made-for-science-quanser-qube-servo-2-coursewarestud-matlab.pdf - Student Workbook QUBE-Servo Experiment for MATLAB\/Simulink Users Standardized for ABET

Made-for-science-quanser-qube-servo-2-coursewarestud-matlab.pdf

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STUDENT WORKBOOK QUBE-Servo Experiment for MATLAB /Simulink 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.
QUBE-Servo Integration Topics Covered • Getting familiarized with the Quanser r QUBE-Servo Rotary Servo Experiment hardware. • Using QUARC r to 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 of Simulink r . QUBE-SERVO Workbook - Student v 2.0
1 Background 1.1 QUARC Software The QUARC r software is used with Simulink r to interact with the hardware of the QUBE-Servo system. QUARC r is used to drive the DC motor and read angular position of the disk. The basic steps to create a Simulink r model with QUARC r in order to interact with the QUBE-Servo hardware are: 1. Make a Simulink r model that interacts with your installed data acquisition device using blocks from the QUARC Targets library. 2. Build the real-time code. 3. Execute the code. Type doc quarc in Matlab r to access QUARC r documentation and demos. 1.2 DC Motor Direct-current motors are used in a variety of applications. As discussed in the QUBE-Servo User Manual, the QUBE-Servo has a brushed DC motor that is connected to a PWM amplifier. See the QUBE-Servo User Manual for details. 1.3 Encoders Similar to rotary potentiometers, encoders can also be used to measure angular position. There are many types of encoders but one of the most common is the rotary incremental optical encoder, shown in Figure 1.1. Unlike potentiometers, encoders are relative. The angle they measure depends on the last position and when it was last powered. It should be noted, however, that absolute encoders are available. Figure 1.1: US Digital incremental rotary optical shaft encoder The encoder has a coded disk that is marked with a radial pattern. This disk is connected to the shaft of the DC motor. As the shaft rotates, a light from a LED shines through the pattern and is picked up by a photo sensor. This effectively generates the A and B signals shown in Figure 1.2. An index pulse is triggered once for every full rotation of the disk, which can be used for calibration or homing a system. QUBE-SERVO Workbook - Student 2

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