Quanser QBall 2 Guida all'installazione

CAPTIVATE. MOTIVATE. GRADUATE.

USER MANUAL

QBall 2 for QUARC

Set Up and Configuration

Quanser Inc.

119 Spy Court

Markham, Ontario

L3R 5H6

Canada

info@quanser.com

Phone: 1-905-940-3575

Fax: 1-905-940-3576

Printed in Markham, Ontario.

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. Quanser Inc. grants the following rights: a) The right to reproduce

the work, to incorporate the work into one or more collections, and to reproduce the work as incorporated in the collections, 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 including as incorporated in collections, and d) to distribute and publicly perform adaptations. The above rights

may be exercised in all media and formats whether now known or hereafter devised. These rights are granted subject to and limited by the

following restrictions: a) You may not exercise any of the rights granted to You in above in any manner that is primarily intended for or directed

toward commercial advantage or private monetary compensation, and b) You must keep intact all copyright notices for the Work and provide the

name Quanser Inc. for attribution. These restrictions may not be waved without express prior written permission of Quanser Inc.

QBALL 2 - User Manual 2

1 Presentation

1.1 Introduction

The Quanser QBall 2 (Figure 2.1) is an innovative rotary wing vehicle platform suitable for a wide variety of UAV

research applications. The QBall 2 is a quadrotor helicopter design propelled by four brushless motors fitted with

10-inch propellers [3, 4, 5]. The entire quadrotor is enclosed within a protective carbon fiber cage (Patent Pending).

The QBall 2's proprietary design ensures safe operation as well as opens the possibilities for a variety of novel

applications. The protective cage is a crucial feature since this unmanned vehicle was designed for use in an indoor

laboratory, where there are typically many close-range hazards (including other vehicles). The cage gives the QBall

2 a decisive advantage over other vehicles that would suffer significant damage if contact occurs between the vehicle

and an obstacle.

To measure on-board sensors and drive the motors, the QBall 2 utilizes Quanser's on-board avionics data acquisition

card (DAQ) and a wireless Gumstix DuoVero embedded computer [1]. The DAQ is a high-resolution inertial

measurement unit (IMU) and avionics input/output (I/O) card designed to accommodate a wide variety of research

applications. QUARCr, Quanser's real-time control software [2], allows researchers and developers to rapidly

develop and test controllers on actual hardware through a MatlabrSimulinkrinterface. QUARCr's open-

architecture hardware and extensive Simulinkrblockset provides users with powerful controls development tools.

QUARCrcan target the Gumstix embedded computer, automatically generating code and executing controllers

on-board the vehicle. During flights, while the controller is executing on the Gumstix, users can tune parameters in

real-time and observe sensor measurements from a host ground station computer (PC or laptop).

The interface to the QBall 2 is MatlabrSimulinkrwith QUARCr. The controllers are developed in Simulinkrwith

QUARCron the host computer, and these models are downloaded and compiled into executables on the target

seamlessly. A diagram of this configuration is shown in Figure 2.2.

Section 2 outlines operator warnings found throughout this manual, Section 3 goes through the prerequisites, and

Section 4 lists various documents that are referenced in this manual. The general system description, component

nomenclature, specifications, and model parameters are all given in Section 5. Section 6 goes into detail on

how to setup the QBall 2, and Section 7 describes the battery charging procedure. Lastly, Section 8 contains a

troubleshooting guide.

QBALL 2 - User Manual DRAFT - April 6, 2015

2 Operator Warnings

Caution

This symbol marks specific safety warnings and operating procedures that are

important for the safety of the QBall 2 and users. Read these warnings carefully. The

QBall 2 is a powerful and potentially dangerous vehicle if used improperly. Always

follow safe operating procedures when using 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 document

and become familiar with the safety features and operating procedures of the QBall 2.

Caution

When handling the QBall 2, always make sure there are no models running and the

power is turned off. It is recommended that users wear safety goggles to protect the

eyes.

Figure 2.1: Quanser QBall 2

QBALL 2 - User Manual 4

Figure 2.2: System diagram

QBALL 2 - User Manual DRAFT - April 6, 2015

3 Prerequisites

To successfully operate the QBall 2, the prerequisites are:

i) To be familiar with the wiring and components of the QBall 2.

ii) To have QUARCrversion 2.4 installed and properly licensed.

iii) To be familiar with using QUARCrto control and monitor the vehicle in real-time, and in designing a controller

through Simulinkr. See Reference [2] for more details.

[1] Gumstix: http://gumstix.com/

[2] QUARCrUser Manual (type doc quarc in Matlabrto 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 information:

http://www.rctoys.com/rc-products/APC-10-047-SF-CR.html

[5] Hobbywing Flyfun-30A electronic speed controller manual:

http://www.hobbywing.com/uploadfiles/sx/file/Manual/HW-01-V4.pdf

[6] STMicroelectronics L3G4200D 3-axis gyroscope:

http://www.st.com/web/catalog/sense_power/FM89/SC1288/PF250373

[7] Freescale MMA8452Q 3-axis accelerometer:

http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MMA8452Q

QBALL 2 - User Manual 6

4 System Hardware

4.1 Main Components

To setup this experiment, the following hardware and software are required:

•QBall 2: QBall 2 as shown in Figure 2.1

•Router A high-end router pre-configured to enable wireless connectivity to QBall 2

•Batteries: Two 3-cell, 2700 mAh Lithium-Polymer batteries

•Real-Time Control Software: The QUARCrSimulinkrconfiguration, as detailed in Reference [2]

4.2 Diagram

Figure 4.1 below is a basic diagram of the QBall 2, showing 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 flying the vehicle it

is common to orient the vehicle such that the tail is pointing towards the operator with

the positive x axis (front) pointing away from the operator.

Figure 4.1: Quanser QBall 2axes and sign convention

4.3 QBall 2 Components

The components comprising the QBall 2 are labled in Figure 4.2, Figure 4.3 and Figure 4.4 and described in Table 4.1.

The QBall 2 joystick is illustrated in Figure 4.5.

QBALL 2 - User Manual DRAFT - April 6, 2015

(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

(a)

(b)

Figure 4.4: QBall 2 components: sonar and batteries

Figure 4.5: QBall 2 joystick

ID # Description ID # Description

1 QBall 2 protective cage 9 USB input

2 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 strap

7 Battery connector 15 Connected batteries

8 Sonar 16 QBall 2 LiPo batteries

Table 4.1: QBall 2 components

QBALL 2 - User Manual DRAFT - April 6, 2015

4.3.1 QBall 2 frame

The QBall 2 frame (#2 in Figure 4.2) is the crossbeam structure to which the QBall 2 components are mounted

including the DAQ, power distribution board, motors and speed controllers. The frame rests inside the QBall 2

protective cage (#1 in Figure 4.2). The QBall 2's protective cage is a carbon fiber structure designed to protect the

frame, motors, propellers, and embedded control module (DAQ and Gumstix computer) during minor collisions. The

cage is not intended to withstand large impacts or drops from heights greater than 2 meters.

Caution

Do not pick up the QBall 2 from the cage as this may stress the cage and cause damage.

Instead, when transporting the QBall 2 lift it from the ends of the frame using both

hands to lift the frame from both sides.

4.3.2 QBall 2 DAQ

The DAQ is the QBall 2's data acquisition board. Together with the Gumstix embedded computer, the DAQ controls

the vehicle by reading on-board sensors and outputting motor commands. The DAQ is located inside a protective

enclosure underneath the cross frame of the QBall 2. The enclosure lid is opened by gently rotating the lid clockwise

when viewed from the top.

Each motor speed controller (#5 in Figure 4.2) is connected to a PWM motor output on the DAQ (#6 in Figure 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 controller should be connected

to its corresponding PWM output with the ground (black wire) towards the inside of the DAQ board (see Section 6.2

for wiring details). The QBall 2 comes with the motors already connected to the DAQ, so no manual assembly is

necessary.

If it is ever required to remove the DAQ for testing or troubleshooting, the cables and wires must first be disconnected

from the DAQ PCB and removed from the DAQ enclosure. Remove the DAQ cover by gently rotating it clockwise

(when viewed from the top of the QBall 2). Disconnect the power, sonar, motor, and any other I/O cables plugged

into the DAQ and carefully extract them through the slots in the DAQ enclosure. Reattach the DAQ cover. Using an

allen wrench, remove the four screws shown in Figure 4.6, being careful to support the DAQ enclosure so it does

not fall. When reassembling the DAQ, first attach the DAQ enclosure to the frame, making sure to align the arrow

on the DAQ enclosure with the front of the vehicle (positive X axis direction). Then, remove the lid and carefully feed

the power, sonar, and motor cables through the enclosure slots. Reattach the cables to their corresponding headers

and screw on the enclosure lid.

Figure 4.6: QBall 2 DAQ case mounting points

QBALL 2 - User Manual 10

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