Quanser Qube-Servo 3 User manual

User Manual
Setup and Configuration
V1.0 –17th April 2023
Qube-Servo 3
Experiment

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occur, in which case the user may be required to take corrective actions.

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Warning: This is a Class A product. In a domestic environment this product
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adequate measures.
.

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Table of Contents
Table of Contents 3
1Presentation 4
2System Hardware 5
2.1 System Schematic 5
2.2 Hardware Components 6
2.2.1 DC Motor 7
2.2.2 Encoder 7
2.2.3 Data Acquisition (DAQ) Device 7
2.2.3.1 Deadband Compensation 7
2.2.3.2 PWM Enable 7
2.2.4 Power Amplifier 7
2.3 Environmental 8
2.4 System Parameters 9
3System Setup 10
3.1 Components 10
3.2 Qube-Servo 3 Hardware Setup 11
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1Presentation
The Quanser Qube-Servo 3, pictured in Figure 1.1, is a compact rotary servo system that can be used
to perform a variety of classic servo control and inverted pendulum-based experiments. The Qube-
Servo 3 allows control by a computer via USB connection.
The system is driven using 24V a direct drive brushed DC motor. The motor is powered by a built-in
PWM amplifier with integratedcurrent sense. Two add-on modules are supplied with the system: an
Inertia disc and a Rotary pendulum. The modules can be easily attached or interchanged using
magnets mounted on the Qube-Servo 3 module connector. Single-ended rotary encoders are used
to measurethe angularpositionofthe DC motorandpendulum, and theangularvelocityof themotor
can also be measured using an integrated software-based tachometer.
Main Qube-Servo 3 features:
•Compact and complete rotary servo system
•24V direct drive brushed DC motor
•Encoders mounted on DC motor and pendulum
•DC motor and pendulum tachometer output
•Built-in PWM amplifier with integrated current sense
•Built-in data acquisition (DAQ) device
•Inertia disc module
•Rotary pendulum module
•Tri-color LED indicator lights
Figure 1.1 Quanser Qube-Servo 3
Caution: This equipment is designed to be used for educational and research purposes
and is not intended for use by the general public. The user is responsible to
ensure that the equipment will be used by technically qualified personnel only.

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2System Hardware
2.1 System Schematic
The Qube-Servo 3 provides a USB interface for use with a computer.
The interaction between thedifferent system components onthe Qube-Servo3is illustrated in Figure
2.1. On the data acquisition (DAQ) device block, the motor and pendulum encoders are connected to
the Encoder Input (EI) channels #0 and #1. The Analog Output (AO) channel isconnected to the power
amplifier command, whichthen drivesthe DC motor. The DAQ Analog Input (AI) channel is connected
to the PWM amplifier current sense circuitry. The DAQ also controls the integrated tri-color LEDs.
Figure 2.1 Interaction between Qube-Servo 3 components

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2.2 Hardware Components
The main Qube-Servo 3 components are listed in Table 2.1.
ID
Component ID Component
1
Chassis
9
Pendulum arm
2
Module connector
10
Rotary arm rod
3
Module connector magnets
11
Rotary arm hub
4
Status LED strip
12
Rotary pendulum magnets
5
Module encoder connector
13
Pendulum encoder
6
Power connector
14
USB C connector
7
System power LED
15
Power switch
8
Inertia disc
Table 2.1 Qube-Servo 3 Components
(a) Qube-Servo 3 Back View
(e) Qube-Servo 3 Top View
(d) Qube-Servo Modules
Figure 2.2 Qube-Servo 3 components

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2.2.1 DC Motor
The Qube-Servo 3 includes a direct-drive brushed DC motor. The motor specifications are given in
Table 2.2. The motor datasheet is attached alongside this document.
Caution: Exposed moving parts.
2.2.2 Encoder
The encoders used to measure the angular position of the DC motor and pendulum on the Qube-
Servo 3 are single-ended optical shaft encoders. They output 2048 counts per revolution in
quadrature mode (512 lines per revolution). Digital tachometers are also available for angular speed
in counts/sec on channels 14000 and 14001.
2.2.3 Data Acquisition (DAQ) Device
The Qube-Servo 3 includes an integrated data acquisition device with two 24-bit encoder channels
with quadrature decoding and one analog/PWM output channel. The analog output channel
emulates a linear amplifier by incorporating deadband compensation. The PWM output channel can
be used to directly access the amplifier duty cycle. The DAQ also incorporates a 12-bit ADC which
providescurrent sense feedbackforthe motor. The DAQ is used to detect motor stallsand will disable
the amplifier if a prolonged stall is detected when a voltage above 5V is applied. The digital I/O
provides feedback for stall warnings, stall errors and amplifier faults.
2.2.3.1 Deadband Compensation
The Qube-Servo 3 has a default deadband compensation to simplify the learning experience by
compensating for the non-linearities of the Qube-Servo 3 PWM power amplifier.
To change the compensation, when initializing the HIL device add the board/card specific option
deadband_compensation. For example, to make it 0, set deadband_compensation=0 to remove all
compensation.
2.2.3.2 PWM Enable
The Qube-Servo 3 driver supports one PWM output channel, which is channel 0. The pwm_en board
specific option must be set in order to use PWM output on this card. Set this option to "yes", "y", or "1"
to enable control of the motor using PWM command. When this option is set, the analog output
cannot be used. This will also disable the deadband compensation and ignore any user-specified
deadband compensation value in the board specific options.
2.2.4 Power Amplifier
The Qube-Servo 3 circuit board includes a PWM voltage-controlled power amplifier. Table 2.2 in
section 2.4 describes its specifications.

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2.3 Environmental
The Qube-Servo 3 is designed to function under the following environmental conditions:
•Standard rating
•Indoor use only
•Temperature 5◦C to 40◦C
•Altitude up to 2000 m
•Maximum relative humidity of 80% up to 31◦C decreasing linearly to 50% relative humidity at
40◦C
•Pollution Degree 2
•Mains supply voltage fluctuations up to ± 10% of nominal voltage
•Maximum transient overvoltage 2500 V
•Marked degree of protection to IEC 60529: Ordinary Equipment (IPX0)

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2.4 System Parameters
Table 2.2 lists and characterizes the main parameters associated with the Qube-Servo 3.
Table 2.2: Qube-Servo 3 System Parameters
Symbol
Description
Value
Vnom
Nominal input voltage
24.0 V
τnom
Nominal torque
20.4 mN-m
ωnom
Nominal speed
5400 RPM
Inom
Nominal current
0.5 A
Rm
Terminal resistance
7.5 Ω
kt
Torque constant
0.0422 N-m/A
km
Motor back-EMF constant
0.0422 V/(rad/s)
Jm
Rotor Inertia
1.4×10−6 kg-m2
Lm
Rotor inductance
1.15 mH
mh
Module attachment hub mass
0.0106 kg
rh
Module attachment hub radius
0.0111 m
Jh
Module attachment moment of Inertia
0.6×10−6 kg-m2
Inertia Disc Module
md
Disc mass
0.053 kg
rd
Disc radius
0.0248 m
Rotary Pendulum Module
mr
Rotary arm mass
0.095 kg
Lr
Rotary arm length (pivot to end of metal rod)
0.085 m
mp
Pendulum link mass
0.024 kg
Lp
Pendulum link length
0.129 m
Motor and Pendulum Encoders
Encoder line count
512 lines/rev
Encoder line count in quadrature
2048 lines/rev
Encoder resolution (in quadrature, deg)
0.176 deg/count
Encoder resolution (in quadrature, rad)
0.00307 rad/count
Amplifier
Amplifier type
PWM
Peak Stall Current
1.8A @ 15V
Continuous Sustainable Current
0.58A @ 5V
Output voltage range (recommended)
±10 V
Output voltage range (maximum)
±15 V
Default deadband
0.65V

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3System Setup
Caution: If the equipment is used in a manner not specified by the manufacturer, the
protection provided by the equipment may be impaired.
3.1 Components
To setup the Qube-Servo 3 system, you need the following components:
1. Qube-Servo 3
2. Inertia disc module (shown in Figure 3.1a)
3. Rotary Pendulum module (shown in Figure 3.1b)
4. Power supply with the following ratings:
•Input Rating: 100-240 V AC, 50-60 Hz, 1.4 A
•Output Rating: 24 V DC, 2.71 A
Note: Only the power supply provided (AC-DC adapter by TRUMPower, model ATS065T-P240)
should be used with the Qube-Servo 3
5. Power cable
Note: Only the power cable provided should be used with the Qube-Servo 3
Caution: Precaution must be taken during the connection of this equipment to the
AC outlet to make sure the grounding (earthing) is in place, and that the
ground wire is not disconnected
6. USB A to C cable
(a) Qube-Servo 3 with Inertia Disc Module
(b) Qube-Servo 3 with Pendulum Module
Figure 3.1 Qube-Servo 3 components

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3.2 Qube-Servo 3 Hardware Setup
To setup the Qube-Servo 3 follow these steps:
1. Download either QUARC®or the Quanser HIL APIs.
2. Connect USB C cable from back cover of Qube-Servo 3 to an enabled USB port on your
desktop PC or laptop.
3. Connect the Power connector on the Qube-Servo 3 to the power supply. Ensure the power
supply is connected to a wall outlet using the appropriate power cable.
4. Turn on the Qube-Servo 3 using the switch in the back. The LED strip across the top should
turn RED. Make sure the small LED next to the USB C port is GREEN. Your computer should
automatically detect the Qube-Servo 3.
5. Attach the Inertia disc or rotary pendulum module to the motor hub using the magnets. The
Qube-Servo 3 is shown with the Inertia disc and rotary pendulum modules setup in Figure 3.1.
6. Rotary Pendulum Users: If you are using the pendulum attachment, connect the encoder
cable from the pendulummodule encoder to the Encoder 1 connector on the top panel of the
Qube-Servo3 (connector shown inFigure 2.2e).The Qube-Servo3 with the attached pendulum
and connected cable is pictured in Figure 3.1b.

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