This classical plant is readily transformed into the variety of configurations shown. It serves to vividly demonstrate both lumped parameter dynamics and generic control issues. This system appears commonly in dynamics and controls text books and serves as a benchmark for control method evaluation.
The mechanism features adjustable masses, interchangeable springs and adjustable air damping. As with Model 205, this system provides vivid demonstrations of elementary topics such as rigid body PID control, lead/lag compensators, phase and gain margin, trajectory tracking, and regulation - as well as advanced high order collocated and noncollocated system control. The two apparatuses also clearly demonstrate salient properties of flexible systems such as mode shapes, natural frequencies, and characteristic transient and frequency responses. An optional secondary drive may be positioned at any output (mass carriage) to create a MIMO plant (requires Executive USR® or RTWT/RTLT software) and provides for the study of disturbance rejection.
| Number of Unique Configurations | Twelve. Sixteen with optional 3rd mass carriage. Twenty including MIMO with secondary drive accessory. |
| Mass Adjustment | 5:1 |
| Spring Adjustment | 4:1 |
| Damping Adjustment | 50:1 |
| Dynamic Frequencies | Poles & zeros adjustable in range from 1.5 to 7 Hz. |
| Size | Bench-top, 31x92x15cm (12x36x6 in) |
| Feedback | High res. encoders, 1600 counts/cm. |
| Actuator | 8 N rack & pinion, Fe-Co brushless motors |
| Servo Amplifiers | 5 KHz current loop bandwidth |
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 Download Model 210 Fact Sheet (51K)
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