Quanser QBall 2 Set Up And Configuration Download

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CAPTIVATE. MOTIVATE. GRADUATE.

USER MANUAL

QBall 2 for QUARC

Set Up and Configuration

Summary of Contents for QBall 2

Page 1: ...CAPTIVATE MOTIVATE GRADUATE USER MANUAL QBall 2 for QUARC Set Up and Configuration...

Page 2: ...llections b to create and reproduce adaptations provided reasonable steps are taken to clearly identify the changes that were made to the original work c to distribute and publically perform the work...

Page 3: ...Cr Quanser s real time control software 2 allows researchers and developers to rapidly develop and test controllers on actual hardware through a Matlabr Simulinkr interface QUARCr s open architecture...

Page 4: ...the QBall 2 Quanser is not responsible for damages and injury resulting from improper or unsafe use of the QBall 2 Before connecting batteries or attempting to run the QBall 2 be sure to read this doc...

Page 5: ...Figure 2 2 System diagram QBALL 2 User Manual DRAFT April 6 2015...

Page 6: ...c quarc in Matlabr to access 3 Park 480 Brushless motor 1020Kv http hobbyhobby com store product 68211 22Park 480 Brushless Outrunner Motor 2C 1020Kv 22 4 Propellers description and technical informat...

Page 7: ...owing the axes and angle Note that the axes follow a right hand rule with the x axis aligned with the front of the vehicle Caution The tail or back of the vehicle is marked with colored tape When flyi...

Page 8: ...a b Figure 4 2 QBall 2 components cage and propellers a b c d Figure 4 3 QBall 2 components DAQ and power board QBALL 2 User Manual 8...

Page 9: ...QBall 2 frame 10 QBall 2 DAQ power cable 3 10x4 7 propeller 11 QBall 2 power distribution board 4 Brushless DC motor 12 QBall 2 power switch 5 ESC 13 QBall 2 power LED 6 QBall 2 DAQ 14 Battery velcro...

Page 10: ...4 2 There are four motor output channels available on the DAQ and they are labeled F B L and R to represent motor commands to the front back left and right motors respectively Each motor speed contro...

Page 11: ...rs and propellers are configured so that the front and back motors spin clockwise and the left and right motors spin counter clockwise when viewed from the top The electronic speed controllers ESCs re...

Page 12: ...n in each axis The rotation around the center of gravity is produced by the difference in the generated thrust forces From Equation 5 2 let u u where u is the control input for the pitch or roll dynam...

Page 13: ...pellers The dynamic model of the QBall 2 height can be written as MZ 4Fcos r cos p Mg 5 10 where F is the thrust generated by each propeller M is the total mass of the device Z is the height and r and...

Page 14: ...Yaw Model The torque generated by each motor is assumed to have the following relationship with respect to the PWM input u Kyu where Ky is a positive gain and its value is given in Table 5 1 The motio...

Page 15: ...axis with propeller direction of rotation shown Parameter Value K 120 N 15 rad sec Jroll 0 03 kg m2 Jpitch 0 03 kg m2 M 1 79 kg Ky 4 N m Jyaw 0 04 kg m2 L 0 2 m Table 5 1 System parameters QBALL 2 Us...

Page 16: ...on the mounting shaft and replace the motor cap and tighten it with an allen key Never change propellers or other components of the QBall 2 with batteries connected 3 Install the batteries as illustr...

Page 17: ...I O listed above is accessed using the QUARC HIL blockset The UART SPI and I2C communication channels are accessed through the QUARCr Stream blockset For more information on accessing communication st...

Page 18: ...four QBall 2 motors The inputs and outputs are specified with numeric channel numbers given in Table 6 2 and Table 6 3 respectively The HIL Watchdog block is used to set the timeout limit for the watc...

Page 19: ...arly the maximum sample rate In the HIL Read Write block select the board name corresponding to the board name given in the HIL Initialize block The channels available for reading and writing for the...

Page 20: ...rottle to maximum throttle which corresponds to a 1ms to 2 ms PWM pulse respectively A command of 0 corresponds to zero throttle which will cause the motors to stop The 3 axis gyroscope and accelerome...

Page 21: ...is recommended that the QBall 2 batteries are always changed in pairs Follow the directions of the charging system that is supplied to ensure the batteries are charged properly and safely see Section...

Page 22: ...6 5 QBall 2 DAQ pin list J7 J8 I O Header Pin Signal I2C J9 1 GND 2 SDA 3 3 3V 4 SCL UART J10 1 GND 2 RX 3 3 3V 4 TX I O Header Pin Signal SPI J11 1 SOMI 2 CS3 3 SIMO 4 CS2 5 CLK 6 CS1 7 GND 8 CS0 9...

Page 23: ...u can also connect to the Quanser_UVS or Quanser_UVS 5G wireless network if your computer has wireless adapters however wired connection between your PC and the router is preferred for better performa...

Page 24: ...the Start menu and search for Run and click Run Figure 6 9 If the connection to the router is successful you will see the ping replies in the command window If you cannot ping the router check networ...

Page 25: ...r file if necessary Figure 6 10 Figure 6 10 QUARCr Option Menu 4 In order to run the QUARCr model on the target vehicle the target s IP address must be specified To setup the default target address fo...

Page 26: ...backwards forwards left right is roll left right and yaw rate by rotating the stick about the vertical axis The joystick commands are always given in the reference frame of the QBall 2 therefore it is...

Page 27: ...A Simulink model used on the host PC to stream joystick and OptiTrack data to the QBall 2 for joystick control and autonomous position control plot_log_data m A script used to plot experiment data fro...

Page 28: ...stems Note that even in closed loop operating modes the host model must still be connected and streaming joystick data to the QBall 2 since the joystick acts as a safety switch In closed loop mode the...

Page 29: ...manually control the QBall 2 throttle but this is a more challenging mode of operation and should only be attempted if you have experience flying quadro tor helicopters and wish to do so at your own...

Page 30: ...signals in order to save additional information as de sired 6 7 4 DAQ The DAQ subsystem contains the Hardware In the Loop HIL blocks used to configure the QBall 2 DAQ and read write values The gain bl...

Page 31: ...r the most up to date version of Motive that is recommended Using a different version of Motive than what is recommended may not function or may cause the QBall 2 to become unstable due to different a...

Page 32: ...is not calibrated refer to the OptiTrack Quick Start Guide With the cameras calibrated follow these steps to create a QBall 2 rigid body object 1 Add tracking markers to the top of the QBall 2 protec...

Page 33: ...ody Pivot Point as shown in Figure 6 18 8 Select the Orientation tab in the Rigid Body view pane as shown in Figure 6 19 Under Translation set the Y translation to 0 35 m negative 35 centimeters from...

Page 34: ...Figure 6 18 Set the new rigid body pivot point Figure 6 19 Apply a vertical translation to the QBall 2 rigid body pivot point QBALL 2 User Manual 34...

Page 35: ...Figure 6 20 QBall 2 rigid body pivot point moved to the center QBALL 2 User Manual DRAFT April 6 2015...

Page 36: ...harging undercharging or from a crash Never charge a LiPo battery that has been punctured or damaged in a crash After a crash inspect the battery pack for the signs of damage When discarding a LiPo ba...

Page 37: ...batteries Ensure that the charger is set to LiPo type batteries since these are the batteries supplied with the QBall 2 The charger contains a balancer that ensures even charging across cells within t...

Page 38: ...ires Also connect the balancer cable to the balancer The connections are labeled according to the number of cells in the battery Refer to your user manual for the battery details 3 Start the charger a...

Page 39: ...nd 1 Q2 You cannot ping the QBall 2 Make sure the router is on and the WiFi light on the router is on Check that the network adapter of the host PC is connected to the router or the wireless network Q...

Page 40: ...locks can be placed inside a function call subsystem and connected to the Computation Time block to determine their execution time during each sample instant This helps identify the bottlenecks in the...

Page 41: ...mobile robotics from vibration analysis resonance and planar position control to sensors computer vision guided control to unmanned systems control All of the experiments platforms are compatible with...

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