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STUDENT WORKBOOKQUBE-Servo Experiment for MATLAB/SimulinkUsers Standardized for ABET*Evaluation CriteriaDeveloped by:Jacob Apkarian, Ph.D., QuanserMichel Lévis, M.A.SC., QuanserCAPTIVATE. 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.
QUBE-Servo IntegrationTopics Covered• Getting familiarized with theQuanserrQUBE-Servo Rotary Servo Experiment hardware.• UsingQUARCrto interact with QUBE-Servo system.• Sensor calibration.Prerequisites• The QUBE-Servo has been setup and tested. See the QUBE-Servo Quick Start Guide for details.• Inertia disk load is on the QUBE-Servo.• You have the QUBE-Servo User Manual. It will be required for some of the exercises.• You are familiar with the basics ofSimulinkr.QUBE-SERVO Workbook - Studentv 2.0
1Background1.1QUARC SoftwareTheQUARCrsoftware is used withSimulinkrto interact with the hardware of the QUBE-Servo system.QUARCris used to drive the DC motor and read angular position of the disk.The basic steps to create aSimulinkrmodel withQUARCrin order to interact with the QUBE-Servo hardware are:1. Make aSimulinkrmodel that interacts with your installed data acquisition device using blocks from theQUARCTargetslibrary.2. Build the real-time code.3. Execute the code.Typedoc quarcinMatlabrto accessQUARCrdocumentation and demos.1.2DC MotorDirect-current motors are used in a variety of applications.As discussed in the QUBE-Servo User Manual, theQUBE-Servo has a brushed DC motor that is connected to a PWM amplifier. See the QUBE-Servo User Manual fordetails.1.3EncodersSimilar to rotary potentiometers, encoders can also be used to measure angular position. There are many typesof encoders but one of the most common is the rotary incremental optical encoder, shown in Figure 1.1. Unlikepotentiometers, encoders are relative. The angle they measure depends on the last position and when it was lastpowered. It should be noted, however, that absolute encoders are available.Figure 1.1: US Digital incremental rotary optical shaft encoderThe encoder has a coded disk that is marked with a radial pattern. This disk is connected to the shaft of the DCmotor. As the shaft rotates, a light from a LED shines through the pattern and is picked up by a photo sensor. Thiseffectively generates the A and B signals shown in Figure 1.2. An index pulse is triggered once for every full rotationof the disk, which can be used for calibration or homing a system.QUBE-SERVO Workbook - Student2