QUBE-Servo Workbook (Student).pdf - STUDENT WORKBOOK QUBE-Servo Experiment for LabVIEW Users Standardized for ABET Evaluation Criteria Developed by

QUBE-Servo Workbook (Student).pdf - STUDENT WORKBOOK...

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STUDENT WORKBOOK QUBE-Servo Experiment for LabVIEW Users Standardized for ABET * Evaluation Criteria Developed by: Jacob Apkarian, Ph.D., Quanser Michel Lévis, M.A.SC., Quanser CAPTIVATE. MOTIVATE. GRADUATE. QUBE educational solutions are powered by: Course material complies with: *ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology, providing leadership and quality assurance in higher education for over 75 years.
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© 2013 Quanser Inc., All rights reserved. Quanser Inc. 119 Spy Court Markham, Ontario L3R 5H6 Canada [email protected] Phone: 1-905-940-3575 Fax: 1-905-940-3576 Printed in Markham, Ontario. For more information on the solutions Quanser Inc. offers, please visit the web site at: 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. ACKNOWLEDGEMENTS Quanser, Inc. would like to thank the following contributors: Dr. Hakan Gurocak, Washington State University Vancouver, USA, for his help to include embedded outcomes assessment, and Dr. K. J. Åström, Lund University, Lund, Sweden for his immense contributions to the curriculum content. QUBE-SERVO Workbook - Student Version 2
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CONTENTS 1 QUBE-Servo Integration 4 1.1 Background 4 1.2 In-Lab Exercises 6 2 Filtering 10 2.1 Background 10 2.2 In-Lab Exercises 11 3 Stability Analysis 13 3.1 Background 13 3.2 In-Lab Exercises 14 4 Bump Test Modeling 16 4.1 Background 16 4.2 In-Lab Exercises 18 5 First Principles Modeling 20 5.1 Background 20 5.2 In-Lab Exercises 22 6 Second-Order Systems 24 6.1 Background 24 6.2 In-Lab Exercises 27 7 PD Control 29 7.1 Background 29 7.2 In-Lab Exercises 32 8 Pendulum Moment of Inertia 34 8.1 Background 34 8.2 In-Lab Exercises 36 9 Rotary Pendulum Modeling 37 9.1 Background 37 9.2 In-Lab Exercises 39 10 Balance Control 41 10.1 Background 41 10.2 In-Lab Exercises 43 11 Swing-Up Control 45 11.1 Background 45 11.2 In-Lab Exercises 47 12 Optimal LQR Control 49 12.1 Background 49 12.2 In-Lab Exercises 50 13 System Requirements 54 13.1 Overview of Files 55 13.2 Setup for Pendulum Swing-Up 55 QUBE-SERVO Workbook - Student Version v 1.0
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1 QUBE-SERVO INTEGRATION Topics Covered • Getting familiarized with the Quanser QUBE-Servo hardware. • Using LabVIEW™ to interact with Quanser QUBE-Servo system. • Sensor calibration. Prerequisites Before starting this lab make sure: • The QUBE-Servo has been setup and tested. See the QUBE-Servo Quick Start Guide for details.
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