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Quanser QBall 2, Настройка и конфигурация

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Quanser QBall 2 Скачать руководство пользователя страница 17

Figure 6.1: Battery connection procedure

• Battery voltage measurement

•

2

analog inputs,

12

-bit,

0

−

5

V

•

1

SPI

•

8

digital I/O

•

1

UART

•

1

I

2

C

Figure 6.2 shows the location of the I/O listed above on the QBall 2 DAQ. The DAQ I/O listed above is accessed using
the QUARC HIL blockset. The UART, SPI, and I2C communication channels are accessed through the

QUARC

r

Stream blockset. For more information on accessing communication stream data see the

QUARC

r

help under

QUARC Targets/User's Guide/Communications. Table 6.1 lists the HIL blocks used to communicate with the QBall
2's data acquisition hardware.

QBALL 2 - User Manual

DRAFT - April 6, 2015

Содержание QBall 2

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

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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