qnet rotpent laboratory - student manual

8/9/2019 QNET ROTPENT Laboratory - Student Manual

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QNET-011 ROTPEN Trainer

Quanser Engineering Trainer

for NI-ELVIS

QNET Rotary Pendulum Trainer

Student Manual

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronicor mechanical, including photocopying, recording, storing in an information retrieval system, ortranslating, in whole or in part, without the prior written consent of Quanser Inc.

Copyright 200, by Quanser Inc. !ll rights reserved.


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QNET-ROTPENT Laboratory Student Manual

Table of Contents

1. INTRODUCTION..........................................................................................................................................1

2. PREREQUISITES.........................................................................................................................................1

3. ROTPENT VIRTUALINSTRUMENTS.........................................................................................................2

".#. $ummary...........................................................................................................................................2

".2. %escription........................................................................................................................................2

".2.#. $imple &odeling....................................................................................................................................2

".2.2. Control %esign.......................................................................................................................................'

".2.". $wing(Up Control..................................................................................................................................

4. IN-LABEXPERIMENTS.............................................................................................................................11

'.#. $imple &odeling............................................................................................................................##

'.#.#. %ampening...........................................................................................................................................##

'.#.2. )riction.................................................................................................................................................#2

'.#.". &oment of Inertia................................................................................................................................#"

'.#.'. *+ercises.......................................................................................................................................... ....#"

'.2. alance Control %esign..................................................................................................................#-

'.2.#. &odel !nalysis................................................................................................................................... .#-

'.2.2. Control %esign and $imulation............................................................................................................#

'.2.". *+ercises.......................................................................................................................................... ....#

'.". $wing(Up Control...........................................................................................................................2"

'.".#. %efault alance Control.......................................................................................................................2"

'.".2. Implement %esigned alance Controller..............................................................................................2'

'.".". alance Control with )riction Compensation......................................................................................2-

'.".'. *nergy Control.....................................................................................................................................2-

'.".-. /ybrid $wing(Up Control....................................................................................................................2

'.".. *+ercises.......................................................................................................................................... ....2

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5. REFERENCES...........................................................................................................................................33

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1. Introduction

1his manual contains e+perimental procedures and lab e+ercises for the Q*1 3otary 4endulum1rainer 53614*17. 1he 3614*1 is depicted in )igure #and the hardware of the device ise+plained in 3eference 8#9.

Figure 1: QNET rotary pendulum trainer onELVIS II.

1he prere:uisites to run the ;ab


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I(*;


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Figure &: QNET'!T"ENT Simple (odeling VI.

ID # Label Parameter Description Unit

# 1heta !rm angle numeric display measured byencoder on motor.

deg

2 !lpha 4endulum angle numeric display measuredby encoder on pendulum pivot.

deg

" Current Im &otor armature current numeric display. !

'


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%isturbance


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Figure ,: QNET !T"ENT $ontrol %esign VI: -Symboli) (odel tab.

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Figure /: QNET !T"ENT $ontrol %esign VI: 0!pen Loop +nalysis0 tab.

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Figure : QNET !T"ENT $ontrol %esign VI: 0Simulation0 tab.

ID # Label Parameter Description Unit

# &p &p

&ass of pendulum assembly 5linA E weight7. Ag

2 lp lp

Center of mass of pendulum assembly5linAEweight7 input bo+.

m

" r r ;ength from motor shaft to pendulum pivot. m

' Fp Fp

4endulum moment of inertia relative topivot.

Ag.m2

- Fe: Fe:

*:uivalent moment of inertia acting on the%C motor shaft.

Ag.m2

p p


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%C motor shaft. d

@ Ht H t

%C motor current(tor:ue constant. .mG!

Hm H m

%C motor bacA(emf constant.


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!.2.!. S'ing-(% Control

1he Q*1 rotary pendulum trainer swing(up control


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# Label Parameter Description Unit

# 1heta !rm angle measured by encoder on motor. deg

2 !lpha 4endulum angle measured by encoder on pendulum

pivot.

deg

" Current Im &otor armature current numeric display. !

' In 3angeJalance controller is engaged when this ;*% is turnsbright green.

- *nergy umeric display of the pendulum energy. mF

$ignal 1ype 1ype of signal generated for the input voltage.

!mplitude enerated signal amplitude input bo+. *+amine the"endulum +ngle 6deg7 response when the arm is not fi+ed. 1his is the

response from the r($&r /e'*)0 system. iven the response from these two systems (

/e'*)0 and r($&r /e'*)0 which converges faster towards angle DeroJ =hy does onesystem dampen faster than the otherJ

@. $top the +mplitudeK 0.00 < Fre9uen)y K 0.2- /D !**set K 0.00 *nter the positive and negative voltage values needed to get the pendulum movingin . =hy does the motor need a certain amount of voltage to get the motor shaft movingJ

. $top the Using references 8#9 and829, calculate the moment of inertia acting about thependulum pivot.

2. 3un the Q*1B3614*1B$impleB&odeling.vi". In the Signal 8enerator section set>

+mplitudeK #.00 < Fre9uen)y K 0.2- /D !**set K 0.00 Compare the moment of inertia calculated analytically in *+ercise"and themoment of inertia found e+perimentally. Is there a large discrepancy between themJ

. $top the


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Exercise 2: Friction Analysis

Description Symbol Vale Unit

4ositive Coulomb )riction


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Exercise %: easre oment o$ Inertia


Cycles ncyc

%uration t s

)re:uency f /D

4endulum moment of inertia Fp,e+p Ag.m2

Table : (easure pendulum moment o* inertia.

Exercise &: "omparing Pen'lm Inertia

.2. #alance $ontrol Desi"n

).2.1. Model ,nalsis

#. 6pen the Q*1B3614*1BControlB%esign.vi, shown in)igure .2. 3un the Q*1B3614*1BControlB%esign.vi.". $elect the Symboli) (odel tab.'. 1he(odel "arameters array includes all the rotary pendulum modeling variables that are used

in the state(space matrices !, , C, and %.

-. $elect the !pen Loop +nalysis tab.. Exerc!e 1> 1his shows the numerical linear state(space model and a pole(Dero plot of the

open(loop inverted pendulum system. =hat do you notice about the location of the open(looppolesJe)ommended> In the(odel "arameters section, it is recommend to enter the pendulummoment of inertia,;p, determined e+perimentally in $ection'.#.".

. In the Symboli) (odel tab, set the pendulum moment of inertia,;p< to #.0e(- Ag.m2.

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@. Exerc!e 2> $elect the !pen Loop +nalysis tab. /ow did the locations of the open(loop poleschange with the new inertiaJ *nter the pole locations of each system with a different momentof inertia in 1able . !re the changes of having a pendulum with a lower inertia as e+pectedJ

. 3eset the pendulum moment of inertia,;p, bacA to #.e('.

#0. $top the 0.0 deg

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-. $et the Q and ;Q3 weighting matrices to the following> Q61 1he arm reference 5in red7 and simulated arm response 5in blue7 are shown in the+rm 6deg7 scope. /ow did the arm response changeJ /ow did the pendulum response changein the"endulum 6deg7 scope.

@. $et the third element in the Q matri+ to 0, i.e. Q6, *+amine and describe the change in the+rm 6deg7 and"endulum 6deg7 scope.#0. y varying the diagonal elements of the Q matri+, design a balance controller that adheres to

the following specifications>

!rm peaA time less than 0.- seconds> tp0.- s

&otor voltage peaA less than #2.- L LL #0.0 deg

##. Exerc!e 5> *nter the Q and matrices along with and control gain used to meet the

specifications.#2. Exerc!e > !ttach the responses from the+rm 6deg7,"endulum 6deg7, and $ontrol Input 6V7

scopes when using your designed balance controller.#". $top the


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Figure 1?: QNET !T"EN trainer )ontrol design VI: Simulation tab.


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).2.!. E*ercises

Exercise 1: (pen)Loop Poles

Exercise 2: E$$ect o$ "*anging Inertia on Poles


$ystem wG;pK #.e(' p0 radGs

p# radGs

p2 radGs

p" radGs

$ystem wG;pK #.00e(- p0 radGs

p# radGs

p2 radGs

p" radGs

Table 2: E**e)t on poles #hen )hanging moment o* inertia.



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Exercise !: Arm +esponse ,it* -.1/101

Exercise %: Arm +esponse ,it* -.!/!0

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Exercise &: Designe' 3alance "ontroller


Q5#,#7 Q#,#

Q52,27 Q2,2

Q5","7 Q","

Q5','7 Q','

3 3

H5#7 Ap,


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.3. S%in"-&p $ontrol

).!.1. &efault alance Control

#. 6pen the Q*1B3614*1B$wingBUpBControl.vi, shown in )igure ##.2. *nsure the correct%e4i)e is chosen.". 3un the Q*1B3614*1B$wingBUpBControl.vi.'. In the Signal 8enerator section set>

+mplitude K 0.0 deg )re:uency K 0.#0 /D !**set >0.0 deg

-. In the@alan)e $ontrol "arameters section set> ApBtheta K (.-0 0.0 deg

#2. Exerc!e 3> 6bserve the behaviour of the system when a s:uare wave command is given to thearm angle. =hy does the arm initially move in the wrong directionJ

#". ClicA on the Stopbutton to stop running the


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Figure 11: QNET rotary pendulum trainer s#ing'up VI.

).!.2. I$%le$ent &esigned alance Controller

#. o through $ection '.2.2and design a balance control according to the given specifications.emarA> It is recommended to use the e+perimental determined pendulum moment of inertiathat was found in $ection'.#.".

2. 6pen the Q*1B3614*1B$wingBUpBControl.vi.". *nsure the correct%e4i)e is chosen.'. 3un the Q*1B3614*1B$wingBUpBControl.vi.-. In the Signal 8enerator section set>

+mplitude K '-.0 deg Fre9uen)yK 0.20 /D !**set >0.0 deg

. 1o implement your balance controller, enter the control gain found in $ection '.2.2 inApBtheta, ApBalpha, AdBtheta, and AdBalpha in the $ontrol "arameters section.

. &anually rotate the pendulum in the upright position until theIn ange ;*% in the $ontrol

Indi)ators section turns bright green. E'!re $%e e'c(*er c&,)e *(e! '($ '$er#ere +$% $%e

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/e'*)0 &r0 0($('.

@. Exerc!e 4> !ttach the response found+ngleDEnergy 6degDm;7 and the Voltage 6V7 scopes.%oes your system meet the specifications given in $ection'.2.2J

. ClicA on the Stopbutton to stop running the +mplitude > 0.00 < Fre9uen)y K 2.-0 /D

!**set K 0.00 ApBtheta K (.-0


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0($('.#0. radually increase the reference energyErin the $ontrol "arameters section to the energy

read when the pendulum is vertically upwards 5*+ercise in $ection '.".'7. =hen thatreference energy is reached, the pendulum should swing(up to the inverted position.

##. ClicA on the Stopbutton to stop running the


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Exercise !: 3e*a5ior o$ Arm

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Exercise %: +esponse sing Designe' "ontroller

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Exercise &: Arm (scillation

Exercise 4: A''ing Dit*er Signal

Exercise 6: E$$ect o$ Increasing Dit*er Fre7ency

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Exercise 8: Setting Dit*er to easre' Friction

Exercise 9: Energy Le5el at Di$$erent Pen'lm Positions

Exercise 1: "*anging +e$erence Energy

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Exercise 11: "*anging S,ing)Up ain

0. "eferences

8#9 Q*1 User &anual829 Q*1 4ractical Control uide

qnet rotpent laboratory - student manual

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