Quanser QBall 2, Настройка и конфигурация

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Figure 6.12: Joystick control mapping
File name Description
setup_qball_2.m A Matlab
r
script that is run whenever the QBall 2 controller model
is opened. This script runs the controller_design.m script and
sets up any other model parameters.
controller_design.m
A script used to compute the LQR controller gains used in
stabilizing the QBall 2's orientation and configures other controller
gains for controlling the QBall 2 height and vehicle position. This
file is run by the
setup_qball_2.m script.
host_joystick_logitech.mdl
A Simulink model used on the host PC to stream joystick data to
the QBall 2 for joystick control.
host_joystick_logitech_optitrack.mdl 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 from a MAT file saved by
the
qball_2_control_v1.mdl
controller.
qball_2_control_v1.mdl
This file contains the main flight controller for the QBall 2.
This model is downloaded and executed on the QBall 2 and
controls the stability of the QBall 2 orientation and, if localization
information is available, the QBall 2 position. Opening this file
automatically runs the setup scripts above.
Table 6.7: Simulink
r
files used to operate the QBall 2
Note that files highlighted in grey in Table 6.7 indicate that the model must be targeted and run on the
quarc_linux_duovero
(Gumstix) target; all other files are run on the Windows target.
QBALL 2 - User Manual
DRAFT - April 6, 2015