Quanser Rotary Family Experiments

Agenda Presentation Components Curriculum topics Experiment Setup Add-On modules ROTFLEX ROTPEN

Presentation Rotary Linear Structural Dynamics and Analysis From Classic Control to Complex Mechatronics Systems Design Robotics, Haptic and Autonomous Systems Flight Control Applications & Process Control

The Rotary Servo SRV02 High Quality DC motor mounted in a solid aluminium frame. Anti Back-lash gear on the potentiometer. Disk and Bar inertial loads, High and low-gear configurations.

The Rotary Servo SRV02 Sensors and DC motor Gear Box Potentiometer Digital Encoder Tachometer

Controller running here Experiment Setup Controller running here PC Quanser Q2-USB DAQ VoltPAQ-X1 Amplifier Quanser SRV02 Control signal Drive Motor Controller is running on the PC – the Q2-USB and VoltPAQ-X1 are NOT controllers! – common misconception first time they view this Connect the following: Rotary Servo Base Unit (SRV02) Quanser Q2-USB DAQ VoltPAQ-X1 power amplifier OR Read Encoder (motor angle) LabVIEW RCP Toolkit Matlab Simulink Quarc

Rotary Servo Base Unit Courseware: Topics: Integration Modeling Position Control Speed Control. Topics: Model Derivation Using first-principles and experimentally. Model Validation Control design (PID)

Add-on Modules. SRV-02 series can be accompanied by add-on modules for Multiple configurations. Ball and Beam Flexible Joint Flexible Link Gyroscope Rotary Inverted Pendulum Double Inverted Pendulum Multi-DOF Torsion 2 DOF Gantry 2 DOF Ball balancer 2 DOF Robot

Rotary Pendulum Topics: Objective: To design and implement state-feedback control that will balance the pendulum in vertical position. Topics: Linearization Linear State-Space representation. State-Feedback/Pole Placement. Energy-based swing up control.

Rotary Flexible Joint Objective: To control the position of a rotary servo while minimizing the motion of flexible rotary link. Topics: Modeling using Lagrange. Finding Linear State-Space model. Design State-Feedback controller using Pole Placement. Vibration Control Natural Frequency Measurement

Ball and Beam Objective: Topics: First-principles Transfer Function Linearization Model Validation. PID Multiple Loops Objective: To stabilize the ball to a desire position along the beam.

Rotary Flexible Link Objective: To control the position of the servo while minimizing motion on the Flexible Link. Modeling Topics: Lagrange Derivation State Space Representation Model Validation. Parameter Estimation Control Topics: Linear Quadratic Regulator Vibration Control

Gyro/Stable Platform Objective: Maintain direction of gyroscope module while top base plate is rotated. Modeling Topics: First-principles Derivation Transfer function representation Model Validation. Parameter Estimation Control Topics: Observer design PID

2DOF Ball Balancer Topics: First-principles Derivation Objective: Stabilize the ball to a desired position on the plate. Position of two rotary servos at the bottom of the plate are controlled based on X-Y position of the ball measured by overhead camera. Topics: First-principles Derivation Transfer function representation Model Validation. Parameter Estimation Multiple loops PID

2DOF Robot Topics: PID controller design. Objective: To control X-Y position of the tip of a 2DOF pantograph type robot. Topics: PID controller design. Direct (or forward) and Inverse kinematics of a 2 degree of freedom (2DOF) pantograph type robot.

2DOF Inverted Pendulum Objective: To balance an inverted Pendulum attached to a two degree of freedom (2DOF) joint. Topics: State Space representation LQR based State-Feedback control.

Workstation Components Amplifier: VoltPAQ X1/X2/X4 Software: MATLAB/Simulink/QUARC or NI-LabVIEW with RCP Toolkit Data acquisition: Q2-USB, Q8-USB, QPIDe, NI DAQ devices supported by QUARC or RCP Toolkit. Curriculum: Included

Control Software Options

Implementation: QUARC Can be implemented in Matlab/Simulink using QUARC software

QUARC Real-Time Control Software Rapid-prototyping and production system for Real-Time control. Tightly integrated with Matlab/Simulink Support a number of interfaces and DAQs Devices Support for Communications.

Help and Examples

QUARC Integration: Reading Encoder Add HIL Read Encoder block Add Indicator Configure HIL Initialize.

Converting counts to degrees Add gain block Add Scope This loop is from the NI Control Design & Simulation Module. It transforms your VI into a iterative solver that is time-based. Allows you to use control-type functions to make development faster.

Writing to Output Port Add HIL Write analog. Add a Signal Generator .

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