informationregarding its safe use.

The equipment, when used in normal or prescribed applications within the parameters set for its mechanical and electricalperformance, should not cause any danger or hazard to health or safety if normal engineering practices are observed and they are usedin accordance with the instructions supplied.

If, in specific cases, circumstances exist in which a potential hazard may be brought about by careless or improper use, these will bepointed out and the necessary precautions emphasised.

While we provide the fullest possible user information relating to the proper use of this equipment, if there is any doubt whatsoeverabout any aspect, the user should contact the Product Safety Officer at Feedback Instruments Limited, Crowborough.

This equipment should not be used by inexperienced users unless they are under supervision.

We are required by European Directives to indicate on our equipment panels certain areas and warnings that require attention by theuser. These have been indicated in the specified way by yellow labels with black printing, the meaning of any labels that may be fixed tothe instrument are shown below:

CAUTION -RISK OFDANGER

CAUTION -RISK OF

ELECTRIC SHOCK

CAUTION -ELECTROSTATIC

SENSITIVE DEVICE

Refer to accompanying documents

PRODUCT IMPROVEMENTSWe maintain a policy of continuous product improvement by incorporating the latest developments and components into our equipment,even up to the time of dispatch.

All major changes are incorporated into up-dated editions of our manuals and this manual was believed to be correct at the time ofprinting. However, some product changes which do not affect the instructional capability of the equipment, may not be included until it isnecessary to incorporate other significant changes.

COMPONENT REPLACEMENTWhere components are of a ‘Safety Critical’ nature, i.e. all components involved with the supply or carrying of voltages at supplypotential or higher, these must be replaced with components of equal international safety approval in order to maintain full equipmentsafety.

In order to maintain compliance with international directives, all replacement components should be identical to those originallysupplied.

Any component may be ordered direct from Feedback or its agents by quoting the following information:

1. Equipment type

3. Component reference

2. Component value

4. Equipment serial number

Components can often be replaced by alternatives available locally, however we cannot therefore guarantee continued performanceeither to published specification or compliance with international standards.

MAGNETIC LEVITATION SYSTEMInstallation and Commissioning

Preface

ii 33-006-0M5

DECLARATION CONCERNING ELECTROMAGNETIC COMPATIBILITYShould this equipment be used outside the classroom, laboratory study area or similar such place for which it is designed and sold thenFeedback Instruments Ltd hereby states that conformity with the protection requirements of the European Community ElectromagneticCompatibility Directive (89/336/EEC) may be invalidated and could lead to prosecution.

This equipment, when operated in accordance with the supplied documentation, does not cause electromagnetic disturbance outsideits immediate electromagnetic environment.

COPYRIGHT NOTICE

© Feedback Instruments Limited

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by anymeans, electronic, mechanical, photocopying, recording or otherwise, without the prior permission of Feedback Instruments Limited.

ACKNOWLEDGEMENTSFeedback Instruments Ltd acknowledge all trademarks.

IBM, IBM - PC are registered trademarks of International Business Machines.

MICROSOFT, WINDOWS 95, WINDOWS 3.1 are registered trademarks of Microsoft Corporation.

MATLAB is a registered trademark of Mathworks Inc.

MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Contents

33-006-0M5 TOC 1

TABLE OF CONTENTS

1. Introduction 1-1

1.1 Required Equipment 1-1

1.2 Feedback Supplied Items 1-2

2. Packing List 2-1

3. PCL-812 CARD SETTINGS 3-1

3.1 Switch Settings – 16-bit Board 3-2

3.2 Jumper Settings 3-3

3.3 Switch SW1 Settings for 8-bit Full-length PCL-812 board 3-4

4. Installation of the PCL-812 Board 4-1

5. Control Software Installation 5-1

5.1 Installation Guide 5-1

5.2 Troubleshooting 5-6

6. Setting Up the System 6-1

6.1 Initial Set-up 6-1

6.2 Controllers 6-8

MAGNETIC LEVITATION SYSTEMInstallation and Commissioning

Contents

TOC 2 33-006-0M5

Notes

CHAPTER 1MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Introduction

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1. Introduction

This manual contains a description of the components of the Magnetic Levitation System(Maglev System), and its setting-up procedure.

The procedures described in this Section of the manual will ensure the correct:

• assembly of the system;• switch and Jumper settings of the PCL-812 interface card;• cable connections between the PC and the 33-210 Magnetic Levitation Unit;• set up of the 33-301 Analogue Control Interface module.

1.1 Required Equipment

The following items of equipment, software and documentation are required to use thesystem.

• IBM Compatible PC with minimum configuration:16 Mb of memory, Math co-processor (included in 486 or Pentiumprocessor)VGA screen and mouse.Windows 95/98/NT

• MATLAB Version 5.1 or 5.2 with SIMULINK, Control System Toolbox and SignalProcessing Toolbox (from Mathworks Inc).

• Advantech PCL-812PG Enhanced Multi-Lab Card for installation in the PC with1 x 20-way ribbon cable.

• Feedback Magnetic Levitation System consisting of the 33-210 MagneticLevitation Unit and the 33-301Analogue Control Interface Module (ACI).

• One CD-ROM containing software installation/uninstallation program, manualsin Adobe Acrobat format, working files within MATLAB environment.

Manuals:

33-006-0M5 - Magnetic Levitation System - Installation and Commissioning33-006-1M5 - Magnetic Levitation System - Getting Started

33-006-2M5 - Magnetic Levitation System - External Interface33-006-3M5 - Magnetic Levitation System - Reference Guide

33-006-4M5 - Magnetic Levitation System - Advanced Teaching

CHAPTER 1MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Introduction

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1.2 Feedback Supplied Items

The following items are supplied by Feedback under following product codes

33-210 Magnetic Levitation Mechanical Unit

33-301 Analogue Control Interface Module

33-940 Magnetic Levitation System - Control Software pack including Advantech card

33-940I Magnetic Levitation System -Control Software pack excluding Advantech card

33-006 33-210 plus 33-301 plus 33-940 (Composite product)

33-006I 33-200 plus 33-201 plus 33-940I (Composite product)

.

CHAPTER 2MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Packing List

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2. Packing List

Carefully unpack the items, and remove all packaging and securing material. You shouldhave the following items:

1) 33-210 Magnetic Levitation Mechanical Unit

2) 33-301 Analogue Control Interface Module

3) 2 metal spheres

4) Set of 8 connecting leads as follows:

1 Brown 4/2mm 1 Red 4mm1 Yellow 4/2mm 1 Blue 4mm1 Green 4/2mm 1 Black 4mm1 Violet 4/2mm1 White 4/2mm

5) 22 kΩ resistive network, 100 Ω resistor – 1 µF capacitor series RC network,and two blank carriers

6) Power cable for 33-210

7) PCL–812 Advantech card (if purchased)

8) One CD-ROM containing control software and manuals, and 20-way ribboncable

9) 500 mA fuse

Note that MATLAB is not supplied by Feedback

CHAPTER 2MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Packing List

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Notes

CHAPTER 3MAGNETIC LEVITATION SYSTEMInstallation and Commissioning PCL–812 Card Settings

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3. PCL-812 CARD SETTINGS

Caution: The PCL-812Advantech contains components which can bedamaged by static electricity. Before removing the PCL-812 board from its

conductive packaging, touch your hand on a grounded metal object such asthe case of your PC. Avoid touching the components on the board or the

plated edge connectors.

Before installing the PCL-812PG interface card into your computer, make sure that theswitches and jumpers shown in Figure 3-1 are set correctly as detailed in this section.

Figure 3-1: 16 bit PCL-812PG Interface Card - Switch and Jumper Positions

Note: The board shown above is a 16 bit short board. Some users may havethe 8 bit full length PCL- 812 board for which the SW1 switch settings are

different. If you have this board, refer to the settings in the following sectionfor the 8 bit board.

Other settings and cable connections are the same for both boards.

JP5

JP2

JP1

JP9

JP8

JP7

JP6

JP4

JP3

Digital Out

Digital In

Analogue I/O CN1

Analogue I/O CN21 2 53 4 6 7 8

SW1ON

CHAPTER 3MAGNETIC LEVITATION SYSTEMInstallation and Commissioning PCL-812 Card Settings

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3.1 Switch Settings – 16-bit Board

Switch SW1 controls the base address for I/O transfer (switches 1-6) and the CPU waitstates (Switches 7-8). They should be set as follows.

Note: The software always refers to decimal settings,whereas the Instruction Manual

for the PCL-812 board refers to hexadecimal settings. For convenience, bothdecimal and hex addresses are shown in the table below.

SW1 Base Address Selection

I/O Address Range (hexand decimal)

SW1 Switch Position

1 2 3 4 5 6200-20F (512-527 Dec) OFF ON ON ON ON ON210-21F (528-543 Dec) OFF ON ON ON ON OFF220-22F (544-559 Dec) * OFF ON ON ON OFF ON230-23F (560-575 Dec) OFF ON ON ON OFF OFF300-30F (768-783 Dec) OFF OFF ON ON ON ON3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF OFF

* Factory default setting

Note: Some video cards or floppy disk drives use the higher base addressessuch as 1008 (Hex 3F0), and should be avoided if possible.

SW1 Wait State Selection

Time Delay SW1 Switch Settings7 8

0 * ON ON2 OFF ON4 ON OFF6 OFF OFF

* Factory default setting


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3.2 Jumper Settings

The Jumpers on the PCL-812 board should be set in the positions indicated below:

JP1 - Trigger Source Selection

JP1INT OTRG OEXT O

JP2 - Counter Input Clock Selection

JP2INT OCLK OEXT O

JP3, JP4 - D/A Reference Selection

JP3 O O O D/A1JP4 O O O D/A2

INT VREF EXT

JP5 - IRQ Level Selection

2 3 4 5 6 7 XO O O O O O OO O O O O O O

JP5

JP6, JP7 - DMA Channel Selection

1 3 X 1 3 XO O O O O OO O O O O O

JP6 JP7


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JP8, JP9 - D/A Internal Reference, A/D Maximum Input Voltage Selection

10 5 5JP8 O O OJP9 O O O

Depending on the specification and configuration of your PC, you may need to change theBase Address and Wait State settings.

Note: None of the other settings need to be changed .

3.3 Switch SW1 Settings for 8-bit Full-length PCL-812 board

I/O Address Range (hexand decimal)

SW1 Switch Position

1 2 3 4 5 6200-20F (512-527 Dec) ON ON ON ON ON X210-21F (528-543 Dec) ON ON ON ON OFF X220-22F (544-559 Dec) * ON ON ON OFF ON X230-23F (560-575 Dec) ON ON ON OFF OFF X300-30F (768-783 Dec) OFF ON ON ON ON X3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF X

Note: An “X” in the table above means that this switch is not used.

CHAPTER 4MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Installation of the PCL-812 Board

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4. Installation of the PCL-812 Board

Figure 4-1: PCL-812 Interface Card Ribbon Cable Connections

One slot required at the rear of the PC for the 20-way analogue port socket. Use screwsto secure the card to the casing of the PC. Refer to Figure 4-1.

Carefully install the interface card in a spare slot on the PC motherboard (or in a slot onthe passive backplane, if your PC has this type of architecture - common with some 19-inch rack mounted PC’s). If in any doubt as to the correct procedure, consult thedocumentation supplied with the PC.

Warning: Turn OFF and disconnect the mains power supplyBEFORE opening the computer

Before opening the computer, it is important to ensure that it is switched off and that themains power supply is not connected.

Once you have opened the computer, check to see if there are any other cards installed;for example, a network or sound card. It is important to determine the addresses of anysuch cards as your Magnetic Levitation System will not function correctly if there isanother card using all, or part of, the address space assigned to the PCL-812PG interfacecard.

1 2 53 4 6 7 8JP5

JP2

JP1

JP9

JP8

JP7

JP6

JP4

JP3

Digital Out

Digital In

Analogue I/O CN1

Analogue I/O CN2

SW1

20 way ribboncable

ON

CHAPTER 4MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Installation of the PCL-812 Board

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Notes

CHAPTER 5MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Control Software Installation

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5. Control Software Installation

5.1 Installation Guide

Insert CD-ROM into drive. Disk should auto start; if auto-play is not enabled, then proceedas follows:

1. Click on START2. Select RUN and enter d:install.exe where d: is the CD-ROM drive.3. Click on OK.

The installation program should now be running.

Follow the on-screen instructions (Figure 5-1).

Figure 5-1: Software Installation and User Information Windows

Choose SETUP to continue the installation program.


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Make sure that the installation process has identified your operating system (Figure 5-2).

The Executable for MATLAB will always be in the ‘bin’ (binary) subdirectory.

Figure 5-2: Installation Settings Window

The destination directory is the storage space for all new files and programs (Figure 5-2).

Select from the Components window (see Figure 5-3 and 5-4), the Maglev software.

Note: By default the installation package will select all software packagesproduced by Feedback Instruments Ltd. Select only the software packageyou have purchased, and de-select the rest. Failure to do so will cause the

installation routine to hang-up (Figures 5-3 and 5-4).

Figure 5.3: Components (1) Window


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Figure 5-4: Components (2) Window

Ensure that the base address is the same as indicated by switches selection on theAdvantech PCL 812-PG board (Figure 5-5).

Figure 5-5: I/O Board Settings Wi ndow

Figure 5-6 is an informative window, showing which applications can run in MATLAB.

Figure 5-6: MATLAB Commands Window


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Figure 5-7 shows the end of the installation procedure.

Figure 5-7: Installation Complete Window

To start the Maglev software, return to the desktop window and double-click on MATLABicon (Figure 5-8).

Figure 5-8: Desktop Window


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Type at MATLAB prompt: >> ml and the following window will be displayed (Figure 5-9).This is the main control window for the Magnetic Levitation System.

Figure 5-9: Magnetic Levitation System Main Control Window


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5.2 Troubleshooting

Message SolutionUndefined function or variableml_call

MATLAB can not find ML_CALL.DLL file.

GetHistory - memory allocationerror

Not enough memory to perform GetHistoryfunction. Free some memory in your Windowssystem (e.g. close unused applications)

Cannot open ML_PAR.INI file.Base address is set to zero.

Copy ml_par.ini file from your CD-ROM sourceinto MATLAB root directory.

Cannot find BaseAddressparameter in the ML_PAR.INIfile. Base address is set to zero.

Check presence of the BaseAddress line.

CHAPTER 6MAGNETIC LEVITATION SYSTEMInstallation and Commissioning Setting Up the System

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6. Setting Up the System

Place the 33-210 Magnetic Levitation Unit on a level surface and allow sufficient room forthe 33-301 Interface Module, PC and mouse. Plug the mains power lead into the rear ofthe 33-210.

6.1 Initial Set-up

Setting up the system in stand alone analogue mode

The system is capable of operation without any computer control software in standalonemode. Connect the Control output socket directly to the Drive input socket. Set the Gaincontrol to its midway position. Ensure that the supplied RC Network is fitted into theNetwork1and the Resistive Network is fitted to the Network 2. The RC network has a 1 µFcapacitor in series with a 100 Ω resistor and Network 2 is a 22 kΩ resistor. Refer to Figure6-1 for correct connections.

Heat SinkCoil

IR Detectors

AD1 AD2 DA1 DA2

20 way Ribbon Cable to PCL-812 Board

Set Point

Gain

Disturbance in

Measured Value

RC

R

Control OutputDrive Input

+15V

0V

Metalsphere

-15V33-21033-301

Figure 6-1: Magnetic Levitation System showing the 33-210 Magnetic Levitation Unit and the 33-301Interface Module with Lead Connections


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Setting up the system for use with control software

Before the 33-210 can operate via MATLAB, it is necessary to connect up the 33-301Interface Module to the PCL-812 Advantech Card using connector CN2 (when you viewthe Advantech Card fitted into a PC-Desktop style, CN2 is the lower connector). Theconnectors are keyed and can only be inserted one way.

Remove connection between Control O/P and Drive I/P.

Make the following connections between the 33-301 and the 33-210:

1. Connect AD1 to the measured value socket.

2. Connect AD2 to the control output socket.

3. Connect DA1 to the drive input socket.

4. Connect DA2 to the disturbance input socket.

5. Connect the ±15 V and the ground sockets on the 33-301 and the 33-210 together, observing polarity.

Having made the connections between the interface and the 33-210, set up the InterfaceModule. To run the MATLAB Magnetic Levitation software, start up the computer and runMATLAB. Type ML and the Magnetic Levitation program will run. The screen shownbelow is displayed (Figure 6-2).

Figure 6.2: Magnetic Levitation System Main Screen


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Double-click on Set Base Address and check that it shows the base address of your card(Advantech or RT-DAC).

To run the tuning program, select Calibration of the 33-301 ACI button in the MainControl Window. It is necessary to tune Analogue Control Unit 33-301 because theelectronic circuits in the Magnetic Levitation are not identical in all copies. The followingwindow opens (Figure 6-3):

Figure 6-3: Setting Up the System (1) Window

Follow instructions given in the Message Windows (Figure 6-4 to 6-15). After tuning, thesystem is ready to work.



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6.2 Controllers

Discrete Analogue Controller

When operating in Discrete Analogue Control mode, the MATLAB program simplymonitors the control system within the 33-210; therefore, this demonstration will show if allconnections, set-ups and communications are correct.

In order to set the MATLAB program into Discreet Analogue Control mode, double-clickon Parameters of the Controller block in the Main MATLAB window. Select DiscreteAnalogue Controller and then click on the Start Algorithm button (Figure 6-16).

Figure 6-16: Magnetic Levitation: Set Controller Parameters Window

Connect a voltmeter(set to dc Volts) between the left-hand side of the Network 1 and0Volts. Set the Gain pot about half-way round. While holding the sphere within thedetectors, adjust the set-point control for a reading about 0 Volts.

Using the internal signal generator within MATLAB, select a square wave, having periods1 to 4 set to 4 rads/sec and level 1 set to 0.3, level 2 set to 0, level 3 set to 0.3, and level4 set to 0. Ensure you use the Set button when you have completed this change.


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The response of the system together with input variable and other signals may be plottedon a single shot in the Stethoscope. To activate this, double-click on this block(Figure 6-2).

Select the information you want to display followed by Collect data(10 sec) or Get DataBuffer. The result is plotted as shown in Figure 6-17.

Figure 6-17: Stethoscope for Magnetic Levitation Window

To Stop the Analogue control application, double-click on the Stop Practical button on theMain Control window.

To experiment with other applications, see the Getting Started Manual (33-006-1M5).


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Notes

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Installation Levi