National Instruments Quanser QNET 2.0 Guida all'installazione

USER MANUAL

QNET 2.0 Rotary Pendulum Board for NI ELVIS

Set Up and Configuration

CAPTIVATE. MOTIVATE. GRADUATE.

Solutions for teaching and research. Made in Canada.

[email protected] [email protected]

Quanser Inc.

119 Spy Court

Markham, Ontario

L3R 5H6, Canada

info@quanser.com

Phone: 1-905-940-3575

Fax: 1-905-940-3576

For more information on the solutions Quanser Inc. offers, please visit the web site at: http://www.quanser.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 license agreement. All rights are reserved and no part may be reproduced, stored in

a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior

written permission of Quanser Inc.

FCC Notice This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: (1) this device may not

cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

Industry Canada Notice This Class A digital apparatus complies with Canadian ICES-003. Cet appareil numérique de la classe A est conforme

à la norme NMB-003 du Canada.

Japan VCCI Notice This is a Class A product based on the standard of the Voluntary Control Council for Interference (VCCI). If this

equipment is used in a domestic environment, radio interference may occur, in which case the user may be required to take corrective actions.

Korea Communications Comission (KCC) Notice This equipment is Industrial (Class A) electromagnetic wave suitability equipment and

seller or user should take notice of it, and this equipment is to be used in the places except for home.

이 기기는 업무용(A급)전자파적합기기로서 판

매자 또는 사용자는 이 점을 주의하시기 바라

며,가정외의 지역에서 사용하는 것을 목적으로

합니다.

Waste Electrical and Electronic Equipment (WEEE)

This symbol indicates that waste products must be disposed of separately from municipal household waste, according to Directive

2002/96/EC of the European Parliament and the Council on waste electrical and electronic equipment (WEEE). All products at the

end of their life cycle must be sent to a WEEE collection and recycling center. Proper WEEE disposal reduces the environmental

impact and the risk to human health due to potentially hazardous substances used in such equipment. Your cooperation in proper

WEEE disposal will contribute to the effective usage of natural resources. For information about the available collection and

recycling scheme in a particular country, go to ni.com/citizenship/weee.

This product meets the essential requirements of applicable European Directives as follows:

• 2006/95/EC; Low-Voltage Directive (safety)

• 2004/108/EC; Electromagnetic Compatibility Directive (EMC)

Caution: This is a Class A product. This product may cause radio interference in a domestic environment, in

which case the user may be required to take adequate measures.

QNET ROTARY PENDULUM - User Manual 2

Contents

Safety Information 3

1 Introduction 5

2 System Hardware 6

2.1 System Schematic 6

2.2 Hardware Components 6

2.3 Environmental 9

2.4 System Parameters 9

3 QNET Rotary Pendulum Assembly Instructions 11

4 QNET Rotary Pendulum and NI ELVIS II Setup 12

4.1 QNET Rotary Pendulum Components 12

4.2 NI ELVIS II(+) Components 13

4.3 NI ELVIS II(+) Setup Procedure 13

5 Troubleshooting 16

5.1 General Software Issues 16

5.2 General Hardware Issues 16

5.3 QNET Rotary Pendulum Issues 17

6 Technical Support 18

QNET ROTARY PENDULUM - User Manual v 1.0

Safety Information

The following symbols and definitions are interchangeably used throughout the User Manual:

Symbol Description

Caution: consult documenation for additional information

Direct Current

|On (Power) [on NI ELVIS II(+) unit]

Off (Power) [on NI ELVIS II(+) unit]

Table 0.1: Symbols

QNET ROTARY PENDULUM - User Manual 4

1 Introduction

The Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II, pictured in Figure 1.1, is a versatile servo

system designed to teach and demonstrate a variety of inverted pendulum based experiments. The system is driven

using a direct-drive 18 Vbrushed DC motor housed in a solid aluminum frame. Single-ended rotary encoders are

used to measure the angular positon of the DC motor and the pendulum.

Main QNET Rotary Pendulum features:

• Compact and complete rotary servo system for NI ELVIS II(+)

• 18V direct-drive brushed DC motor

• Encoders mounted on DC motor and pendulum

• Built-in PWM amplifier

• Build-in PCI connector for NI ELVIS II(+)

Figure 1.1: Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II

Caution

This equipment is designed to be used for educational and research purposes and is

not intended for use by the general public. The user is responsible to ensure that the

equipment will be used by technically qualified personnel only.

QNET ROTARY PENDULUM - User Manual v 1.0

2 System Hardware

2.1 System Schematic

The QNET Rotary Pendulum provides an integrated amplifier and a communication interface with the NI ELVIS II(+)

for the amplifier command and encoder ports. The interaction between the different system components on the

QNET Rotary Pendulum is illustrated in Figure 2.1. The NI ELVIS II(+) is interfaced to the PC or laptop via USB link

in the QNET Rotary Pendulum Interface. The NI ELVIS II(+) block reads the angular encoder inputs and commands

the power amplifier that drives the DC Motor.

Figure 2.1: Interaction between QNET Rotary Pendulum components

The schematic given in Figure 2.2 illustrates the main QNET Rotary Pendulum components and how they interact

with the NI ELVIS II(+).

Figure 2.2: Interaction between QNET Rotary Pendulum components

2.2 Hardware Components

The main components comprising the QNET Rotary Pendulum are labeled in Figure 2.3, and Figure 2.4 and are

listed in Table 2.1.

QNET ROTARY PENDULUM - User Manual 6

ID# Description ID# Description

1 Motor metal chamber 9 8-pin Motor power connector

2 Pendulum Link 10 5-pin Encoder connector

3+5 V,−15 V,+15 VLEDs 11 5-pin Encoder connector

4 User and Status LEDs 12 High-resolution encoder

524 VQNET power jack 13 Pendulum pivot

6 Fuse 14 DC Motor

7 External Power indicator LED 15 High-resolution encoder

8 PCI Connector

Table 2.1: QNET Rotary Pendulum component nomenclature

Figure 2.3: General layout of QNET Rotary Pendulum

QNET ROTARY PENDULUM - User Manual v 1.0

Figure 2.4: Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II components

2.2.1 DC Motor

The QNET Rotary Pendulum includes a direct-drive 18 Vbrushed DC motor housed in a solid aluminum frame. The

motor specifications are given in Table 2.3.

The QNET Rotary Pendulum incorporates an Allied Motion CL40 Series Coreless DC Motor model 16705. The

complete specification sheet of the motor is included at: alliedmotion.com/Products/Series.aspx?s=29.

Caution

Exposed moving parts.

2.2.2 Encoder

The encoders used to measure the angular position of the DC motor and pendulum of the QNET Rotary Pendulum

are single-ended optical shaft encoders. They output 2048 counts per revolution in quadrature mode (512 lines per

revolution).

The encoders used to measure the angular position of the DC motor and pendulum of the QNET Rotary Pendulum

are the US Digital E8P-512-118 single-ended optical shaft encoder. The complete specification sheet of the E8P

optical shaft encoder is given in E8P Data Sheet.

2.2.3 Power Ampliﬁer

The QNET Rotary Pendulum circuit board includes a PWM voltage-controlled power amplifier capable to providing

2Apeak current and 0.5Acontinuous current (based on the thermal current rating of the motor). The output voltage

range to the load is between ±10 V.

QNET ROTARY PENDULUM - User Manual 8

2.2.4 Status LED

The QNET Rotary Pendulum is fitted with a variety of safety measures that use the Status LED for feedback, see

Figure 2.3. In particular, two digital enable lines (one high, one low) are used to ensure proper system configuration.

The system states are displayed as in Table 2.2. Here, a ∗indicates any state.

External Power (24 V) Enable+ Enable- Avg. Applied Voltage Encoder Stall Status LED Amplifier

0∗ ∗ ∗ ∗ Red Disabled

∗FALSE ∗ ∗ ∗ Red Disabled

∗ ∗ TRUE ∗ ∗ Red Disabled

24 VTRUE FALSE ∥∗∥V≤5V∗Green Enabled

24 VTRUE FALSE ∥∗∥V≥5VFALSE Green Enabled

24 VTRUE FALSE ∥∗∥V>5VTRUE,t≤12 sOrange Enabled

24 VTRUE FALSE ∥∗∥V>5VTRUE,t > 12 sFlashing Red Disabled

Table 2.2: Status LED states of the QNET Rotary Pendulum

2.3 Environmental

The QNET Rotary Pendulum is designed to function under the following environmental conditions:

• Standard rating

• Indoor use only

• Temperature 5◦Cto 40 ◦C.

• Altitude up to 2000m

• Maximum relative humidity of 80% up to 31◦C decreasing linearly to 50% relative humidity at 40◦C

• Pollution Degree 2

• Mains supply voltage fluctuations up to ±10% of the nominal voltage

• Maximum transient overvoltage 2500V

• Marked degree of protection to IEC 60529: Ordinary Equipment (IPX0)

2.4 System Parameters

Table 2.3 lists and characterizes the main parameters associated with the QNET Rotary Pendulum.

QNET ROTARY PENDULUM - User Manual v 1.0

Symbol Description Value

DC Motor

Vnom Nominal input voltage 18.0V

τnom Nominal torque 22.0mNm

ωnom Nominal speed 3050 RPM

Inom Nominal current 0.540 A

RmTerminal resistance 8.4�

ktTorque constant 0.042 Nm/A

kmMotor back-emf constant 0.042 V/(rad/s)

JmRotor inertia 4.0×10−6kgm2

LmRotor inductance 1.16 mH

mhModule attachment hub mass 0.016 kg

rhModule attachment hub radius 0.0111 m

JhModule attachment moment of inertia 0.6×10−6kgm2

Rotary Pendulum Module

mrRotary arm mass 0.095 kg

LrRotary arm length (pivot to end of metal rod) 0.085 m

mpPendulum link mass 0.024 kg

LpPendulum link length 0.129 m

Motor and Pendulum Encoders

Encoder line count 512 lines/rev

Encoder line count in quadrature 2048 lines/rev

Encoder resolution (in quadrature) 0.176 deg/count

Amplifier

Amplifier type PWM

Peak Current 2.5A

Continuous Current 0.5A

Output voltage ±24 Vwith 42 % duty cycle limit (±10 V)

Table 2.3: QNET Rotary Pendulum System Parameters

QNET ROTARY PENDULUM - User Manual 10

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