Quanser SRV02 Ball and Beam User manual

Rotary Motion Servo Plant: SRV02
SRV02 Ball and Beam
User Manual

BB01 User Manual
Table of Contents
1. PRESENTATION..........................................................................................................................................1
1.1. Description........................................................................................................................................1
1.2. Remote Sensor Option......................................................................................................................1
2. BALL AND BEAM COMPONENTS..................................................................................................................1
2.1. Component Nomenclature................................................................................................................2
2.2. Component Description....................................................................................................................3
2.2.1. Ball Position Sensor...............................................................................................................................3
2.2.2. Remote Sensor.......................................................................................................................................3
3. BALL AND BEAM SPECIFICATIONS...............................................................................................................3
4. SYSTEM SETUP..........................................................................................................................................5
4.1. Assembly..........................................................................................................................................5
4.2. Calibration........................................................................................................................................
5. WIRING PROCEDURE.................................................................................................................................7
5.1. Cable Nomenclature.........................................................................................................................7
5.2. Typical Connections for UPM..........................................................................................................9
5.3. Typical Connections for Q3............................................................................................................12
6. TESTING AND TROUBLESHOOTING.............................................................................................................14
.1. SRV02 Motor and Sensors.............................................................................................................14
.2. Testing the Ball Position Sensor.....................................................................................................14
.2.1. Testing.................................................................................................................................................14
.2.2. Troubleshooting...................................................................................................................................15
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7. TECHNICAL SUPPORT...............................................................................................................................16
8. REFERENCES...........................................................................................................................................16
APPENDIX A LINEAR TRANSDUCER SPECIFICATION SHEET............................................................................17
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1. Presentation
1.1. Description
The Quanser Ball and Beam module, pictured in Figure 1, consists a track on which the metal ball is
free to roll. The track is fitted with a linear transducer to measure the position of the ball, i.e. it outputs
a voltage signal proportional to the position of the ball. One side of the beam is attached to a lever arm
that can be coupled to the load gear of the Quanser SRV02 unit. By controlling the position of the
servo, the beam angle can be adjusted to balance the ball to a desired position.
Figure 1: SRV02 Ball and Beam Module
1.2. Remote Sensor Option
The SRV02 Ball and Beam module can also be accompanied by a remote ball sensor called the SS01
module. This permits a master-slave configuration where the ball command is generated by the SS01
instead of through a program.
2. Ball and Beam Components
The Ball and Beam components are identified in Section 2.1. Some of the those components are then
described in Section 2.2.
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2.1. Component Nomenclat re
The components of the Ball and Beam module, i.e. the BB01 device, and the Remote Sensor system,
i.e. SS01, are listed in Table 1 below and labeled in Figure 2 and Figure 3.
ID # Component ID # Component
1 SRV02 8 Support base
2 Lever arm 9 Support arm screws
3 Coupling screw 10 Analog ball position sensor connector
4 Steel ball 11 Calibration base
5 BB01 Potentiometer sensor 12 SS01 Potentiometer sensor
BB01 Steel rod 13 SS01 Steel rod
7 Support arm 14 Analog remote sensor connector
Table 1: BB01 components.
Figure 2: Components of SRV02 BB01 module.
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Figure : Remote sensor components.
2.2. Component Description
2.2.1. Ball Position Sensor
The track of the BB01 linear transducer module on which the metal ball is free to roll consists of a steel
rod in parallel with a nickel-chromium wire-wound resistor forming the track. The resistive wire is the
black strip that is stuck on the plastic which is fastened onto the metal frame. The position of the ball is
obtained by measuring the voltage at the steel rod. When the ball rolls along the track, it acts as a wiper
similar to a potentiometer resulting in the position of the ball.
WARNING Regular cleaning of the beam is recommended to ensure proper operation of the ball and
beam experiment. Clean both the beam and the steel ball using rubbing alcohol.
2.2.2. Remote Sensor
Similarly to the BB01, the SS01 has a wiper potentiometer sensor that detects the position of the ball.
3. Ball and Beam Specifications
Table 2, below, lists and characterizes the main parameters associated with the BB01. See Figure 4 for
an illustration of the Ball and Beam dimensions and the variables α, θ, and x that are associated with
the system. Some of the parameters listed in Table 2 are used in the mathematical model. See Appendix
A for more information on the BB01 linear transducer used to measure the ball position.
Symbol Description Matlab
Variable
Value Unit Variati
on
Mass of ball and beam module 0. 5 kg
Calibration base length 50 cm
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Symbol Description Matlab
Variable
Value Unit Variati
on
Calibration base depth 22.5 cm
Lbeam Beam length L_beam 42.55 cm
Lever arm length 12.0 cm
rarm Distance between SRV02 output gear
shaft and coupled joint
r_arm
2.54
cm
Support arm length 1 .0 cm
rbRadius of ball. r_ball 1.27 cm
mbMass of ball. m_ball 0.0 4 kg
Kbs Ball position sensor sensitivity K_BS -4.25 cm/V
Vbias Ball position sensor bias power ±12 V
Vrange Ball position sensor measurement range ±5V
Table 2: Ball and beam system specifications.
Figure 4: Ball and beam schematic.
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4. System Setup
See Section 4.1 for instructions on how to to put the ball and beam plant together. Then, go through the
calibration procedure in Section 4.2 before performing the laboratory.
4.1. Assembly
Follow this procedure to setup the Ball and Beam module for experimental use:
1. Before beginning, ensure the SRV02 is setup in the high-gear configuration as detailed in
Reference [2].
2. Lay the calibration base, component #11 in Figure 2, flat on a table surface.
3. As pictured in Figure 5, place the SRV02 on its side such that the potentiometer gear fits into
the cut-out section of the calibration base. Notice that the top gear of the SRV02 should be the
small 24-tooth motor pinion gear.
Figure 5: Setting up the SRV02-side of the BB01 plant.
4. Fasten the coupling screw, component #3, into the screw hole of the large 120-tooth load gear
as depicted in Figure 5.
5. Place the support base of the ball and beam, component #8 into the cut-out section of the base,
as pictured in Figure 2.
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4.2. Calibration
Once the BB01 is setup, follow this procedure to calibrate the beam:
1. Using an 9/ 4 Allen Key loosen the screws on the support arm, which are shown in Figure 2 by
ID #9.
2. Place the steel ball on the beam such that it rests on the SRV02 side, as pictured in Figure 5.
3. As illustrated in Figure , below, manually rotate the servo load gear to the 0 degree position.
That is, the coupling screw should be aligned with the 0 degree position, .
Figure 6: BB01 Calibration: move SRV02
load gear to 0 degree position.
4. While holding the load gear at 0 degrees, vary the height of the support arm, component #7,
such that the beam is horizontal. When the ball is centered on the beam it should lie motionless.
Figure 7: Calibrated BB01: ball is balanced when centered on beam.
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5. Once the beam is balanced, tighten the screws on the support arm, as shown in Figure 8 below,
to finalize the calibration of the BB01 experiment.
Figure 8: BB01 calibration: tighten
support arm screws once beam is
balanced.
. Wiring Procedure
The following is a listing of the hardware components used in this experiment:
●Power Amplifier: Quanser UPM 1503/2405, or equivalent.
●Data Acquisition Board: Quanser Q8, Q4, or equivalent.
●Rotary Servo Plant: Quanser SRV02, SRV02-T, SRV02- E, SRV02- EHR, or
SRV02-ET.
●Ball and Beam Module: Quanser BB01 Module
●Remote Sensor (optional) Quanser SS01 Module
See the references listed in Section 8 for more information on these components. The cables supplied
with the BB01 are described in Section 5.1 and the procedure to connect the above components when
using the UPM is given in Section 5.2 and when using the Q3 device is described in Section 5.3.
5.1. Cable Nomenclat re
Table 3, below, provides a description of the standard cables used in the wiring of the BB01 system.
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