Quanser SRV02 Series User manual

Rotary Motion Servo Plant: SRV02
SRV02 Gyroscope
User Manual

SRV02 Gyroscope User Manual
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Prin ed in Canada.
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Table of Contents
1. PRESENTATION..........................................................................................................................................1
2. SRV02 AND GYROSCOPE PLANT COMPONENTS..........................................................................................2
2.1. Componen Nomencla ure................................................................................................................2
2.2. Componen Descrip ion....................................................................................................................3
2.2.1. Disk/Ro or..............................................................................................................................................3
2.2.2. DC mo or ...............................................................................................................................................3
2.2.3. Inner frame.............................................................................................................................................4
2.2.4. Encoder for inner frame ro a ion measuremen .....................................................................................4
2.2.5. Suppor springs......................................................................................................................................4
2.2.6. Gear mechanism....................................................................................................................................4
2.2.7. Gyroscope module encoder connec or ..................................................................................................4
2.2.8. SRV02 plan ...........................................................................................................................................4
2.2.9. Suppor base pla es.................................................................................................................................4
2.2.10. Hold clamps.........................................................................................................................................4
2.2.11. Gyroscope ro a ion disk mo or connec ors...........................................................................................5
3. SYSTEM PARAMETERS................................................................................................................................5
4. SYSTEM SETUP..........................................................................................................................................5
5. WIRING PROCEDURE.................................................................................................................................6
5.1. Cable Nomencla ure.........................................................................................................................6
5.2. Typical Connec ions.........................................................................................................................7
5.2.1. Connec ion De ails.................................................................................................................................8
6. TESTING AND TROUBLESHOOTING...............................................................................................................9
6.1. Mo or................................................................................................................................................9
6.1.1. Tes ing...................................................................................................................................................9
6.1.2. Troubleshoo ing.....................................................................................................................................9
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6.2. Encoder ..........................................................................................................................................10
6.2.1. Tes ing.................................................................................................................................................10
6.2.2. Troubleshoo ing...................................................................................................................................10
7. TECHNICAL SUPPORT...............................................................................................................................10
. REFERENCES...........................................................................................................................................10
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1. Presentation
The Quanser SRV02 plan plus he gyroscope module are depic ed in Figure 1. The gyroscope module
i self consis s of a ro a ing disk moun ed inside a frame. I can be ac ua ed abou i s cen er hrough a
DC mo or. An in ernal blue frame holds he ro a ing disk and is a ached o an ex ernal frame hrough
wo shaf s a bo h ends. A gear mechanism is connec ed be ween one of hese end shaf s and an encoder
ha measures he ro a ion of he blue frame abou he shaf s. Two springs are also a ached be ween he
o her end of he blue frame and he base of he ex ernal frame in order o provide ension for he inner
frame s ruc ure. The ex ernal frame has a hole a i s base hrough which i can be moun ed on he ou pu
shaf of a SRV02 plan . This allows ac ua ion of he gyroscope module abou he SRV02 ou pu shaf .
Figure 1: Quanser SRV02 and the Gyroscope Module
The SRV02 plan is moun ed on a 2-pla e s ruc ure. This s ruc ure consis s of wo pla es moun ed on
op of each o her ha are free o ro a e on op of each o her. This allows he SRV02 plus gyroscope
s ruc ure o be manually ro a ed rela ive o a fixed surface. Such an ac ion can be hough of as an
ex ernal dis urbance ha one migh apply o he gyroscope sys em.
For more informa ion regarding he SRV02 plan specifically, please refer o [1].
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SRV02 Gyroscope User Manual
Gyroscopes are widely used in sys ems ha con rol and guide he orien a ion of space sa elli es,
airplanes, submarines, e c. The Quanser SRV02 and gyroscope sys em provides a grea pla form o
s udy gyroscope proper ies along wi h con rol experimen s ha resemble real-life applica ions of he
gyro.
2. SRV02 and yroscope Plant Components
The SRV02 plus gyroscope componen s are iden ified in Sec ion 2.1. Some of hese componen s are
hen described in Sec ion 2.2.
2.1. Component Nomenclature
The main componen s of he ro ary gyroscope sys em are labeled below in Figure 2 and lis ed in Table
1. Please use he ID # o loca e and ma ch each componen in he figure as well as he able.
ID # Component ID # Component
1 Disk/Ro or 6 Gear mechanism
2 DC mo or 7 Gyroscope module encoder connec or
3 Inner frame 8 SRV02 plan
4 Encoder for inner frame ro a ion
measuremen
9 Suppor base pla es
5 Tension springs 10 Hold clamps
11 Ou er Frame 12 Gyroscope ro a ion disk mo or connec or
Table 1: SRV02 plus gyroscope module system components
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Figure 2: SRV02 plus gyroscope module system components
2.2. Component Description
2.2.1. Disk/Rotor
The ro or is used o acquire angular momen um for ro a ional dynamics experimen s by spinning abou
i s spin axis.
2.2.2. DC motor
This componen is depic ed by #2 in Table 1 and Figure 2 and is used o ro a e he disk (componen
#1). The mo or is ac ua ed by a cons an vol age supplied from he power amplifier uni ha
accompanies he experimen .
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2.2.3. Inner frame
This componen is depic ed by ID #3 in Table 1 and Figure 2. I provides suppor for he ro or and he
DC mo or used o spin i . This frame i self is connec ed o an ou er frame via wo shaf s a i s wo ends.
This allows ro a ion of he ro or and inner frame s ruc ure abou hese shaf s.
2.2.4. Encoder for inner frame rotation measurement
This componen is deno ed by ID #4 in Table 1 and Figure 2. Digi al posi ion measuremen of he inner
frame ro a ion abou i s suppor shaf s is done using a US Digi al op ical high resolu ion (1024
coun s/rev) encoder.
2.2.5. Support springs
These componen s are iden ified wi h ID #5 in Table 1 and Figure 2 and are wo springs ha are
a ached o he inner frame a one end and o he ou er frame base surface a ano her end. This
mechanism s abilizes he inner frame s ruc ure from undesired dis urbances.
2.2.6. ear mechanism
These componen s are iden ified wi h ID #6 in Table 1 and Figure 2. They are used o ransla e he
ro a ion of he inner frame and ro or disk s ruc ure o he shaf o which he encoder is connec ed o.
This mechanism in roduces a 1:4 gear ra io from he frame shaf o encoder shaf ha has o be aken
accoun when conver ing he encoder measuremen o inner frame shaf ro a ion measuremen .
2.2.7. yroscope module encoder connector
This componen is iden ified wi h ID #7 in Table 1 and Figure 2 and provides measuremen of he
gyroscope module deflec ion angle.
2.2.8. SRV02 plant
For more informa ion on his componen please refer o [1].
2.2.9. Support base plates
These componen s are iden ified wi h ID #9 in Table 1 and Figure 2. One of hem o which he rubber
plas ic pieces are a ached is used for suppor and he second pla e wi h he clamps is used o hold and
ro a e he SRV02 and gyroscope s ruc ure wi h respec o he suppor pla e.
2.2.10. Hold clamps
These componen s are iden ified wi h ID #10 in Table 1 and Figure 2 and are used o igh en he
SRV02 plan o he base suppor pla es. This can be done by using an Allen key o igh en he screws of
each clamp.
2.2.11. yroscope rotation disk motor connectors
This componen is iden ified wi h ID #12 in Table 1 and Figure 2 and connec s o a power source on
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he amplifier o provide he required vol age for he DC mo or of he ro a ion disk.
3. System Parameters
Table 2 lis s and charac erizes he main parame ers associa ed wi h he SRV02 plus gyroscope sys em.
Some of hese parame ers can be used for ma hema ical modeling of he plan as well as o ob ain
sys em equa ions of mo ion.
Description Variable Value Unit
Mo or orque cons an t0.02 N.m/Amp
Mo or arma ure resis ance Rm5.3 Ohms
Arma ure induc ance Lm0.580 mHenry
Nominal vol age Vnominal 12 Vol s
Arma ure iner ia Jm1.4e-6 Kg.m²
Opera ing curren Inominal 0.23 Amps
Flywheel radius Rdisk 0.0508 Me ers
Flywheel mass Mdisk 0.8 Kg
Flywheel iner ia abou spin axis Jdisk 1.0323 Kg.m²
Gyro module iner ia abou inpu axis Jg0.002 Kg.m²
Spring s iffness s1.9089e3 N/m
Gear mechanism ra io g¼ m/m
Encoder resolu ion (in quadra ure mode) enc 4096 coun s/rev
Table 2: SRV02 and gyroscope system specifications
4. System Setup
You can use he ins ruc ions provided in sec ion 5.1 o wire he sys em oge her wi h he amplifier and
he erminal board. The following s eps should be performed before wiring he sys em:
1. Se up he SRV02 in he high-gear configura ion as explained in [5].
2. Place he gyroscope module on op of he SRV02 plan such ha he servo ou pu shaf inser s
he hole on he bo om pla form of he gyroscope module and i can freely ro a e abou he shaf .
3. Place he base pla e wi h he 4 plas ic suppor legs on a fla surface. Place he o her suppor
pla e wi h he 4 blue clamps on op he firs pla e such ha he clamps are facing upward and he
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blue shaf in he middle of he pla e inser s he hole on he bo om pla e.
4. Place he SRV02 + Gyroscope sys em on he suppor pla e and secure i in place by ro a ing he
clamps o hold he SRV02 and igh ening he screw on each one.
5. Wiring Procedure
The following is a lis ing of he hardware componen s used in his experimen :
●Power Amplifier: Quanser Vol PAQ-X1, or equivalen .
●Data Acquisition Board: Quanser Q2-USB, Q8-USB, or equivalen .
●Experiment Platform: Quanser SRV02 wi h Gyroscope module
5.1. Cable Nomenclature
Table 3 provides a lis ing of he s andard cables shipped wi h and used in he wiring of he SRV02 and
gyroscope sys em:
Cable Designation Description
RCA
o
RCA
This cable connec s an analog ou pu of he
da a acquisi ion erminal board o he power
module for proper power amplifica ion.
5-pin-s ereo-
DIN
o
5-pin-s ereo-
DIN
This cable carries he encoder signals
be ween an encoder connec or and he da a
acquisi ion board ( o he encoder coun er).
Namely, hese signals are: +5VDC power
supply, ground, channel A, and channel B.
6 pin mini-din
cable
This cable carries he vol age required for
he DC mo or o spin he disk. I ge s his
vol age from he amplifier S1 & S2
connec or.
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4-pin-DIN
o
6-pin-DIN
This cable connec s he ou pu of he power
module, af er amplifica ion, o he desired
DC mo or on he servo. One end of his
cable con ains a resis or ha se s he
amplifica ion gain. For example when
carrying a label showing "5" a bo h ends,
he cable has ha par icular amplifica ion
gain. Typically a load cable gain of “1” is
used for mos SRV02 experimen s.
Table 3: Cable Nomenclature
5.2. ypical Connections
This sec ion describes he ypical connec ions used o connec he SRV02 gyroscope plan o a da a-
acquisi ion board and he amplifier. The connec ions are illus ra ed in Figure 3 and summarized in
Table 4. The de ails of he wiring procedure are given hereaf er.
Caution: Make sure the amplifier and PC are turned OFF before performing the system wiring.
Cable From To Signal
1 Terminal Board:
Analog Ou pu #0
Amplifier “Amplifier
Command” connec or
Mo or con rol signal o he amplifier
2 Amplifier “To Load”
connec or
SRV02: “Mo or” connec or Amplified con rol command
3 Terminal Board
Encoder Inpu 0
Gyroscope Module: “Encoder”
connec or
Encoder coun propor ional o he
inner frame ro a ion.
4 Amplifier “S1 & S2”
connec or
Gyroscope Module: “6-pin mini
DIN” connec or
Supplies fixed DC vol age o spin
he ro or
Table 4: SRV02 and gyroscope system wiring summary.
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Figure 3: SRV02 Gyroscope Connections
NOTE: The wiring depicted in Figure 3 uses a generic wo-channel da a-acquisi ion device and a
single-channel amplifier and may not resemble the configuration of your particular system. For
ins ance, you may have a DAQ device wi h more han wo channels.
5.2.1. Connection Details
Please follow he s eps below o wire he SRV02 gyroscope sys em:
1. Before proceeding wi h he connec ions, make sure he Quanser HIL board is already ins alled
as discussed in [3]. If ano her da a-acquisi ion device is being used, e.g. NI M-Series board,
please consul he appropria e documen a ion o ensure ha he board is ins alled properly.
2. Connec he 5-pin-DIN o RCA cable be ween he erminal board analog ou pu 0 connec or and
he amplifier “From D/A” connec or. This is illus ra ed by connec ion #1 in Figures Error:
Reference source no found and Error: Reference source no found.
3. Connec he 4 pin DIN o 6 pin DIN cable be ween he amplifier “To Load” connec or and he
SRV02 plan “Mo or” connec or. This is illus ra ed by connec ion #2 in Figures Error:
Reference source no found and Error: Reference source no found.
4. Connec he 5 pin s ereo DIN o 5 pin s ereo DIN cable be ween he encoder connec or on he
gyroscope module connec or panel and he erminal board encoder inpu #1. This is illus ra ed
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by connec ion #3 in Figures Error: Reference source no found and Error: Reference source no
found.
5. Connec he 6 pin mini DIN cable be ween he amplifier “S1 & S2” connec or and he smaller
connec or on he gyroscope module connec or panel. This is illus ra ed by connec ion #4 in
Figures Error: Reference source no found and Error: Reference source no found.
6. Testing and Troubleshooting
This sec ion describes some func ional es s o de ermine if your SRV02 is opera ing normally. I is
assumed ha he SRV02 is connec ed as described earlier. To carry ou hese es s, i is preferable if he
user can use a sof ware such as QUARC or LabVIEW o read sensor measuremen s and feed vol ages
o he mo or. See [1] o learn how o in erface he SRV02 wi h QUARC. Al erna ively, hese es s can
be performed wi h a signal genera or and an oscilloscope.
6.1. Motor
6.1.1. Testing
Ensure he SRV02 mo or is opera ing correc ly by going hrough his procedure:
1. Apply a vol age o analog ou pu channel #0 of he erminal board.
2. The motor gear, should ro a e coun er-clockwise when a posi ive vol age is applied and
clockwise when a nega ive vol age is applied. Remark ha he mo or shaf and he load shaf
urn in opposi e direc ions.
6.1.2. Troubleshooting
If he mo or is no responding o a vol age signal, go hrough hese s eps:
●Verify ha he power amplifier is func ional. For example when using he Quanser amplifier
device, is he red LED in he op-lef corner li ?
●Check ha he da a-acquisi ion board is func ional, e.g. he LED on he Quanser Q2-USB
should be green. The DAQ board fuse may be burn and need replacemen .
●Make sure he vol age is ac ually reaching he mo or erminals (use a vol me er or oscilloscope).
●If he mo or erminals are receiving he signal and he mo or is s ill no urning, your mo or
migh be damaged and will need o be repaired. See sec ion 7 in his documen for ob aining
suppor from Quanser.
6.2. Encoder
6.2.1. Testing
Follow his procedure o es he SRV02 encoder:
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1. Measure Encoder Inpu Channel #1.
2. Ro a e he gyroscope module inner blue frame, one quar er of a full ro a ion and he encoder
should measure 1024 coun s in quadra ure mode.
Note: Some da a acquisi ion sys ems do no measure in quadra ure and, in his case, one-quar er
of he expec ed coun s are received, i.e. 256 coun s in he SRV02-E or 512 in he SRV02-EHR.
In addi ion, some da a acquisi ion sys ems measure in quadra ure bu incremen he coun by
0.25 (as opposed o having an in eger number of coun s). Make sure he de ails of he da a-
acquisi ion sys em being used is known. The coun ers on he Quanser HIL boards measure in
quadra ure and herefore a o al of four imes he number of encoder lines per ro a ion, e.g. a
1024-line encoder resul s in 4096 in eger coun s for every full ro a ion.
6.2.2. Troubleshooting
If he encoder is no measuring properly, go hrough his procedure:
●Check ha he da a-acquisi ion board is func ional, e.g. he LED on he Quanser Q2-USB
erminal board should be brigh green. If no , hen he erminal board or DAQ board fuses may
be burn and need replacemen .
●Check ha bo h he A and B channels from he encoder are properly genera ed and fed o he
da a-acquisi ion device. Using an oscilloscope, here should be wo square waves, signals A and
B, wi h a phase shif of 90 degrees. If his is no observed hen he encoder may be damaged and
need o be replaced. Please see Sec ion 7 for informa ion on con ac ing Quanser for echnical
suppor .
7. Technical Support
To ob ain suppor from Quanser, go o h p://www.quanser.com/ and click on he Tech Support link.
Fill in he form wi h all he reques ed sof ware and hardware informa ion as well as a descrip ion of he
problem encoun ered. Also, make sure your e-mail address and elephone number are included. Submi
he form and a echnical suppor represen a ive will con ac you.
8. References
[1] Quanser. SRV02 User Manual
[2] Quanser. Amplifier User Manual
[3] Quanser. Data Acquisition Board User Manual
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