Quanser 3 DOF User manual

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SOFTWARE INSTALLATION DVD
REAL-TIME RAPID CONTROL
PROTOTYPING SOFTWARE v2.3
R2011a,b and R2012a, b
For MATLAB®/Simulink®
For installation procedure please
refer to the Installation Guide on this DVD.
For assistance, contact [e-mail]
©
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Check Components and Details
Make sure your 3 DOF Gyroscope experiment includes the following components:
Quick Start Guide: 3 DOF Gyroscope
STEP 1
Additional Components Required for Set Up
To complete the 3 DOF Gyroscope experiment set up, you will also need the following:
STEP 2
12
1. 3 DOF Gyroscope
2. Set of three M 4-15mm metric screws;
9/64 Allen key; spacer
3. Set of four 5-pin DIN to 5-pin DIN
encoder cables
4. Quanser Workstations Resources DVD*
(includes controllers; digital versions of
User Manual, Quick Start Guide and
courseware; and other les)
*DVD supplied with the QUARC Real-time Rapid
Control Prototyping software, see Step 2
3
1. QUARC Real-time Rapid Control Prototyping
Software Installation DVD
2. Power Amplier (AMPAQ-L4 pictured)
3. One of the following data acquisition devices:
a. Quanser Q8-USB, or
b. QPID/QPIDe with terminal board
4. Set of four RCA to RCA cables
5. Set of four 3-pin-DIN to 4-pin DIN motor cables
Note: These components must be purchased separately.
4
3a3b
5
To set up your 3 DOF Gyroscope experiment, please read the following instructions carefully.
CAPTIVATE. MOTIVATE. GRADUATE.
USER MANUAL
3 DOF Gyroscope Experiment
Set Up and Configuration
Quanser educational solutions
are powered by:
LABORATORY GUIDE
3 DOF Gyroscope Experiment for MATLAB /Simulink Users
Developed by:
Jacob Apkarian, Ph.D., Quanser
Amirpasha Javid, B. Eng., Quanser
CAPTIVATE. MOTIVATE. GRADUATE.
Quanser educational solutions
are powered by:
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RESOURCES DVD
TO SET UP QUANSERWORKSTATIONS
Onthis DVD:
•Quick start Guides
• Pre-designed Controllers
• User Manuals
• Instructor and Student Workbooks
or Laboratory Guides
For use with
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Install and Test QUARC
STEP 3
A. Make sure you have all required software, as listed in the QUARC Compatibility Table document located in the QUARC DVD folder.
B. See the QUARC Installation Manual for details on how to install the software.
C. Make sure you test the system using the Sine and Scope demo. You can access this by typing qc_show_demos in the Matlab prompt.

MOTOR1 MOTOR2 MOTOR3 MOTOR4
ENC 1 ENC 2 ENC 3 ENC 4
MOTOR1 MOTOR2 MOTOR3 MOTOR4
ENC 1 ENC 2 ENC 3 ENC 4
Set Up the Hardware
STEP 4
Follow the procedure below to set up your 3 DOF Gyroscope experiment. The connections shown below are illustrated using a generic data
acquisition (DAQ) device and an AMPAQ-L4 amplier (you may have a dierent DAQ or amplier). For detailed instructions, see the 3 DOF Gyroscope
User Manual (enclosed with shipment).
Your data acquisition (DAQ) device should be already
set up and tested as dictated in its corresponding Quick
Start Guide.
Make sure everything is powered o before making any
of these connections. This includes turning OFF your PC
and the amplier.
AB
Using the RCA to RCA cable, connect
Analog Output Channel (AO) #0 on
the data acquisition (DAQ) device to the
Amplier Command #0 connector on
the amplier. Similarly, connect AO #1
and #2 on the DAQ device to Amplier
Command #1 and #2 on the amplier.
D
Using the 3-pin-DIN to 4-pin-DIN motor
cable, connect the TO LOAD #0 on the
amplier to the Motor 1 connector on
the 3 DOF Gyroscope. Similarly, connect
TO LOAD #1 and #2 on the amplier
to Motor 2 and Motor 3 on the 3 DOF
Gyroscope.
CWith the M4-15 mm screw and the spacer,
lock the silver frame by using the locking
holes on top of the frame (any of them)
and the upper enclosure. The spacer
should be placed and aligned between the
silver frame and the upper enclosure such
that the M4-15mm screw goes through it.
Turn ON the AMPAQ-L4’s power switch.
It is located on the rear of the device.
System Power
E-Stop
Enabled
Amplifier Command
(1.0V = 0.5A)
(1.0V = 0.5A)
Current Sense
To Load (2.5A ±24V)
(0.5x Amplifier Command) AMPAQ -L4
MULTI CHANNEL LINEAR CURRENTAMPLIFIER
WWW.QUANSER.COM
MADEIN CANADA
Amplifier 0 Amplifier 2 Amplifier 3Amplifier 1
This device complies with Part 15 of the FCC
Rules. Operation is subject to the following two
conditions: (1) this device may not cause harmful
interference, and (2) this device must accept any
interference received, including interference that
may cause undesired operation.
This Class A digital apparatus complies with
Canadian ICES-003.
Cet appareil numérique de la classe A est
conforme à la norme NMB-003 du Canada.
100-120 V~ or
200-240 V~
4.1A
50/60Hz, Class 1
Fuse: 5.0A 3AG, 250V
Slow-Blow
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Analog
Output
(AO)
0
Analog
Output
(AO)
1
Analog
Output
(AO)
2
Data Acquisition (DAQ) Device
3 DOF Gyroscope
3 DOF Gyroscope
Amplier
System Power
E-Stop
Enabled
Amplifier Command
(1.0V = 0.5A)
(1.0V = 0.5A)
Current Sense
To Load (2.5A ±24V)
(0.5x Amplifier Command) AMPAQ -L4
MULTI CHANNEL LINEAR CURRENTAMPLIFIER
WWW.QUANSER.COM
MADEIN CANADA
Amplifier 0 Amplifier 2 Amplifier 3Amplifier 1
Amplier
Amplier (rear)
Using the 5-pin DIN to 5-pin DIN encoder
cable, connect the Encoder #0 (ENC #0)
on the data acquisition device to the
ENC 1 connector on the 3 DOF Gyroscope.
Similarly connect ENC 1 and ENC 2
on the data acquisition device to ENC 2
and ENC 3 on the 3 DOF Gyroscope.
Encoders
(EI Channel
#0)
Encoders
(EI Channel
#1)
Encoders
(EI Channel
#2)
Data Acquisition (DAQ) Device
01 2
F
G
E

Testing the 3 DOF Gyroscope
STEP 5
Follow the procedure below to test your 3 DOF Gyroscope experiment.
Under the Main
tab, select the data
acquisition device
that is installed on
your system in the
Board type section
(e.g., Q8-USB)
The scopes should look
similar to those shown
here for a 20 deg, 0.1 Hz
command. If not, consult
the troubleshooting
section at the end of this
guide.
Rotate the red and blue gimbals such that
the ywheel motor and counter-weights
point upwards.
Hold on to the gimbals. Make
sure you do not hold on the y
wheel
Wait until the y wheel reaches
a steady speed (about 5 seconds)
and then release the gimbals.
Then use the manual switch to
enable the set point command.
Click on the Simulink Stop
button to stop the running
model. The gyroscope
ywheel will continue to
rotate until friction brings
it to a stop.
C
EF
D
KL
Open the Simulink
model le (.mdl)
found under the
Quick Start folder
on your hard drive.
Congure HIL Initialize window
Scope view of the Front Panel
J
I
Make sure your PC and
amplier are powered ON.
On the Resources DVD (supplied with the QUARC and 3 DOF Gyroscope package), locate
the Quick Start Folder: Mechatronics\3 DOF Gyroscope\Quick Start. Copy the Quick
Start folder to your local hard drive.
AB
G
HOnce the model code has
been compiled, click on the
Connect To Target button.
Click on the Build Model
button on the Simulink
model toolbar.
Click on the Run button to start
the QUARC real-time model. Make
sure you hold on to the gimbals.

Please review the following recommendations before contacting Quanser’s technical support engineers.
The gyroscope
ywheel does
not rotate.
A. Review connection Steps 4D and 4E. Make sure cables are rmly connected.
B. Ensure the power amplier is working, i.e., when using AMPAQ-L4 verify that the green LED next to the power
label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LED under the
Channel 0 label turns on when the VI is started.
The red gimbal is
not tracking the
command position.
A. Review Step 5K in the Testing the 3 DOF Gyroscope section.
B. Ensure the power amplier is powered on and operational, i.e., when using AMPAQ-L4 verify that the green
LED next to the power label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LEDs for all
channels turn on when the VI is started.
D. Verify the data acquisition device is functional.
The Encoder is
not reading.
The blue gimbal
drifts after a while.
A. Review connection Steps 4D, 4E, and 4G.
B. Ensure the power amplier is powered on and operational, i.e., when using AMPAQ-L4 verify that the green
LED next to the power label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LED under the
Channel 2 label turns on when the VI is started.
D. Verify the data acquisition device is functional.
STILL NEED HELP? For further assistance from a Quanser engineer, contact us at [e-mail] or call [phone].
TROUBLESHOOTING
Review connections in Steps 4G.
Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual for
troubleshooting guidelines.
1. Make sure the cables are rmly connected.
2. Refer to the Troubleshooting Guide in the 3 DOF Gyroscope User Manual.
LEARN MORE To find out about the full range of Quanser control experiments, visit www.quanser.com
Expand your lab with the full range of mechatronic control experiments.
Active Suspension IMDU Web Winding
IMDU Base Unit IMDU Multi DOF Torsion
Getting an error
when trying to
build or run the
Quick Start
Simulink model
(.mdl)
A. Type ver in the Matlab Command Window and verify that QUARC is on the list. If not, then go through
the QUARC Quick Installation Guide to install QUARC. If it is listed, run mex-setup as described in the
QUARC Installation Guide.
B. If the “… specic kernel level driver for the specied card could not be found” error is prompted when you
attempt to run, then you may not have selected the correct data acquisition (DAQ) device in the HIL Initialize
block or the DAQ device has not been installed properly (refer to the DAQ device User Manual).
©2013 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc. V.1