Quanser Aero User manual

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USER MANUAL
Quanser AERO Experiment
Set Up and Configuration

© 2016 Quanser Inc., All rights reserved.
Quanser Inc.
119 Spy Court
Markham, Ontario
L3R 5H6
Canada
[e-mail]
Phone: [phone]
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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. All rights are reserved and no part may be reproduced, stored in
a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior
written permission of Quanser Inc.
FCC Notice 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.
Industry Canada Notice 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.
Japan VCCI Notice This is a Class A product based on the standard of the Voluntary Control Council for Interference (VCCI). If this equipment
is used in a domestic environment, radio interference may occur, in which case the user may be required to take corrective actions.
Korea Communications Comission (KCC) Notice This equipment is Industrial (Class A) electromagnetic wave suitability equipment and seller
or user should take notice of it, and this equipment is to be used in the places except for home.
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This product meets the essential requirements of applicable European Directives as follows:
• 2006/95/EC; Low-Voltage Directive (safety)
• 2004/108/EC; Electromagnetic Compatibility Directive (EMC)
Warning: This is a Class A product. In a domestic environment this product may cause radio interference, in
which case the user may be required to take adequate measures
QUANSER AERO User Manual 2

CONTENTS
1 Presentation 4
2 System Hardware 5
2.1 System Schematic 5
2.2 Hardware Components 5
2.3 Environmental 8
2.4 System Parameters 9
3 System Setup 10
3.1 Components 10
3.2 QFLEX 2 USB Hardware Setup 10
3.3 QFLEX 2 Embedded Hardware Setup 11
3.4 Exchanging QFLEX 2 Panels 11
3.5 Changing Thruster Orientation 12
3.6 Exchanging Propellers 12
3.7 Pitch and Yaw Locks 14
QUANSER AERO User Manual DRAFT - September 1, 2016

1 PRESENTATION
The Quanser Quanser Aero, pictured in Figure 1.1, is a compact dual-rotor two degree-of-freedom aerospace system
that can be used to perform a variety of actuator and flight control based experiments. The Quanser Aero can be
configured with either the QFLEX 2 USB or QFLEX 2 Embedded interface modules. The QFLEX 2 USB allows
control by a computer via USB connection. The QFLEX 2 Embedded allows for control by a microcontroller device
such as an Arduino via a 4-wire SPI interface.
For all versions, the system is driven using two direct-drive 18V brushed DC motors. The motors are powered by
a built-in PWM amplifier with built-in current sense. Single-ended rotary encoders are used to measure the angular
position of the DC motors, and the speed of the motors can be measured with a software tachometer.
Main Quanser Aero features:
• Compact and complete aerospace control system
• 18V direct-drive brushed DC motors
• Encoders mounted on DC motors and support yolk
• DC motor tachometer output
• Built-in PWM amplifier with integrated current sense
• Built-in data acquisition (DAQ) device
• Low and High-efficiency propellers
• Lockable pitch and yaw axes
• Tri-color LED indicator lights
Figure 1.1: Quanser Aero
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.
QUANSER AERO User Manual 4

2 SYSTEM HARDWARE
2.1 System Schematic
The Quanser Aero can be configured with one of two different I/O interfaces: the QFLEX 2 USB, and the QFLEX
2 Embedded. The QFLEX 2 USB provides a USB interface for use with a computer. The QFLEX 2 Embedded
provides a 4-wire SPI interface for use with an external microcontroller board.
The interaction between the different system components on the Quanser Aero is illustrated in Figure 2.1. On the
data acquisition (DAQ) device block, the motor position encoders are connected to Encoder Input (EI) channels #0
and #1. EI2 reads the pitch angle of the Aero body, and EI3 reads the yaw angle of the yoke. The Analog Output
(AO) channels are connected to the power amplifier command, which then drives the DC fan motors. The DAQ
Analog Input (AI) channels are connected to the PWM amplifier current sense circuitry. The DAQ also controls the
integrated tri-colour LEDs via an internal serial data bus. The DAQ can be interfaced to the PC or laptop via USB
link in the QFLEX 2 USB, or to an external microcontroller via SPI in the QFLEX 2 Embedded.
Figure 2.1: Interaction between Quanser Aero components.
The schematic given in Figure 2.1 illustrates the main Quanser Aero components and how they interact with a data
acquisition (DAQ) device.
2.2 Hardware Components
The main Quanser Aero components - for the USB and SPI embedded interfaces - are listed in Table 2.1. The
components on the QFLEX 2 USB are labeled in Figure 2.2c, the components on the QFLEX 2 Embedded are
shown in Figure 2.2d.
ESD Warning: Quanser Aero internal components are sensitive to electrostatic discharge. Before
handling the Quanser Aero ensure that you have been properly grounded.
QUANSER AERO User Manual DRAFT - September 1, 2016

ID Component ID Component
1 Aero base 11 Propeller guard screw
2 Yaw pivot 12 Propeller attachment hub
3 Support yolk 13 IMU (Internal to aero body)
4 Aero body 14 System Power LED
5 Pitch pivot 15 Interface Power LED
6 Pitch lock screws 16 SPI Data Connector*
7 Status LED strip 17 USB connector†
8 Thruster rotation locks 18 Quanser Aero internal data bus
9 Thruster 0 19 Quanser Aero DAQ/amplifier board
10 Thruster 1 20 Power Connector
Table 2.1: Quanser Aero Components
†only on QFLEX 2 USB
*only on QFLEX 2 Embedded
(a) Quanser Aero Top View
(b) Quanser Aero Interior (c) Quanser Aero with QFLEX 2 USB (d) Quanser Aero with QFLEX 2 Embedded
Figure 2.2: Quanser Aero components
2.2.1 DC Motor
The Quanser Aero includes two direct-drive 18V brushed DC motors. The motor specifications are given in Table
2.2.
The Quanser Aero incorporates the Allied Motion CL40 Series Coreless DC Motor model 16705. The complete
QUANSER AERO User Manual 6

specification sheet of the motor is included at: http://alliedmotion.com/Products/Series.aspx?s=29.
Caution: Max motor input ±18 V, 2 A peak, 0.5 A continuous.
Caution: Exposed moving parts.
Caution: Holding the motor in a stalled position for a prolonged period of time at applied voltages of over 5V
can result in permanent damage.
2.2.2 Thruster Assemblies
The Quanser Aero has two identical thruster assemblies which are attached to the Aero body. Thruster 0 can be
identified by locating the pitch lock screws or the yaw lock magnets. Both of these items are on the side of the yolk
facing thruster 0.
2.2.3 High-efficiency Propeller
The Quanser Aero ships with two counter-rotating APC 5.0x4.6 propellers, models LP05046E/EP. More information
on the propellers can be found on the Advanced Precision Composites website (www.apcprop.com).
2.2.4 Low-efficiency Propeller
The Quanser Aero ships with two eight-vane counter-rotating 3D-printed propellers.
2.2.5 Propeller Hub
The Quanser Aero propellers are connected to the DC motors with aluminum prop adapters with collets. The pro-
peller adaptors are E-flite part number EFLM1922.
2.2.6 Pitch and Motor Position Encoders
The encoders used to measure the pitch of the Aero body and the angular position of the DC motorson the Quanser
Aero is a single-ended optical shaft encoder. It outputs 2048 counts per revolution in quadrature mode (512 lines
per revolution).
The encoders used to measure the pitch of the Aero body, and angular position of the DC motors on the Quanser
Aero is the US Digital E8P-512-118 single-ended optical shaft encoder. The complete specification sheet of the E8P
optical shaft encoder is given in E8P Data Sheet.
2.2.7 Yaw Encoder
The encoders used to measure the yaw of the support yolk on the Quanser Aero is an optical encoder. It outputs
4096 counts per revolution in quadrature mode (1024 lines per revolution).
The encoders used to measure the yaw of the support yolk on the Quanser Aero is the US Digital E3-1024-984
optical encoder. The complete specification sheet of the E3 optical shaft encoder is given in E3 Data Sheet.
QUANSER AERO User Manual DRAFT - September 1, 2016

2.2.8 Inertial Measurement Unit
The Quanser Aero includes an integrated IMU mounted within the Aero body. This module allows for real-time
measurement of the angular position and velocity along all three of the primary axes of the Aero body.
The IMU incorporated into the Quanser Aero is the STMicroelectronics LSM6DS0 iNEMO intertial module. Further
information on the module can be found in the LSM6DS0 data sheet.
2.2.9 Data Acquisition (DAQ) Device
The Quanser Aero includes an integrated data acquisition device with four 16-bit encoder channels with quadrature
decoding and two PWM analog output channels. The DAQ also incorporates a 12-bit ADC which provides current
sense feedback for the motors. The current feedback is used to detect motor stalls and will disable the amplifier if a
prolonged stall is detected.
2.2.10 Power Amplifier
The Quanser Aero circuit board includes a PWM voltage-controlled power amplifier capable to providing 2 A peak
current and 0.5 A continuous current (based on the thermal current rating of the motor). The output voltage range
to the load is between ±24 V.
2.2.11 Power Supply
The Quanser Aero is equipped with an external DC power supply which provides power for the sensors and motors.
This supply is intended for use with 100-240 VAC at 50-60 Hz.
Only the provided power supply and AC cord should be used with the Quanser Aero. The included supply is an
Adapter Technology Co Ltd model ATS065-P241.
2.2.12 Embedded System Connector
The SPI data connector pictured on the QFLEX 2 Embedded in Figure 2.2d allows an external microcontroller to
set motor voltage and LED brightnesses, read and set encoder counters, and read motor speed and current flow.
See the QFLEX 2 Embedded data sheet for information on connecting the SPI interface.
2.3 Environmental
The Quanser Aero 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
QUANSER AERO User Manual 8

• Marked degree of protection to IEC 60529: Ordinary Equipment (IPX0)
2.4 System Parameters
Table 2.2 lists and characterizes the main parameters associated with the Quanser Aero.
Symbol Description Value
DC Motor
Vnom Nominal input voltage 18.0 V
τnom Nominal torque 22.0 mN-m
ωnom Nominal speed 3050 RPM
Inom Nominal current 0.540 A
RmTerminal resistance 8.4 Ω
ktTorque constant 0.042 N-m/A
kmMotor back-emf constant 0.042 V/(rad/s)
JmRotor inertia 4.0×10−6kg-m2
LmRotor inductance 1.16 mH
Aero Body
MbMass of body 1.075 kg
DmCenter of mass -7.59 mm
JpPitch inertia 2.15 ×10−2kg-m2
JyYaw inertia 2.37 ×10−2kg-m2
DtThrust displacement 15.8 cm
Motor and Pitch Encoders
Encoder line count 512 lines/rev
Encoder line count in quadrature 2048 lines/rev
Encoder resolution (in quadrature) 0.176 deg/count
Yaw Encoder
Encoder line count 1024 lines/rev
Encoder line count in quadrature 4096 lines/rev
Encoder resolution (in quadrature) 0.088 deg/count
Amplifier
Amplifier type PWM
Peak Current 2 A
Continuous Current 0.5 A
Output voltage range (recommended) ±18 V
Output voltage range (maximum) ±24 V
Table 2.2: Quanser Aero System Parameters
QUANSER AERO User Manual DRAFT - September 1, 2016

3 SYSTEM SETUP
Caution: If the equipment is used in a manner not specified by the manufacturer, the protection pro-
vided by the equipment may be impaired.
3.1 Components
To setup the Quanser Aero system, you need the following components:
1. Quanser Aero (USB or Embedded version)
2. High and low-efficiency propellers
3. Propeller adapters
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 Adapter Technology Co Ltd, model ATS065-P241)
should be used with the Quanser Aero
5. Power cable
Note: Only the power cable provided should be used with the Quanser Aero
Note: Make sure that the power cable is accessible for disconnection in case of emergency.
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 discon-
nected
6. USB 2.0 A/B cable (for QFLEX 2 USB) or jumper wires (for QFLEX 2 Embedded)
3.2 QFLEX 2 USB Hardware Setup
To setup the QFLEX 2 USB follow these steps:
1. The Quanser Aero should have one of the included sets of propellers installed. If the other propellers are
required, follow the procedure for exchanging propellers in Section 3.6 before connecting power.
2. Connect USB 2.0 cable from back cover of Quanser Aero to an enabled USB 2.0 port on your desktop PC or
laptop.
3. Connect the Power connector on the Quanser Aero to the power supply. Ensure the power supply is connected
to a wall outlet using the appropriate power cable.
4. The QFLEX 2 USB driver should install automatically. If not, then you may not have installed all the required
software to support the device including either QUARCror Quanser Rapid Control Prototyping Toolkitr.
QUANSER AERO User Manual 10

3.3 QFLEX 2 Embedded Hardware Setup
This section describes how to connect the QFLEX 2 Embedded to an external microcontroller board. The connection
procedure is given below, and summarized in Table 3.1. The wires required to connect the QFLEX 2 Embeddedare
not included with the unit, connections may be made with jumper wires or a custom wiring solution dependent on
the external controller being used.
Follow these steps to connect the QFLEX 2 Embedded to your microcontroller device:
1. Before proceeding make sure your microcontroller device has been setup and successfully tested. Refer to
the documentation supplied with your control system for set up and testing instructions.
2. Make sure the everything is powered off before making any of these connections. This includes turning off the
external microcontroller board.
3. Connect the GND pin on the QFLEX 2 Embedded to a digital ground connection on the microcontroller board.
4. Connect the MOSI, MISO, and CLK pins on the QFLEX 2 Embedded to the microcontroller board as outlined
in the SPI interface documentation for your controller.
5. Connect the CS pin on the QFLEX 2 Embedded to a digital output on the microcontroller board.
6. Connect the 1.8V-5V pin on the QFLEX 2 Embedded to a signal level power pin on the microcontroller board
in the 1.8V to 5V range.
Caution: Applying voltages in excess of 5V to the 1.8V-5V input on the QFLEX 2 Embedded may
result in damage to the QFLEX 2 Embedded.
Cable # From Microcontroller To QFLEX 2 Embedded Signal
1 VCC/VDD(1.8V-5V) 1.8V-5V QFLEX 2 Embedded interface power.
2 MOSI/SDO/SO MOSI SPI master out, slave in data line.
3 MISO/SDI/SI MISO SPI master in, slave out data line.
4 SCLK/SCK CLK SPI clock line.
5 Digital output line CS SPI slave select line.
6 GND/DGND GND SPI digital signal ground.
Table 3.1: QFLEX 2 Embedded wiring summary
3.4 Exchanging QFLEX 2 Panels
Follow these steps to install the QFLEX 2 USB or QFLEX 2 Embedded panel in your Quanser Aero.
1. Disconnect the 24VDC power input from the Quanser Aero.
2. Disconnect any connections between the currently installed QFLEX panel and the computer or microcontroller
board.
ESD Warning: The interior of the Quanser Aero contains components which are sensitive to elec-
trostatic discharge. Before opening the Quanser Aero case, ensure that both you
and the workspace are properly grounded.
3. Remove the four screws at the corners of the QFLEX panel to release the panel from the Aero chassis. The
Quanser Aero is shown in Figure 3.1 below with the screws removed.
QUANSER AERO User Manual DRAFT - September 1, 2016

Figure 3.1: Quanser Aero with QFLEX panel detached.
4. Disconnect the Aero internal data cable from the QFLEX panel by depressing the latching tab.
5. Connect the Aero internal data cable to the QFLEX panel to be installed, pressing the connector into the socket
until a click is heard and the connector latches in place.
6. Anchor the QFLEX panel in place using the four screws removed earlier.
Caution: Ensure that the Quanser Aero is completely reassembled, with all screws in place be-
fore connecting power or attempting operation.
3.5 Changing Thruster Orientation
Follow these steps to change the orientation of the thrusters on the Quanser Aero.
1. Use the included hex key to loosen the thruster rotation lock set-screw on the thruster you wish to rotate by
one quarter turn as shown in Figure 3.2a
Caution: Do not loosen the set screws more than one half turn to prevent accidentally detaching
the thruster assembly.
2. Rotate the propeller to the desired angle as shown in Figure 3.2b
Note: Each thruster has a 90 degree range motion and will only rotate in one direction from either the vertical
or horizontal positions.
3. Tighten the thruster rotation lock set-screw.
3.6 Exchanging Propellers
Follow these steps to change the propellers in the Quanser Aero.
Caution: The Quanser Aero is intended only for use with the included propellers. Operating the
Quanser Aero with any other propellers may result in damage and/or injury.
1. Disconnect the 24VDC power input from the Quanser Aero.
2. Disconnect any connections between the currently installed QFLEX panel and the computer or microcontroller
board.
3. Unfasten the propeller guard screws and remove the propeller guard.
QUANSER AERO User Manual 12

(a) Hex key inserted in thruster rotation lock (b) Thruster rotated
Figure 3.2: Quanser Aero propeller change steps
4. Insert a small hex key or similar object (not provided) through the cap of the propeller hub as shown in Figure
3.3a.
5. While holding the propeller still, loosen the collet in the propeller hub slightly by turning the cap counter-
clockwise.
6. Pull gently on the propeller hub to slide the assembly off the motor shaft.
7. Disassemble the propeller hub as shown in Figure 3.3b
(a) Propeller with guard removed (b) Quanser Aero prop assembly
Figure 3.3: Quanser Aero propeller change steps
8. Identify the correct propeller from the counter-rotating pairs for the thruster being swapped. Under positive
voltage, viewed from above, thruster 0 rotates counter-clockwise and thruster 1 rotates clockwise. Select the
propeller such that positive voltage results in downward thrust. In the case of the high-efficiency propellers,
the prop labeled 5x4.6E is intended for thruster 0, and that labeled 5x4.6EP is intended for thruster 1.
9. Slide the propeller assembly on to the motor shaft and tighten the cap.
10. Place the propeller cover back in position and replace the screws holding it in place.
QUANSER AERO User Manual DRAFT - September 1, 2016

Caution: Ensure that the Quanser Aero is completely reassembled, with all screws in place be-
fore connecting power or attempting operation. The outer propeller guard screw must
be fastened with the included lock nut. Improper assembly may result in damage and/or
injury.
3.7 Pitch and Yaw Locks
To lock the pitch of the Aero body, use the included hex key to tighten the pitch lock screws as shown in Figure 3.4a
To lock the yaw of the yoke, remove the hex key from its storage location in the bottom of the yoke and reinsert it
with the long arm of the key down as shown in Figure 3.4b. Once the key is inserted all the way and protruding from
the bottom of the yoke, rotate the yoke clockwise until the key comes in contact with the magnetized stop on the
yaw pivot.
(a) Locking Pitch (b) Locking Yaw
Figure 3.4: Quanser Aero attitude locks
QUANSER AERO User Manual 14

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