feedback Twin Rotor Mimo System Guide

Twin Rotor Mimo System
INSTALLATION AND COMMISSIONING
33-007-0M5
Feedback
Feedback Instruments Ltd, Park Road, Crowborough, E. Sussex, TN6 2QR, UK.
Telephone: [phone], Fax: [phone].
email: [email protected] World Wide Web Homepage: http://www.fbk.com
Manual: 33-007-0M5 Ed01 980930
Printed in England by Fl Ltd, Crowborough
Feedback Part No. 1160–330070M5

TOC 2
Notes

TWIN ROTOR MIMO SYSTEM
INSTALLATION AND COMMISSIONING PREFACE
33-007-0M5 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 information
regarding its safe use.
The equipment, when used in normal or prescribed applications within the parameters set for its mechanical and electrical performance,
should not cause any danger or hazard to health or safety if normal engineering practices are observed and they are used in
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 be
pointed 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 whatsoever
about 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 the
user. These have been indicated in the specified way by yellow labels with black printing, the meaning of any labels that may be fixed to
the instrument are shown below:
CAUTION -
RISK OF
DANGER
CAUTION -
RISK OF
ELECTRIC SHOCK
CAUTION -
ELECTROSTATIC
SENSITIVE DEVICE
Refer to accompanying documents
PRODUCT IMPROVEMENTS
We 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 of
printing. However, some product changes which do not affect the instructional capability of the equipment, may not be included until it is
necessary to incorporate other significant changes.
COMPONENT REPLACEMENT
Where components are of a ‘Safety Critical’ nature, i.e. all components involved with the supply or carrying of voltages at supply
potential or higher, these must be replaced with components of equal international safety approval in order to maintain full equipment
safety.
In order to maintain compliance with international directives, all replacement components should be identical to those originally
supplied.
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 performance
either to published specification or compliance with international standards.

TWIN ROTOR MIMO SYSTEM
Preface Installation and Commissioning
ii 33-007-0
DECLARATION CONCERNING ELECTROMAGNETIC COMPATIBILITY
Should this equipment be used outside the classroom, laboratory study area or similar such place for which it is designed and sold then
Feedback Instruments Ltd hereby states that conformity with the protection requirements of the European Community Electromagnetic
Compatibility 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 outside its
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 any
means, electronic, mechanical, photocopying, recording or otherwise, without the prior permission of Feedback Instruments Limited.
ACKNOWLEDGEMENTS
Feedback 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.

TWIN ROTOR MIMO SYSTEM
Installation and Commissioning Contents
33-007-0 TOC 1
TABLE OF CONTENTS
1. INTRODUCTION 1-1
1.1 Required Equipment 1-1
1.2 Feedback Ltd supplied items 1-2
2. MECHANICAL ASSEMBLY 2-1
3. SWITCH AND JUMPER SETTINGS FOR THE PCL-812 CARD 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 CARD AND CABLES 4-1
5. COMMISSIONING AND TEST SOFTWARE 5-1
5.1 starting the software 5-1
5.2 SOFTWARE Operation 5-1
5.3 Description of screen controls and displays. 5-3
6. TEST SEQUENCE 6-1

TWIN ROTOR MIMO SYSTEM 33-007-0
Contents Installation and Commissioning
TOC 2 33-007-0
Notes

CHAPTER 1
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning Introduction
33-007-0 1-1
1. Introduction
This manual contains a description of the components of the Twin Rotor MIMO System
(TRMS), and assembly and test procedures. It is intended to provide the means for
validating the correct operation of the system,
before
proceeding to the more advanced
functions and demonstrations using control software and MATLAB / SIMULINK.
The procedures described in this Section of the TRMS 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 TRMS
1.1 REQUIRED EQUIPMENT
The following items of equipment, software and documentation are required to use the
system.
•IBM Compatible PC with minimum configuration:
8 Mb of memory, Math co-processor (included in 486 or Pentium processor)
VGA screen and mouse.
DOS version 5 or later, Windows 3.1 or Windows 95
•MATLAB Version 5.1 with SIMULINK 2.1(from
Mathworks Inc
)
•Advantech PCL-812PG Enhanced Multi-Lab Card for installation in the PC with
2 x 20 way and 1 x 40 way ribbon cables
•Feedback Twin Rotor MIMO System consisting of rotor unit, base unit and
remote power control box.
•1 CD containing:
Commissioning and Test software
TRMS Control software for use with MATLAB 5.1 and SIMULINK 2.1
Set of 6 manuals in Adobe AcrobaT Format
33000M5 - Feedback Matlab Based Control Systems – Software
Installation
33-007-0M5 - Twin Rotor MIMO System - Installation and Commissioning
33-007-1M5 - Twin Rotor MIMO System - Getting Started
33-007-2M5 - Twin Rotor MIMO System - Reference Manual
33-007-3M5 - Twin Rotor MIMO System - External Interface
33-007-4M5 - Twin Rotor MIMO System - Advanced Teaching Manual
Adobe Acrobat Reader and installation utility

CHAPTER 1 TWIN ROTOR MIMO SYSTEM
Introduction Installation and Commissioning
33-007-01-2
1.2 FEEDBACK LTD SUPPLIED ITEMS
The following items are supplied by Feedback under the following product codes
33-220 Twin Rotor Mechanical Unit with remote On/Off switch
33-945 Twin Rotor MIMO System Software pack including Advantech card
33-945I Twin Rotor MIMO System Software pack excluding Advantech card
33-007 33-220 plus 33-945 (Composite product)
33-007I 33-220 plus 33-945I (Composite product)

CHAPTER 2
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning Mechanical Assembly
33-007-0 2-1
2. Mechanical Assembly
The MIMO Unit is dis-assembled for transit. Follow the instructions below for re-assembly
and refer to Fig. 2.1.
•Remove the cover from the base unit by removing 8 x M4 screws.
•Remove 4 x M4 counter-sunk screws from the bottom of the tower.
•Attach the tower to the base cover using 4 x M4 counter-sunk screws with the
tower on top of the base, ensuring that the vertical axis locking screw is on the right
hand side viewed from the front of the base unit.
•The horizontal shaft, to which the rotor assembly attaches, has a flat, on which the
horizontal axis locking screw locates when screwed down. Rotate the horizontal
shaft until the locking screw locates on to the flat and screw the locking screw tight.
Attach the rotor arm to the top of the tower so that the arm is
horizontal
and
secure to the shaft using the Allen key provided.
•Locate the counter-weight pendulum into the hole in the rotor arm boss and secure
using the Allen key provided. The pendulum should be on the front of the unit when
viewed from the front of the base unit.
•Connect cables - there are two ribbon cable connections inside the base unit, and
one ribbon cable connection at the top of the rotor boss.
•Replace the base cover, with the tower attached to the base unit, and secure using
the 8 x M4 screws previously removed.
Rear of Base Unit
Base Unit cover
3 x M4 screws
either end
3 x M4 screws
either end
2 x M4 screws
Fig 2.1: Showing position of base unit cover screws
Mounting for
Tower

CHAPTER 2 TWIN ROTOR MIMO SYSTEM
Mechanical Assembly Installation and Commissioning
33-007-02-2
Figure 2.2 below shows the complete TRMS/MIMO assembly.
Fig. 2.2: The complete TRMS/MIMO Assembly
Note: The MIMO has two degrees of freedom - the rotors can rotate about a vertical
and a horizontal axis. When not in use, or when setting control parameters,
either or both axes of rotation can be locked by means of the two locking
screws shown on the diagram above.
When the horizontal axis locking screw is released, the heavier weight of the
vertical rotor should cause the rotor assembly arm to rest at an angle of
approximately 28 degrees to the horizontal. This is correct and is required for
the proper functioning of the system, as then power must be applied to the
vertical motor in order to raise the arm to a horizontal position.
The distance between the plastic vertical rotor guard and the rotor arm boss
should be approximately 80 mm.
This angle ~ 28°
80
mm

CHAPTER 3
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning PCL – 812 Card Settings
33-007-0 3-1
3. Switch And Jumper Settings for the PCL-812 Card
The PCL-812 contains components which can be damaged by static
electricity. Before removing the PCL-812 board from its conductive
packaging, touch your hand on a grounded metal object such as the 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 the
switches and jumpers shown in Fig. 3.1 are set correctly, as detailed in this section.
Figure 3.1: PCL-812PG Interface Card - Switch and Jumper positions
Note: The board shown above is a 16 bit short board. Some users may have
the 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 section
for 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 CN2
12 534 678
SW1
ON
☞

CHAPTER 3 TWIN ROTOR MIMO SYSTEM
PCL – 812 Card Settings Installation and Commissioning
33-007-03-2
3.1 SWITCH SETTINGS - 16 BIT BOARD
Switch SW1 controls the base address for I/O transfer (switches 1-6), and the CPU wait
states (Switches 7-8). They should be set as follows.
( Note that the MIMO software always refers to the decimal settings, whereas the manual
on the PCL-812 board refers to hexadecimal settings. For convenience, both decimal and
hex addresses are shown in the table below ).
SW1 Base Address Selection
I/O Address Range (hex
and decimal) SW1 Switch position
123456
200-20F (512-527 Dec) OFF ON ON ON ON ON
210-21F (528-543 Dec) OFF ON ON ON ON OFF
220-22F (544-559 Dec) *OFF ON ON ON OFF ON
230-23F (560-575 Dec) OFF ON ON ON OFF OFF
300-30F (768-783 Dec) OFF OFF ON ON ON ON
3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF OFF
*Factory default setting
Note that some video cards or floppy disk drives use the higher base
addresses such as 1008 (Hex 3F0), and should be avoided if possible.
SW1 Wait State Selection
SW1 Switch Settings
Time Delay 78
0* ON ON
2OFF ON
4ON OFF
6OFF OFF
* Factory default setting
☞

CHAPTER 3
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning PCL – 812 Card Settings
33-007-0 3-3
3.2 JUMPER SETTINGS
The Jumpers on the PCL-812 board should be set in the positions indicated below.
JP1 - Trigger Source Selection
JP1
INT O
TRG O
EXT O
JP2 - Counter Input Clock Selection
JP2
INT O
CLK O
EXT O
JP3, JP4 - D/A Reference Selection
JP3 O O O D/A1
JP4 O O O D/A2
INT VREF EXT
JP5 - IRQ Level Selection
234567X
OOOOOOO
OOOOOOO
JP5
JP6, JP7 - DMA Channel Selection
13X 13X
OOO OOO
OOO OOO
JP6 JP7

CHAPTER 3 TWIN ROTOR MIMO SYSTEM
PCL – 812 Card Settings Installation and Commissioning
33-007-03-4
JP8, JP9 - D/A Internal Reference, A/D Maximum Input Voltage Selection
10 5
JP8OOO
JP9OOO
Depending on the specification and configuration of your PC you may need to change the
Base Address and Wait State settings.
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 (hex
and decimal) SW1 Switch position
123456
200-20F (512-527 Dec) ON ON ON ON ON X
210-21F (528-543 Dec) ON ON ON ON OFF X
220-22F (544-559 Dec) *ON ON ON OFF ON X
230-23F (560-575 Dec) ON ON ON OFF OFF X
300-30F (768-783 Dec) OFF ON ON ON ON X
3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF X
Note: An “X” in the table above means that this switch is not used.
☞

CHAPTER 4
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning PCL-812 Card Installation
33-007-0 4-1
4. Installation of the PCL-812 Card And Cables
Figure 4.1: PCL- 812 Interface Card Ribbon Cable connections
Two
slots are required at the rear of the PC - one for the two 20 way analogue port
sockets, and one for the 40 way socket at the end of the wide ribbon cable for the digital
ports. Use screws to secure the card and ribbon socket plates to the casing of the PC.
Carefully install the interface card in a spare slot on the PC motherboard (or in a slot on
the 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 the
documentation supplied with the PC.
Turn OFF and disconnect the mains power supply
BEFORE opening the computer
Before opening the computer it is important to ensure that the computer is switched off
and that the mains 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 any
such cards as your Twin Rotor MIMO System will not function correctly if there is another
card using all, or part of, the address space assigned to the PCL-812PG interface card.
12 534 678
JP5
JP2
JP1
JP9
JP8
JP7
JP6
JP4
JP3
Di
g
ital Out
Digital In
Analogue I/O CN1
Analogue I/O CN2
SW1
Wide ribbon cable
2 narrow
ribbon cables
Red band on
cable on top
ON

CHAPTER 4 TWIN ROTOR MIMO SYSTEM
PCL-812 Card Installation Installation and Commissioning
33-007-04-2
Following the installation of the interface card into your PC, you are now ready to close
the PC case and connect the ribbon cables to the 33-220 Twin Rotor MIMO System.
Refer to Fig 6.2 below for details.
Connectors and The connectors and switches are located at the rear of the 33-220
Switches unit.
The sockets for the ribbon cables are on the back of the 33-220 unit.
The 20-way connector from CN1 connects to the topmost connector
on the 33-220. The 20-way connector from CN2 connects to the next
connector and the 40-way connector connects to the lowest
connector on the 33-220.
ON / Off switch Connect the remote On/Off switch unit DIN connector to the rear of
the 33-220.
Voltage selector Set the voltage selector for the correct voltage in your area.
Mains power Connect the mains power cable to the 33-220 and plug in to your
mains supply.
Switch on Switch on the mains supply to the 33-220 and your PC. Switch the
33-220 illuminated power switch on. If this switch does not light up
check the mains power cable and mains power supply.
Do not at this stage press the round green start button.
Fig 4.2: Twin Rotor MIMO System 33-220 - Rear Panel
DIN Socket for
remote on/off
switch
Power switch -
connects power to
the controller
I
O
On
Off
Narrow ribbon 20
way cables from
PC interface card
Wide ribbon 40
way cable from
PC interface card
Voltage Selector
Mains power input

CHAPTER 4
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning PCL-812 Card Installation
33-007-0 4-3
Software Installation Install the Commissioning / Test software as described in
the next Chapter of this manual (Chapter 5).
It is important that the area of operation is free of obstruction and that users
and observers are warned to keep clear of the immediate vicinity of the
system, as the twin rotors can build up a significant amount of momentum.

CHAPTER 4 TWIN ROTOR MIMO SYSTEM
PCL-812 Card Installation Installation and Commissioning
33-007-04-4
Notes

CHAPTER 5
TWIN ROTOR MIMO SYSTEM
Installation and Commissioning Commissioning and Test Software
33-007-0 5-1
5. Commissioning and Test Software
5.1 STARTING THE SOFTWARE
Commissioning / Test software is supplied to check the operation of the Twin Rotor
MIMO System, before using the MATLAB driven control software.
Windows 95 installation
Insert the MIMO Commissioning / Test software disk in drive A: From the
Windows 95 Start menu click on RUN and use the browse feature to locate the
MIMOTST.EXE program on drive A:
Windows 3.1 installation
Insert the MIMO Commissioning / Test software disk in drive A: Start File Manager
and click on the MIMOTST.EXE program drive A:. Click on RUN from the File
manager File menu.
DOS installation
Insert the MIMO Commissioning / Test software disk in drive A: Type in the
following DOS commands.
>A:
>MIMOTST
5.2 SOFTWARE OPERATION
After starting the MIMO commissioning and test software you will see the following screen
presented.
Fig 5.1. Start screen

CHAPTER 5 TWIN ROTOR MIMO SYSTEM
Commissioning and Test Software Installation and Commissioning
33-007-05-2
Click OK. The following screen appears,
only if the card is not found at the factory
default Base address of 544.
Fig. 5.2: PCL-812 Base address Selection
Use the mouse to select the base address of the PCL-812 interface card which has been
set and checked in accordance with the procedure detailed in Chapter 3 of this manual.
If you do not know the Base Address, clicking on Locate will identify and set it
automatically. ( Note that Locate can only be used if there is only
one
PCL-812 board
installed in your PC ).
Having selected the correct base Address, click on Close. The screen shown below
appears.
Fig. 5.3: Main screen of MIMO Commissioning and Test Software .
2.6 1.8