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Caution:

If the equipment is used in a manner not specified by the manufacturer, the protection provided by
the equipment may be impaired.

Note:

Your configuration may be different. For instance, you may have a DAQ with more channels than the one

presented in Figure 3.1 or have four single-channel amplifiers that do not require any Emergency Stop (in which
case, you would omit connection #12).

Figure 3.1: Typical connections of the 3 DOF Hover Experiment

3 DOF HOVER User Manual

Содержание 3 DOF

Страница 1: ...Quanser 3 DOF Hover User Manual 3 DOF Hover Quanser Inc 2013...

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: ...nents 5 2 2 System Specifications 7 3 System Setup 9 3 1 Assembling the 3 DOF Hover 9 3 2 Balancing the 3 DOF Hover 9 3 3 Typical Connections 9 4 Testing and Troubleshooting 13 4 1 Motor 13 4 2 Encode...

Страница 4: ...s the body to move about the yaw axis One set of propellers in the system are counter rotating propellers such that the total torque in the system is balanced when the thrust of the four propellers ar...

Страница 5: ...ies and encoders are described in more detail below ID Component ID Component 1 Propeller shield 11 Base platform 2 Motor 12 Front motor connector 3 Clip 13 Right motor connector 4 Roll axis encoder 1...

Страница 6: ...nly control the system about the pitch axis and the left and right motors that primarily move it about the roll axis Each DC motor is a Pittman Model 9234 It has an electrical resistance of 0 83 and a...

Страница 7: ...on Thus the effective position resolution is 0 0439 degrees about the yaw pitch and roll axes 2 2 System Speci cations The main parameters of the Quanser 3 DOF Hover is summarized in Table 2 2 The mot...

Страница 8: ...d motor as sembly 0 754 kg mshaft Mass of metal shaft rotating about yaw axis 0 151 kg Lshaft Length of metal shaft rotating about yaw axis 0 280 m Jshaft Moment of inertia of metal shaft about yaw ax...

Страница 9: ...the flat 5 pin stereo DIN to 5 pin stereo DIN cable from the four motors Component 2 in Figure 2 2 to the 5 pin stereo DIN connector on the Encoder Motor circuit board that is labeled MOTORS Caution...

Страница 10: ...ote Your configuration may be different For instance you may have a DAQ with more channels than the one presented in Figure 3 1 or have four single channel amplifiers that do not require any Emergency...

Страница 11: ...c tor DAQ Encoder 1 Measured roll angle 11 3 DOF Hover Yaw En coder ENC 2 connec tor DAQ Encoder 2 Measured yaw angle 12 Emergency Stop switch Amplifier E Stop con nector Disables the amplifier when t...

Страница 12: ...rom the Encoder 1 connector on the terminal board to the Yaw Encoder ENC 1 connector on the Quanser 3 DOF Hoverplant This is illustrated by con nection 6 in Figure 3 1 Caution Encoders should be direc...

Страница 13: ...ew the RCA and motors connections in Section 3 3 Ensure the power amplifier is powered on and operational e g when using the Quanser VoltPAQ X4 verify that the green LED lit Check that the data acquis...

Страница 14: ...e DAQ User Manual for troubleshooting guidelines Check that both the A and B channels from the encoder are properly generated and fed to the data acquisition device Using an oscilloscope there should...

Страница 15: ...REFERENCES 1 Pittman LO COG DC Servo Motors 8000 9000 14000 2010 3 DOF HOVER User Manual v 1 0...