Quanser QBall 2 Setup guide

CAPTIVATE. MOTIVATE. GRADUATE.
USER MANUAL
QBall 2 for QUARC
Set Up and Configuration

© 2015 Quanser Inc., All rights reserved.
Quanser Inc.
119 Spy Court
Markham, Ontario
L3R 5H6
Canada
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Phone: [phone]
Fax: [phone]
Printed in Markham, Ontario.
For more information on the solutions Quanser Inc. offers, please visit the web site at:
http://www.quanser.com
This document and the software described in it are provided subject to a license agreement. Neither the software nor this document may be
used or copied except as specified under the terms of that license agreement. Quanser Inc. grants the following rights: a) The right to reproduce
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name Quanser Inc. for attribution. These restrictions may not be waved without express prior written permission of Quanser Inc.
QBALL 2 - User Manual 2

1 Presentation
1.1 Introduction
The Quanser QBall 2 (Figure 2.1) is an innovative rotary wing vehicle platform suitable for a wide variety of UAV
research applications. The QBall 2 is a quadrotor helicopter design propelled by four brushless motors fitted with
10-inch propellers [3, 4, 5]. The entire quadrotor is enclosed within a protective carbon fiber cage (Patent Pending).
The QBall 2's proprietary design ensures safe operation as well as opens the possibilities for a variety of novel
applications. The protective cage is a crucial feature since this unmanned vehicle was designed for use in an indoor
laboratory, where there are typically many close-range hazards (including other vehicles). The cage gives the QBall
2 a decisive advantage over other vehicles that would suffer significant damage if contact occurs between the vehicle
and an obstacle.
To measure on-board sensors and drive the motors, the QBall 2 utilizes Quanser's on-board avionics data acquisition
card (DAQ) and a wireless Gumstix DuoVero embedded computer [1]. The DAQ is a high-resolution inertial
measurement unit (IMU) and avionics input/output (I/O) card designed to accommodate a wide variety of research
applications. QUARCr, Quanser's real-time control software [2], allows researchers and developers to rapidly
develop and test controllers on actual hardware through a MatlabrSimulinkrinterface. QUARCr's open-
architecture hardware and extensive Simulinkrblockset provides users with powerful controls development tools.
QUARCrcan target the Gumstix embedded computer, automatically generating code and executing controllers
on-board the vehicle. During flights, while the controller is executing on the Gumstix, users can tune parameters in
real-time and observe sensor measurements from a host ground station computer (PC or laptop).
The interface to the QBall 2 is MatlabrSimulinkrwith QUARCr. The controllers are developed in Simulinkrwith
QUARCron the host computer, and these models are downloaded and compiled into executables on the target
seamlessly. A diagram of this configuration is shown in Figure 2.2.
Section 2 outlines operator warnings found throughout this manual, Section 3 goes through the prerequisites, and
Section 4 lists various documents that are referenced in this manual. The general system description, component
nomenclature, specifications, and model parameters are all given in Section 5. Section 6 goes into detail on
how to setup the QBall 2, and Section 7 describes the battery charging procedure. Lastly, Section 8 contains a
troubleshooting guide.
QBALL 2 - User Manual DRAFT - April 6, 2015

2 Operator Warnings
Caution
This symbol marks specific safety warnings and operating procedures that are
important for the safety of the QBall 2 and users. Read these warnings carefully. The
QBall 2 is a powerful and potentially dangerous vehicle if used improperly. Always
follow safe operating procedures when using the QBall 2. Quanser is not responsible
for damages and injury resulting from improper or unsafe use of the QBall 2. Before
connecting batteries or attempting to run the QBall 2, be sure to read this document
and become familiar with the safety features and operating procedures of the QBall 2.
Caution
When handling the QBall 2, always make sure there are no models running and the
power is turned off. It is recommended that users wear safety goggles to protect the
eyes.
Figure 2.1: Quanser QBall 2
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Figure 2.2: System diagram
QBALL 2 - User Manual DRAFT - April 6, 2015

3 Prerequisites
To successfully operate the QBall 2, the prerequisites are:
i) To be familiar with the wiring and components of the QBall 2.
ii) To have QUARCrversion 2.4 installed and properly licensed.
iii) To be familiar with using QUARCrto control and monitor the vehicle in real-time, and in designing a controller
through Simulinkr. See Reference [2] for more details.
[1] Gumstix: http://gumstix.com/
[2] QUARCrUser Manual (type doc quarc in Matlabrto access)
[3] Park 480 Brushless motor - 1020Kv:
http://hobbyhobby.com/store/product/68211%22Park-480-Brushless-Outrunner-Motor%2C-1020Kv%22/
[4] Propellers description and technical information:
http://www.rctoys.com/rc-products/APC-10-047-SF-CR.html
[5] Hobbywing Flyfun-30A electronic speed controller manual:
http://www.hobbywing.com/uploadfiles/sx/file/Manual/HW-01-V4.pdf
[6] STMicroelectronics L3G4200D 3-axis gyroscope:
http://www.st.com/web/catalog/sense_power/FM89/SC1288/PF250373
[7] Freescale MMA8452Q 3-axis accelerometer:
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA8452Q
QBALL 2 - User Manual 6

4 System Hardware
4.1 Main Components
To setup this experiment, the following hardware and software are required:
•QBall 2: QBall 2 as shown in Figure 2.1
•Router A high-end router pre-configured to enable wireless connectivity to QBall 2
•Batteries: Two 3-cell, 2700 mAh Lithium-Polymer batteries
•Real-Time Control Software: The QUARCrSimulinkrconfiguration, as detailed in Reference [2]
4.2 Diagram
Figure 4.1 below is a basic diagram of the QBall 2, showing the axes and angle. Note that the axes follow a right-hand
rule with the x axis aligned with the front of the vehicle.
Caution
The tail or back of the vehicle is marked with colored tape. When flying the vehicle it
is common to orient the vehicle such that the tail is pointing towards the operator with
the positive x axis (front) pointing away from the operator.
Figure 4.1: Quanser QBall 2axes and sign convention
4.3 QBall 2 Components
The components comprising the QBall 2 are labled in Figure 4.2, Figure 4.3 and Figure 4.4 and described in Table 4.1.
The QBall 2 joystick is illustrated in Figure 4.5.
QBALL 2 - User Manual DRAFT - April 6, 2015

(a)
(b)
Figure 4.2: QBall 2 components: cage and propellers
(a) (b)
(c)
(d)
Figure 4.3: QBall 2 components: DAQ and power board
QBALL 2 - User Manual 8

(a)
(b)
Figure 4.4: QBall 2 components: sonar and batteries
Figure 4.5: QBall 2 joystick
ID # Description ID # Description
1 QBall 2 protective cage 9 USB input
2 QBall 2 frame 10 QBall 2 DAQ power cable
3 10x4.7 propeller 11 QBall 2 power distribution board
4 Brushless DC motor 12 QBall 2 power switch
5 ESC 13 QBall 2 power LED
6 QBall 2 DAQ 14 Battery velcro strap
7 Battery connector 15 Connected batteries
8 Sonar 16 QBall 2 LiPo batteries
Table 4.1: QBall 2 components
QBALL 2 - User Manual DRAFT - April 6, 2015

4.3.1 QBall 2 frame
The QBall 2 frame (#2 in Figure 4.2) is the crossbeam structure to which the QBall 2 components are mounted
including the DAQ, power distribution board, motors and speed controllers. The frame rests inside the QBall 2
protective cage (#1 in Figure 4.2). The QBall 2's protective cage is a carbon fiber structure designed to protect the
frame, motors, propellers, and embedded control module (DAQ and Gumstix computer) during minor collisions. The
cage is not intended to withstand large impacts or drops from heights greater than 2 meters.
Caution
Do not pick up the QBall 2 from the cage as this may stress the cage and cause damage.
Instead, when transporting the QBall 2 lift it from the ends of the frame using both
hands to lift the frame from both sides.
4.3.2 QBall 2 DAQ
The DAQ is the QBall 2's data acquisition board. Together with the Gumstix embedded computer, the DAQ controls
the vehicle by reading on-board sensors and outputting motor commands. The DAQ is located inside a protective
enclosure underneath the cross frame of the QBall 2. The enclosure lid is opened by gently rotating the lid clockwise
when viewed from the top.
Each motor speed controller (#5 in Figure 4.2) is connected to a PWM motor output on the DAQ (#6 in Figure 4.2).
There are four motor output channels available on the DAQ and they are labeled F, B, L, and R to represent motor
commands to the front, back, left, and right motors, respectively. Each motor speed controller should be connected
to its corresponding PWM output with the ground (black wire) towards the inside of the DAQ board (see Section 6.2
for wiring details). The QBall 2 comes with the motors already connected to the DAQ, so no manual assembly is
necessary.
If it is ever required to remove the DAQ for testing or troubleshooting, the cables and wires must first be disconnected
from the DAQ PCB and removed from the DAQ enclosure. Remove the DAQ cover by gently rotating it clockwise
(when viewed from the top of the QBall 2). Disconnect the power, sonar, motor, and any other I/O cables plugged
into the DAQ and carefully extract them through the slots in the DAQ enclosure. Reattach the DAQ cover. Using an
allen wrench, remove the four screws shown in Figure 4.6, being careful to support the DAQ enclosure so it does
not fall. When reassembling the DAQ, first attach the DAQ enclosure to the frame, making sure to align the arrow
on the DAQ enclosure with the front of the vehicle (positive X axis direction). Then, remove the lid and carefully feed
the power, sonar, and motor cables through the enclosure slots. Reattach the cables to their corresponding headers
and screw on the enclosure lid.
Figure 4.6: QBall 2 DAQ case mounting points
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