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. Connectionbetweenthequbeservoandtheq1criomodule2 18. Detailed users guide to winwedge standard version 1. This allows you to teach an even wider range of control concepts with a minimal investment. The qubeservo 2 also has a usercontrollable tricolor led strip.
The quanser qube servo usb is an integrated dc servo motor experiment. 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. Controls labs for the quanser qube servomotor and pendulum. K2 response when increasing the lqr gain element q44 20 is shown in figure 2. May 30, 20 quanser qube servo is a new handson platform ideal for teaching introductory and intermediate control concepts to undergraduate students. Make sure the qubeservo is connected to your pc usb port and powered on the power led should be lit. The qube servo 2 is available with two different, easily interchangeable interface panels.
The steps below use the quanser qubeservo ni myrio interface, which is designed to interface exclusively with the ni myrio. The qube servo 2 can be configured with either the qflex 2 usb or qflex 2 embedded interface modules. 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. We suggest that the model of the qube servo system is slightly incorrect, and that the physical.
User manual qubeservo 2 experiment set up and configuration 2016quanserinc. 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. Quanser qubeservo 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. 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. The qube servo 2 also has a user controllable tricolor led strip. 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 arrowhead on the symbol shows the direction of current flow.
A diode is a component made from a semiconducting material such as silicon. Help students to overcome the challenges of understanding complex theoretical topics by implementing engaging handson labs that connect theory, to realworld experimentation. Qube servo 2 low cost teaching platform for mechatronics and controls. 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. 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. 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.
May 15, 2015 qube servo direct io quick start guide. K 2 response when increasing the lqr gain element q44 20 is shown in figure 2. Diodes have the unique property of only allowing diode and its symbol current to pass through them in one direction. Example programs ni community national instruments. 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. Qrcp works with most quanser experimental plants, including the qube servo, rotary and linear motion control systems, and 2 dof and 3 dof helicopters. Learn vocabulary, terms, and more with flashcards, games, and other study tools. Principles, methodo logies, and applications, chapter realtime simulation of physical systems using simscape, 581a598. Enhancement of energybased swingup controller via entropy. A ugc approved and indexed with ici, doi, research gate. International journal of renewable energy research, 31, 30a34. The qube servo 2 has a magnetic coupling interface that lets you add custom components.
Qubeservo usb interface step 1 check components and details make sure your qubeservo experiment includes the following components. Modular, digital media courseware the qubeservo 2 solution comes with a mixandmatch, rich digital media courseware for easy adaptation of materials to specific course. The qube servo 2 is a compact rotary servo system that can be used to perform a variety of classic servo control and inverted pendulum based experiments. Pdf simmechanics based modeling, simulation and realtime. Robust modelfree reinforcement learning with multiobjective.
The qubeservo 2 also has a user controllable tricolor led strip. National instruments engineering teaching resources. Qube servo rotary pendulum response with less pendulum deflection. 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. The quanser qubeservousb is an integrated dcservo motor experiment. Murray princeton university press, 2012 feedback control of dynamic systems 6th edition gene f. Qube 384channel patch clamp characterization of the liquid flow. Quanser rapid control prototyping toolkit national instruments. Qubeservo 2 usb experiment with qflex 2 usb panel interfaces to quansers control software running on your labs pc via a standard usb 2. As with its predecessor, the qube servo 2 is an affordable, fullyintegrated rotary servo experiment designed for teaching students control concepts.
Overview these example programs calculate the measurement accuracy for the pxie4300, pxie4330, pxie4331, and pxie4353. Qubeservo lqr control workbook instructor linear algebra. 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 quanser qubeservo features a brushed dc motor with an optical encoder to allow students to learn position and velocity control concepts through. Physical modeling based simulators to support teaching in. 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 full list of all the data acquisition cards supported by quarc 2. Users can program the led to indicate state, power, or other control performance parameters of qube servo 2. The steps below use the quanser qube servo ni myrio interface, which is designed to interface exclusively with the ni myrio. Download the quanser rapid control prototyping qrcp toolkit for free. The quanser qubeservo includes both inverted pendulum and inertia disk modules that you can interchange using its quick connect interface. 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. Qubeservo rotary pendulum response with less pendulum deflection.
It can be programmed to indicate state, power, or other control performance parameters of the experiment. We suggest that the model of the qubeservo system is slightly incorrect, and that the physical. With the comprehensive course materials included, you can build a stateoftheart undergraduate teaching lab for your mechatronics or. The quanser aero usb experiment comes with quanserdeveloped courseware. With inertia disk and inverted pendulum modules included. Make sure the qube servo is connected to your pc usb port and powered on the power led should be lit. This allows you to teach an even wider range of control concepts with a. Qubeservo textbook mapping guide control systems engineering 6th edition norman s. 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. It is designed to help teach fundamental control concepts and theories on an easytouse. 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. Jul 19, 2016 quanser has updated its qube servo for 2016.
As an underactuated mechanical system, we choose quanser qube servo 2 which is a kind of furuta pendulum. Assume an ideal model of the furuta pendulum system with no noise and no frictions. The quanser qube servo includes both inverted pendulum and inertia disk modules that you can interchange using its quick connect interface. 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. Then, students can use the skills theyve learned to complete advanced labs. The qubeservo 2 is available with two different, easily interchangeable interface panels. 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. Invitation for quotation teqipiii2018mnitjshopping57 27.
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. Analog, digital, and power electronics are foundational throughout countless application areas. 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. The qubeservo 2 can be configured with either the qflex 2 usb or qflex 2 embedded interface modules. This set of abetaligned labs introduces students to basic controls concepts using the qube servo motor. Srv02 flexible link typical wiring diagram table 4.
Users can program the led to indicate state, power, or other control performance parameters of qubeservo 2. Quanser realtime control quarc quarc is quansers new, stateoftheart rapid prototyping and production system for realtime control. Description an example of a vi which can be used to automatically alter the overall appearance of any specified vi. Reinventing control education for the modern ece curriculum. Qrcp works with most quanser experimental plants, including the qubeservo, rotary and linear motion control systems, and 2 dof and 3 dof helicopters. 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.
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