Quanser 3 DOF Laboratory Manual
Gyroscope experiment for labview users
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- Quick start manual (4 pages)
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Summary of Contents for Quanser 3 DOF
- Page 1 Laboratory guide 3 doF gyroscope experiment for LabVieW users ™ Developed by: Jacob Apkarian, Ph.D., Quanser Amirpasha Javid, B. Eng., Quanser Quanser educational solutions are powered by: CaptiVate. MotiVate. graduate.
- Page 2 Fax: 1-905-940-3576 Printed in Markham, Ontario. For more information on the solutions Quanser Inc. offers, please visit the web site at: http://www.quanser.com 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.
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Page 3: Table Of Contents
CONTENTS Introduction Background Modeling Control Lab Experiments Simulation Implementation System Requirements Overview of Files Setup for Simulation Setup for Running on 3D GYRO v 1.1 3D GYRO Laboratory Guide... -
Page 4: Introduction
Gyroscopes have become of great practical interest as they are used in control and guidance systems for air, sea, and space vehicles. The Quanser 3 DOF Gyroscope system can be actuated about all of its frames using the mounted motors while encoders measure the angle about each axis. In addition, the rotor itself is actuated and measured in the same manner. -
Page 5: Background
2 BACKGROUND 2.1 Modeling 2.1.1 Model Convention The reference coordinate frame for the 3 DOF Gyroscope is shown in Figure 2.1. Figure 2.1: 3 DOF Gyroscope coordinate frame 2.1.2 Equations of Motion The equations of motion representing the angular rate of the red gimbal, ψ, and the outer blue gimbal, θ, are ([1]): ¨... -
Page 6: Control
2.2 Control In Section 2.1, we found a linear state-state space model that represents the 3 DOF Gyroscope system. This model is used to investigate the stability properties of the system in Section 2.2.1. In Section 2.2.2, the notion of controllability is introduced. - Page 7 • Marginally stable systems have one pole on the imaginary axis and the other poles in the left-hand plane. The poles are the roots of the system's characteristic equation. From the state-space, the characteristic equation of the system can be found using det (sI (2.5) A) = 0...
- Page 8 and the controller is u = K(x (2.9) Note that if x = 0 then u = Kx, which is the control used in the LQR algorithm. 3D GYRO Laboratory Guide...
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Page 9: Lab Experiments
3.1 Simulation In this section we will use the LabVIEW VI shown in Figure 3.1 to simulate the closed-loop control of the 3 DOF Gyroscope system. The VI uses the state-feedback control described in Section 2.2.4. The feedback gain K is found using the LQR VI from the LabVIEW Simulation and Control Design Module (LQR is described briefly in Section 2.2.3). -
Page 10: Implementation
Remark: When tuning the LQR, Q(2, 2) effects the red gimbal proportional gain while Q(1, 1) effects the red gimbal derivative gain (which reduces the overshoot). Q(4, 4) affects the red gimbal integral gain which is used to minimize the steady state error. 4. - Page 11 Figure 3.3: VI used to run controller on the 3D GYRO. 1. Place the 3 DOF Gyroscope flywheel, blue and red gimbals in their home starting position. Ensure that the flywheel's motor and the mass counter balances on the red gimbal (identified with red squares in Figure 3.4) are pointing toward the same direction (e.g., all facing up or all facing down).
- Page 12 Figure 3.5: Holding the blue and red gimbals 7. The red gimbal should now be going back and forth between the commanded positions at the frequency specified. Examine the position of the red gimbal in the Psi scope. You can also view the commanded motor currents in the Disk Current and Psi Current scopes.
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Page 13: System Requirements
• DAQ device has been successfully tested (e.g., using the test software in the Quick Start Guide or the Analog Loopback Demo). • 3 DOF Gyroscope and amplifier are connected to your DAQ board as described its User Manual [2]. v 1.1... -
Page 14: Overview Of Files
3D GYRO plant using LabVIEW™ 3DOF_Gyroscope_Laboratory.lvproj 3 DOF Gyroscope LabVIEW project that contains all the VIs required for the lab. 3D_GYRO_LQR_SIM.vi VI used to design the LQR state-feedback gain and simu- late the 3 DOF Gyroscope system. -
Page 15: Setup For Running On 3D Gyro
Figure 4.2: 3DOF Gyroscope Simulation VI 4. The state space matrices are already loaded. The Q and R matrices are also set to the original values men- tioned in Section 3.1.1. 5. Run the VI. You are now ready to design your LQR control and simulate the closed-loop response. 4.3 Setup for Running on 3D GYRO Before performing the in-lab exercises in Section 3.2, the 3D GYRO system and the 3D_GYRO_LQR.vi must be configured properly. - Page 16 4. Under the Main tab, select the data acquisition device that is installed on your system in the Board type section. For example, in Figure 4.4 the Q8-USB is chosen. Figure 4.4: Selecting the q8_usb board 5. You are now ready to run and tune the LQR controller as outlined in Section 3.2.1. 3D GYRO Laboratory Guide...
- Page 17 REFERENCES [1] Robert H. Canon. Dynamics of Physical Systems. McGraw Hill Book Company, New York. [2] Quanser Inc. 3 DOF Gyroscope User Manual, 2012. [3] Norman S. Nise. Control Systems Engineering. John Wiley & Sons, Inc., 2008. v 1.1 3D GYRO Laboratory Guide...
- Page 18 The Hexapod is not available for purchase in North America, Japan and Taiwan. Choose from eight plants to create experiments for teaching or research related to robotics, haptics, mechatronics, aerospace, or process control. For more information please contact info@quanser.com ©2013 Quanser Inc. All rights reserved.
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