1. Quanser Rotary Family Experiments

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

3. 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

4. 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.

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

6. 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

7. 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)

8. 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

9. 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.

10. 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

11. 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.

12. 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

13. 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

14. 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

15. 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.

16. 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.

17. 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

18. Control Software Options

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

20. 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.

21. Help and Examples

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

23. 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.

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

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