It is designed to help teach fundamental control concepts and theories on an easytouse. We suggest that the model of the qubeservo system is slightly incorrect, and that the physical. Qube 384channel patch clamp characterization of the liquid flow. As an underactuated mechanical system, we choose quanser qube servo 2 which is a kind of furuta pendulum. The qube servo 2 is available with two different, easily interchangeable interface panels. Download the quanser rapid control prototyping qrcp toolkit for free.
This set of abetaligned labs introduces students to basic controls concepts using the qube servo motor. National instruments engineering teaching resources. The full list of all the data acquisition cards supported by quarc 2. R, q q 1, q 2 where q 1 is an angle of the rotary arm, q 2 is an angle of the inverted pendulum, as. We suggest that the model of the qube servo system is slightly incorrect, and that the physical. Reinventing control education for the modern ece curriculum. Assume an ideal model of the furuta pendulum system with no noise and no frictions.
Qubeservo interface options the qubeservo 2 is available with two different, easily interchangeable interface panels qubeservo 2 usb experiment with qflex 2 usb panel interfaces to quansers control software running on your labs pc via a standard usb 2. Modular, digital media courseware the qubeservo 2 solution comes with a mixandmatch, rich digital media courseware for easy adaptation of materials to specific course. Integrating quanserdeveloped qflex 2 computing interface technology, qube servo 2 provides more flexibility in lab configurations, using a pc, or microcontrollers, such as ni myrio, arduino and raspberry pi. Dc servo myrio controls mechatronics and robotics devicethe quanser qubeservo is a highfidelity dc servo motor for teaching control theory at an undergraduate level with the realtime control capabilities of the myrio student embedded device. K2 response when increasing the lqr gain element q44 20 is shown in figure 2. The quanser qubeservo includes both inverted pendulum and inertia disk modules that you can interchange using its quick connect interface. Detailed users guide to winwedge standard version 1. Learn vocabulary, terms, and more with flashcards, games, and other study tools. Students will get handson experience designing models and control systems for an inertial disc and pendulum, giving students a fundamental background in the theory and experimentation of controlling a system. A ugc approved and indexed with ici, doi, research gate. The qube servo 2 has a magnetic coupling interface that lets you add custom components. As with its predecessor, the qube servo 2 is an affordable, fullyintegrated rotary servo experiment designed for teaching students control concepts.
Qubeservo rotary pendulum response with less pendulum deflection. A combination of abetaligned workbook with exercises and a laboratory guide with modeling and control design examples, together with the quick start resources, a comprehensive user manual, fully documented system models, and predesigned controllers for matlabsimulink. The quanser qube servo usb is an integrated dc servo motor experiment. May 30, 20 quanser qube servo is a new handson platform ideal for teaching introductory and intermediate control concepts to undergraduate students. Additionally, these systems allow user to modify physical system configurations to increase dynamic complexity.
Description an example of a vi which can be used to automatically alter the overall appearance of any specified vi. Controls labs for the quanser qube servomotor and pendulum. The steps below use the quanser qube servo ni myrio interface, which is designed to interface exclusively with the ni myrio. If you are using the qube servo direct io or usb interfaces, please refer to their own quick start guides or the qube servo user manual for instructions on connecting your system.
Srv02 flexible link typical wiring diagram table 4. K 2 response when increasing the lqr gain element q44 20 is shown in figure 2. The quanser qubeservo features a brushed dc motor with an optical encoder to allow students to learn position and velocity control concepts through. The qubeservo 2 can be configured with either the qflex 2 usb or qflex 2 embedded interface modules. This allows you to teach an even wider range of control concepts with a minimal investment. The quanser qube servo features a brushed dc motor with an optical encoder to allow students to learn position and velocity control concepts through handson experimentation.
The qubeservo 2 is available with two different, easily interchangeable interface panels. Quanser realtime control quarc quarc is quansers new, stateoftheart rapid prototyping and production system for realtime control. User manual qubeservo 2 experiment set up and configuration 2016quanserinc. Simmechanics based modeling, simulation and realtime control of rotary inverted pendulum conference paper pdf available january 2017 with 2,091 reads how we measure reads. The qubeservo 2 is a compact rotary servo system that can be used to perform a variety of classic servo control and inverted pendulum based experiments. The required configuration of this experiment is the srv02 in the highgear configuration along with a rotpen rotary pendulum module as well as a upm 24051503 power module and a suggested gain cable of 1. Quanser qubeservo is a new handson platform ideal for teaching introductory and intermediate control concepts to undergraduate students.
Invitation for quotation teqipiii2018mnitjshopping57 27. Modular, digital media courseware the qube servo 2 solution comes with a mixandmatch, rich digital media courseware for easy adaptation of materials to specific course. The quanser aero usb experiment comes with quanserdeveloped courseware. Robust modelfree reinforcement learning with multiobjective.
The quanser qube servo includes both inverted pendulum and inertia disk modules that you can interchange using its quick connect interface. Connectionbetweenthequbeservoandtheq1criomodule2 18. The steps below use the quanser qubeservo ni myrio interface, which is designed to interface exclusively with the ni myrio. The qubeservo 2 also has a usercontrollable tricolor led strip. Example programs ni community national instruments. Make sure the qube servo is connected to your pc usb port and powered on the power led should be lit. Qube servo 2 low cost teaching platform for mechatronics and controls. Pdf simmechanics based modeling, simulation and realtime. The qube servo 2 can be configured with either the qflex 2 usb or qflex 2 embedded interface modules. With inertia disk and inverted pendulum modules included. See the answer the period of a physical pendulum is 2pi vimgd, where i is the moment of inertia about the pivot point and d is the distance from the pivot point to the center of mass. Then, students can use the skills theyve learned to complete advanced labs.
Qubeservo textbook mapping guide control systems engineering 6th edition norman s. Make sure the qubeservo is connected to your pc usb port and powered on the power led should be lit. A diode is a component made from a semiconducting material such as silicon. The quanser qubeservo features a brushed dc motor with an optical encoder to allow students to learn position and velocity control concepts through handson experimentation. If you are using the qubeservo direct io or usb interfaces, please refer to their own quick start guides or the qubeservo user manual for instructions on connecting your system. If you are using the qube servo with an external data acquisition device, then make sure the qube servo has been properly connected to your daq as dictated in the qube servo user manual. The arrowhead on the symbol shows the direction of current flow. With the comprehensive course materials included, you can build a stateoftheart undergraduate teaching lab for your mechatronics or control courses, and engage students in various. Help students to overcome the challenges of understanding complex theoretical topics by implementing engaging handson labs that connect theory, to realworld experimentation. Physical modeling based simulators to support teaching in. Jul 19, 2016 quanser has updated its qube servo for 2016. International journal of renewable energy research, 31, 30a34.
With the comprehensive course materials included, you can build a stateoftheart undergraduate teaching lab for your mechatronics or. Principles, methodo logies, and applications, chapter realtime simulation of physical systems using simscape, 581a598. This allows you to teach an even wider range of control concepts with a. It can be programmed to indicate state, power, or other control performance parameters of the experiment. Qubeservo 2 usb experiment with qflex 2 usb panel interfaces to quansers control software running on your labs pc via a standard usb 2.
Users can program the led to indicate state, power, or other control performance parameters of qube servo 2. Diodes have the unique property of only allowing diode and its symbol current to pass through them in one direction. Qubeservo usb interface step 1 check components and details make sure your qubeservo experiment includes the following components. The quanser qubeservousb is an integrated dcservo motor experiment. Enhancement of energybased swingup controller via entropy. Integrating quanserdeveloped qflex 2 computing interface technology, qubeservo 2 provides more flexibility in lab configurations, using a pc, or microcontrollers, such as ni myrio, arduino and raspberry pi. The qube servo 2 also has a user controllable tricolor led strip. The qubeservo 2 also has a user controllable tricolor led strip. Qubeservo lqr control workbook instructor linear algebra. Qrcp works with most quanser experimental plants, including the qubeservo, rotary and linear motion control systems, and 2 dof and 3 dof helicopters. Analog, digital, and power electronics are foundational throughout countless application areas. Users can program the led to indicate state, power, or other control performance parameters of qubeservo 2.
Quanser rapid control prototyping toolkit national instruments. Apr 30, 2018 with other modules using two rotary servo base units, such as 2 dof robot, 2 dof pendulum, multi dof torsion and 2 dof ball balancer you can create multidof experiments with increased complexity. If you are using the qubeservo with an external data acquisition device, then make sure the qubeservo has been properly connected to your daq as dictated in the qubeservo user manual. Overview these example programs calculate the measurement accuracy for the pxie4300, pxie4330, pxie4331, and pxie4353. May 15, 2015 qube servo direct io quick start guide. Qrcp works with most quanser experimental plants, including the qube servo, rotary and linear motion control systems, and 2 dof and 3 dof helicopters.
869 1096 1301 1232 1557 1238 1089 1024 1381 1566 443 815 3 489 348 163 1134 511 351 1522 1259 1295 944 123 858 1438 578 817 835 1083 562 1565 394 337 1166 1029 75 1070 759 652 1420 927 700 149 102 640 926 288 312