Googol Technology (HK) Limited
Googol Technology (HK) Limited
Control & network factories of the future
Contents
The Company 3
Education Product – Ordering Guide 4
Linear Inverted Pendulum 5
Composed Inverted Pendulum 8
Linear Modules and XY Table 10
Parallel Robot 13
Planar Inverted Pendulum 15
Four-Axis Motion Control Development Platform 17
Industrial Robot 19
3DOF Helicopter 22
Ball & Beam Control System 23
Tank Level Process Control System 25
The Company
Mission
To provide high-performance and cost-effective motion control systems for the market
Objectives
To become a leading provider of innovative motion control products and service to the clients, and to contribute the development of the region as a world-class manufacturing base in electronics and IT products.
Products and Services:
Motion controllers
/ · / Education products· GH/GT/GE/GO series standard motion controllers
· GU series embedded motion controllers
· Special-purposed motion controllers
· GN series network based motion controllers
· PC-based and CNC control systems
· Control system development platforms
· OEM/ODM services / · / · Experiment equipments for motion control theoretical research and control engineering;
· Equipments for automation control, robotics and mechatrinics
· Process control systems and facilities
· Logistic automation systems
· Flexible manufacturing systems (FMS)
Education Product – Ordering Guide
The following table assists your selection of our Educational Products for various uses:
AutomationControl / Robotics & Mechatronics / CNC & Production Automation / Electrical & Electronic Engineering
Basic Courses / § AC servo and linear motion control module
§ Linear single stage inverted pendulum
§ Circular single stage inverted pendulum
§ Ball & beam system
§ Control systems for fluid level, pressure, flow-rate and temperature / § AC servo and linear motion control module
§ AC servo and motion module
§ Linear and circular single stage inverted pendulum
§ XY table / § AC servo and linear motion control module
§ AC servo and motion module
§ XY table / § Ball & beam system
§ Magnetic suspension system
§ DSP motor control laboratory experiment platform (basic)
Advanced Courses / § Linear two-stage inverted pendulum
§ Circular two-stage (serial or parallel) inverted pendulum
§ 2 DOF robot arm / § 3-D linear motion platform
§ 2 DOF robot arm
§ 3 DOF robot arm
§ 4-axis motion control demo control box / § 3-D linear motion platform
§ 2 DOF robot arm
§ 3 DOF robot arm
§ Automated 3-D warehouse / § Special motion control DSP education kit
§ Motor drive education kit
§ Automated 3-D warehouse
§ DSP motor control laboratory experiment platform (advanced)
Research / § Motion controller cards
§ Linear three- and four-stage inverted pendulum
§ Inverted pendulum with flexible joint
§ Planar inverted pendulum
§ Circular three-stage inverted pendulum
§ Soccer robots / § Motion controller cards
§ 4 to 6 DOF robot arm
§ High speed, high precision motion platform
§ Planar parallel redundant robot arm
§ Soccer robots / § Motion controller cards
§ 3-D engraving machine
§ 4-axis synchronized CNC system
§ Automatic logistics system
§ Flexible manufacturing system / § Automatic logistics system
§ Soccer robot
§ DSP development platform
Linear Inverted Pendulum
Overview
Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics, thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling.
The linear inverted pendulum series products developed by Googol Technology adopt an open control solution and a modularized experiment platform. With the linear motion module as the base platform, it is easy to build more than 10 teaching and experiment control platforms, satisfying the various needs for control teaching and research.
Main Feature
Modularized Platform
Industrial Grade Components:
l All the modules are designed and manufactured with industrial components. For example, the sliding guide bars are made of precision stainless steel, the synchronization gear belt is a gear belt of industrial grade, and the base platform has the vibration absorption function.
l Industrial grade encoder, AC servo motor and drive to ensure best quality and reliability. Compared with similar products of other brands using DC motors, the AC servomotor offers the additional advantage of no maintenance on brushes and longer service life.
l Limit switches, anti-collision buffer device, as well as the unique structure design provide excellent system safety, especially suitable for students.
Open Architecture:
l Hardware platform is based on PC and DSP-based motion controller.
l Experiment verification and demonstration program of DOS version, with source codes provided.
l MATLAB Windows2000 experiment program, with SIMULINK as user interface can build model, perform simulation and analysis, evaluate control performance, and improve control system directly.
l Comprehensive experiment kit , covering the dynamic modeling, classic control experiment, modern control experiment, optimized control experiment and intelligent control experiment. Users can select relevant material for the experiment and teaching needs of various courses.
User Creativity:
l Flexible configuration of customized experiment platform.
l Develop and verify one’s own control algorithm.
l Tackle the challenging control problems related to three- and four-stage inverted pendulum.
Technical Specifications
Valid Travel Distance / Max. Motion Velocity / Friction System between Dolly and Sliding Bar / Length x Width x Height / Weight720mm / 6000mm/s / 0.02N·s/m / 1000mm x 220mm x 150mm / 15Kg
Ordering Guide
Model Number / Model Name / DescriptionGLIP2001 / Linear One-Stage Inverted Pendulum / · GLIP linear inverted pendulum platform
· single-stage inverted pendulum module
· inverted pendulum control system (motion controller + single-axis servo motor)
· control box, houses a power supply, a servo amplifier, and terminal interconnections
· single stage inverted pendulum experiment software pack (DOS version), with source code.
· MATLAB Tools
GLIP2002 / Linear Two-Stage Inverted Pendulum / · GLIP2001 package
· two-stage inverted pendulum module
· two-stage inverted pendulum experiment software pack (DOS version)
GLIP2003 / Linear Three-Stage Inverted Pendulum / · GLIP2002 package
· three-stage inverted pendulum module
GLIP2004 / Linear Four-Stage Inverted Pendulum / · GLIP2003 package
· four-stage inverted pendulum module
GLIP2011 / Linear One-Stage Flexible-Joint Inverted Pendulum / · GLIP2001 package
· one-stage flexible joint inverted pendulum module (with linear encoder)
· one-stage flexible joint inverted pendulum experiment software pack (DOS version)
GLIP2012 / Linear Two-Stage Flexible-Joint Inverted Pendulum / · GLIP2011 package
· two-stage flexible joint inverted pendulum module
Applicable Courses
Mechanical engineering control fundamentals, automatic control principle, modern control engineering, linear control system and computer control system, etc.
Recommended Text Books
· Modern Control Engineering (Third Edition) [USA] Author: Katsuhiko Ogata, Published by Electronic Industry Publishing Company, 2000.
Googol Technology (HK) Limited
Room 3639, Annex Building, HKUST, Clear Water Bay, Kowloon, Hong Kong
Tel.: (852) 2358 1033, (852) 2719 8310; Fax: (852) 2719 8399;
Email: ; Website: http://www.googoltech.com.hk
Edu_catalog 0505 Copyright 2005 Googol Technology (HK) Ltd All Right reserved -2-
Composed Inverted Pendulum
[Patent No: 200330114101.4 & 200320115264.9]
Overview
The GCIP2004 Composed Inverted Pendulum is newly designed by Googol Technology for the basic control courses in automation, mechatronics, electronic, and electrical engineering. It satisfies the experiments of automatic control principle, modern control engineering, and electrical motor control. Equipped with embedded intelligent servo control module, the GCIP2004 is easy to be controlled and reliable result will be therefore obtained.
Its flexible mechanical structure combination also allows the user to easily integrate it into three different structure style such as, (a) the 1-stage rotary inverted pendulum, (b) the top inverted pendulum, and (c) bracket-inverted pendulum.
Main features
The GCIP2004 consists of two parts, the GCIP2004 body and the control system. The body consists of a cubic steel structure and a free rolling pendulum. The linear sensor measures the angle of the pendulum on the track by measuring the output voltage from the potentiometer. A DC motor is connects to a gear reducer, which controls the angle of beam, accordingly realize the angle control of the inverted pendulum.
The digital control system consists of an intelligent control module, which is a high precision, fully digital servo drive with embedded intelligence, and built-in 100W power amplifier and brushless motors. Programmable with the high-level Motion Language, the Intelligent Control module embeds on one board advanced motion control and PLC-specific functionality. Combined with a high-level Motion Language, a graphical platform for quick configuration, tuning and motion programming, the Intelligent Control module represents a flexible and easy way to implement solution for a wide range of applications. A user-friendly graphical control interface can visually shows the results of the controller and all of the operating data.
System specification
l Easily exchange the structure style from one to another.
l The rolling pendulum moving circularly without any mechanical restriction
l Open architecture DSP motion control development platform and testing software provided
Technical specification
Model / Power / Gear ratio / Transmission Precision / Dimension / WeightGCIP2004 / 40W / 7.8:1 / ±0.1mm / 256*244*335(mm) / <15kg
Suggested Experiments
1. Servo motor control experiment;
2. Design of automatic control system: Mathematical modeling of dynamic systems;
3. Control system design by root-locus method;
4. Control system design by frequency response;
5. PID control system design;
6. Fuzzy control system design etc.
Ordering Guide
Model Number / Model Name / DescriptionGCIP2004 / GCIP2004 system body and control software / · GCIP2004 Structure equipped with DC servo motor and intelligent drive.
· Rotary module
· Control software, including intelligent motion control development tool with a part of source code provided
Edu_catalog 0505 Copyright 2005 Googol Technology (HK) Ltd All Right reserved -2-
Linear Modules and XY Table
Overview
The universal linear module and XY table are a series of industrial and educational products designed and manufactured by Googol Technology for manufacturing industries and higher education institutions. With modular design and industrial manufacturing standard, these products are widely used in development of various CNC equipments, such as welding, gluing and BONDING machines, they are also adopted for the teaching and practice of relevant specialty courses in colleges and universities, such as mechanical and electrical transferring control, computer control system, mechanical engineering and CNC technology.
Main Features
Modularized Components
Industrial Grade Design and Manufacturing
l Use high-precision ball screw and roller slide
l AC servo motor or step motor
l Manufactured in ISO9002 quality assurance system
Open Architecture:
l Platform based on PC and DSP motion controller.
l DLL function library, applicable for DOS and Windows development environments (such as VC, VB and Delphi program).
l Motion control demo and laboratory experiment software, XY worktable laboratory experiment software
l Provide detailed experiment teaching materials, covering every design and implementation steps of the mechanical and electrical integration system. User can select relevant contents freely to meet the teaching and experiment needs for various courses
User Creativity:
l Flexible configuration of experiment platform.
l Develop application systems for industry needs
Technical Specifications
a. Universal Linear Module (Unit: mm)
Model Number / Travel Distance / Length / Base Size / Table-shape Dimension / Load Capacity (N) / AccuracyGrade / Repeatability / Positioning Accuracy
Length / Width / Length / Width
GX-50 / 50 / ~388 / 200 / 150 / 140 / 154 / 300 / P3
P4 / ± 0.003
± 0.005 / 0.015
0.025
GX-100 / 100 / ~438 / 250 / 150 / 140 / 154
GX-150 / 150 / ~488 / 300 / 150 / 140 / 154
GX-200 / 200 / ~578 / 450 / 250 / 240 / 254 / 1000 / P3
P4 / ± 0.003
± 0.006 / 0.025
0.04
GX-250 / 250 / ~628 / 500 / 250 / 240 / 254
GX-300 / 300 / ~678 / 550 / 250 / 240 / 254
GX-400 / 400 / ~778 / 650 / 250 / 240 / 254
GX-500 / 500 / ~1092 / 900 / 400 / 380 / 405 / 2500 / P3
P4 / ± 0.004
± 0.007 / 0.030
0.050
GX-600 / 600 / ~1192 / 1000 / 400 / 380 / 405
b. 2D Platform (Unit: mm)
ModelNumber / Travel Distance / Base Size / Table Size / Load
Capacity (N) / Accuracy Grade / Repeatability / Positioning Accuracy
X / Y / L / W / H / L / W / H
GXY-0505 / 50 / 50 / 200 / 200 / 140 / 140 / 154 / 12 / 150 / P3
P4 / + 0.003
+ 0.005 / 0.015
0.025
GXY-1005 / 100 / 50 / 250 / 200 / 140 / 140 / 154 / 12
GXY-1010 / 100 / 100 / 250 / 250 / 140 / 140 / 154 / 12
GXY-1510 / 150 / 100 / 300 / 250 / 140 / 140 / 154 / 12
GXY-1515 / 150 / 150 / 300 / 300 / 140 / 140 / 154 / 12
GXY-2020 / 200 / 200 / 450 / 450 / 184 / 240 / 254 / 15 / 500 / P3
P4 / + 0.003
+ 0.006 / 0.025
0.04
GXY-2520 / 250 / 200 / 500 / 450 / 184 / 240 / 254 / 15
GXY-2525 / 250 / 250 / 500 / 500 / 184 / 240 / 254 / 15
GXY-3020 / 300 / 200 / 550 / 450 / 184 / 240 / 254 / 15
GXY-3025 / 300 / 250 / 550 / 500 / 184 / 240 / 254 / 15
GXY-3030 / 300 / 300 / 550 / 550 / 184 / 240 / 254 / 15
GXY-4020 / 400 / 200 / 650 / 450 / 184 / 240 / 254 / 15
GXY-4025 / 400 / 250 / 650 / 500 / 184 / 240 / 254 / 15
GXY-4030 / 400 / 300 / 650 / 550 / 184 / 240 / 254 / 15
GXY-4040 / 400 / 400 / 800 / 800 / 240 / 380 / 405 / 20 / 1000 / P3
P4 / + 0.004
+ 0.007 / 0.03
0.05
GXY-5040 / 500 / 400 / 900 / 800 / 240 / 380 / 405 / 20
GXY-5050 / 500 / 500 / 900 / 900 / 240 / 380 / 405 / 20
- The above platforms are all equipped with positive and negative limit switches.
- Users should select a penholder or drawing device in teaching use.
- The technical specifications and structure of 3D NC worktable are designed on the grounds of users’ needs.
Ordering Guide