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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.

3D GYRO Laboratory Guide

v 1.1

Содержание 3 DOF

Страница 1: ...oratory 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 Gradua...

Страница 2: ...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...

Страница 3: ...d 5 2 1 Modeling 5 2 2 Control 6 3 Lab Experiments 9 3 1 Simulation 9 3 2 Implementation 10 4 System Requirements 13 4 1 Overview of Files 14 4 2 Setup for Simulation 14 4 3 Setup for Running on 3D GY...

Страница 4: ...ope User Manual 2 for instructions on how to fix each frame In order to do this the rotor has to have acquired enough angular momentum RPM for the gyroscopic effect to take place Therefore a controlle...

Страница 5: ...is angle is Jy and the moment of inertia about the z axis angle red gimbal is denoted as Jz The constant h is calculated based on the moment of inertia of the gyroscope rotor about its own axis and it...

Страница 6: ...integral state can be computed by integrating the red gimbal angle measurement in the digital controller 2 2 Control In Section 2 1 we found a linear state state space model that represents the 3 DOF...

Страница 7: ...he rank of its controllability matrix T B AB A2 B An B 2 6 equals the number of states in the system rank T n 2 7 2 2 3 Linear Quadratic Regular LQR If A B are controllable then the Linear Quadratic R...

Страница 8: ...and the controller is u K xd x 2 9 Note that if xd 0 then u Kx which is the control used in the LQR algorithm 3D GYRO Laboratory Guide 8...

Страница 9: ...yroscope IMPORTANT Before you can conduct these experiments you need to make sure that the lab files are configured according to your setup If they have not been configured already then you need to go...

Страница 10: ...e similar to Figure 3 2 Note that in the Psi scope the blue trace is the setpoint position and the red trace is the simulated position Figure 3 2 Simulated closed loop response 9 This is an iterative...

Страница 11: ...after the VI has started running while the flywheel speeds up tp the required RPM as show in Figure 3 5 3 Make sure the VI is set to use the same gain K found in the simulation in Section 3 1 See Sec...

Страница 12: ...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 The scopes should be displayi...

Страница 13: ...quisition DAQ device with four encoder inputs and that is compatible with Quanser Rapid Control Prototyping Toolkitr This includes Quanser DAQ boards such as Q8 USB QPID and QPIDe and some National In...

Страница 14: ...3D_GYRO_LQR_SIM vi VI used to design the LQR state feedback gain and simu late the 3 DOF Gyroscope system 3D_GYRO_LQR vi VI that implements the state feedback control on the 3D GYRO system 3D_GYRO_LQR...

Страница 15: ...frame of the 3D GYRO in place as detailed in the 3D GYRO User Manual 2 2 Open the 3D_GYRO_LQR vi shown in Figure 3 3 NI CompactRIO Users Open the 3D_GYRO_LQR cRIO vi under the NI CompactRIO device in...

Страница 16: ...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 a...

Страница 17: ...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 3D GYRO Labo...

Страница 18: ...d IMDU Base Unit IMDU Web Winding IMDU Multi DOF Torsion 3 DOF Gyroscope Active Suspension Please note The Hexapod is not available for purchase in North America Japan and Taiwan Choose from eight pla...