Check Components and Details

Make sure your Rotary Inverted Pendulum module includes the following components:

Quick Start Guide: Rotary Inverted Pendulum

STEP 1

Additional Components Required for Set UpTo complete the Rotary Inverted Pendulum set up, you will also need the following:

STEP 2

4 5

1 21. Rotary Inverted Pendulum module

2. Pendulum Link

3. T-Fitting (attached to shaft)

4. 5-pin DIN to 5-pin DIN encoder cable

5. Two sets of thumb screws

6. Two set of screws, screwed into fitting

7. 7/64 Allen key

8. Quanser Workstations Resources DVD* (includes controllers; digital versions of User Manual, Quick Start Guide and courseware; and other files)

*DVD supplied with the QUARC Real-time Rapid Control Prototyping software, see Step 2

1. QUARC Real-time Rapid Control Prototyping Software Installation DVD

2. Rotary Servo Base Unit

3. Power Amplifier (VoltPAQ-X1 pictured)

4. One of the following data acquisition devices: a. Quanser Q2-USB, or b. Quanser Q8-USB, or c. NI PCI/PCIe with NI M and X Series Terminal Board

5. RCA to RCA cable

6. 4-pin DIN to 6-pin DIN motor cable

7. 5-pin DIN to 5-pin DIN encoder cable

To set up your Rotary Inverted Pendulum module, please read the following instructions carefully.

7

5 6

3

6

7

8

Captivate. Motivate. Graduate. Solutions for teaching and research. Made in Canada.

iNFo@QuaNSer.CoM +1-905-940-3575 QuaNSer.CoM

ten modules to teach controls from the basic to advanced level

Srv02 Base unit Flexible Link inverted pendulum

Ball and Beam

Multi-doF torsion2 doF inverted pendulum

2 doF robot

Flexible Joint Gyro/Stable platform

double inverted pendulum

2 doF Ball Balancer

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with NI LabVIEW™.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. LabVIEW™ is a trademark of National Instruments.

uSer MaNuaLinverted pendulum experiment

Set Up and Configuration

Quanser educational solutions are powered by:

student WorkbookInverted Pendulum experiment for Matlab®/simulink® users

Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserPaul Karam, B.A.SC., QuanserMichel Lévis, M.A.SC., Quanser

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB®/Simulink®.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks Inc.

srV02 base unit Flexible link Inverted Pendulum ball and beam

Multi-doF torsion2 doF Inverted Pendulum2 doF robot

Flexible Joint Gyro/stable Platform double Inverted Pendulum 2 doF ball balancer

student W

orkbook: Inverted Pendulum

exp

eriment for M

atla

b®/

sim

ulink® u

sers

ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

CaPtIVate. MotIVate. Graduate. Solutions for teaching and research. Made in Canada.

InFo@Quanser.CoM +1-905-940-3575 Quanser.CoM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.

Instructor Workbook: Inverted P

endulum E

xperim

ent for Ma

tlab

®/S

imulink

® Users

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB®/Simulink®.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks Inc.

SRV02 base Unit Flexible link Inverted Pendulum ball and beam

Multi-DOF torsion2 DOF Inverted Pendulum2 DOF Robot

Flexible Joint Gyro/Stable Platform Double Inverted Pendulum 2 DOF ball balancer

ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

InStRUctOR WORkbOOkInverted Pendulum Experiment for Matlab®/Simulink® Users

Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserPaul Karam, B.A.SC., QuanserMichel Lévis, M.A.SC., Quanser

caPtIVatE. MOtIVatE. GRaDUatE. Solutions for teaching and research. Made in Canada.

InFO@QUanSER.cOM +1-905-940-3575 QUanSER.cOM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.

Use

QU

ARC

Real-

Time

Rapid

Contro

l Prototyping Software to control over 80 Quanser experiments. Contact info@quanser.com

for information.

RESOURCES DVD

TO SET UP QUANSER WORKSTATIONS

On this DVD:• Quick start Guides• Pre-designed Controllers• User Manuals• Instructor and Student Workbooks or Laboratory Guides

For use with

© 2013 Quanser Inc. All rights reserved. www.quanser.com

3

4a 4c4b

1 2

Use

QU

ARC

Rea

l-Tim

e Ra

pid C

ontro

l Prototyping Software to control over 80 Quanser experiments. Contact info@quanser.com

for information.

SOFTWARE INSTALLATION DVDREAL-TIME RAPID CONTROL

PROTOTYPING SOFTWARE v2.3

R2011a, b and R2012a, b For MATLAB®/Simulink®

For installation procedure please refer to the Installation Guide on this DVD. For assistance, contact tech@quanser.com

© 2013 Quanser Inc. All rights reserved. www.quanser.com

Note: These components must be purchased separately.

Install and Test QUARCSTEP 3

A. Make sure you have all required software, as listed in the QUARC Compatibility Table document located in the QUARC DVD folder.

B. See the QUARC Installation Manual for details on how to install the software.

C. Make sure you test the system using the Sine and Scope demo. You can access this by typing qc_show_demos in the Matlab prompt.

IPO2

FLEXPEN

DLPEN

LFJC

SEESAW

SRV02

Experiment

Experiment

Experiment

Experiment

Experiment

Experiment

FLEXLink

FLEXJoint

ROTPEN

BB01

Gyro-E

ROTDPEN

Torsion

3 DOF

MOTOR ENCODER S1 & S2

S1 & S2TACH

Set Up the HardwareSTEP 4

To set up your Rotary Inverted Pendulum module, please read the following instructions carefully. The connections shown below are illustrated using a generic data acquisition (DAQ) device and a VoltPAQ-X1 amplifier (you may have a different DAQ or amplifier). For detailed instructions, see the Rotary Inverted Pendulum User Manual (enclosed with shipment).

Before proceeding, set up and test your Rotary Servo Base Unit. For detailed instructions, see the Rotary Servo Base Unit Quick Start Guide or User Manual.

Insert the pendulum into the T-Fitting and fasten it using the set screw. The T-Fitting should be at the end of the metal shaft on the rotary arm and properly fastened. Do not tighten the set screw too much.

Make sure everything is powered OFF before making any connections. This includes turning off your PC and the amplifier.

Place the Rotary Inverted Pendu-lum system on a table clear of any obstructions. It is recommended you clamp down the Rotary Servo Base Unit to the table.

Make sure the pendulum is free to rotate 360 degrees.

A

C

B

D

Using the RCA to RCA cable, connect Analog Output Channel #0 (AO #0) on the data acquisition device to the Amplifier Command socket on the amplifier.

Using the 4-pin DIN motor to 6-pin DIN motor cable, connect the To Load socket on the amplifier to the Motor socket on the Rotary Servo Base Unit.

E

Using the 5-pin DIN to 5-pin DIN encoder cable, connect the Encoder socket on the Rotary Servo Base Unit panel to the Encoder Input Channel #0 socket on the data acquisition device.

Using the 5-pin DIN to 5-pin DIN encoder cable, connect the Encoder socket on the Rotary Pendulum module to the Encoder Input Channel #1 socket on the data acquisition device.

H I

Data Acquisition Device Data Acquisition Device

F

G

Rotary Servo Base Unit

MOTOR ENCODER S1 & S2

S1 & S2TACH

AmplifierData Acquisition Device

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Amplifier

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Attach the Rotary Inverted Pendulum module to the Rotary Servo Base Unit load gear shaft using the two thumb screws.

Analog Output(AO)

0

Rotary Inverted PendulumRotary Servo Base Unit

Encoders(EI)

0

1

Encoders(EI)

0

1

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Testing the Rotary Pendulum Module STEP 5

Follow the procedure below to test your Rotary Inverted Pendulum.

The scopes should look similar to those shown here. Otherwise, consult the trouble-shooting section at the end of this guide.

The Pendulum Angle scope shows the measured pendulum angle relative to the upright vertical position. Initially it starts at -180 degrees. As the pendulum rotates to the vertical position, the balance control engages and maintains the upright position.

Manually rotate the pendulum to its upright vertical position. When the controller engages, immediately release the pendulum and it should start to balance.

J

G I

Attention VoltPAQ-X1 Users: Make sure you set the GAIN on the VoltPAQ-X1 to 1 when using any Rotary Servo Base Unit experiment.

Turn ON the power switch on the VoltPAQ-X1. It is located on the rear of the device.

J K1.5A/1.0A

800mA/400mA

100 VAC - 132 VAC/200 VAC - 240 VAC/

100 VAC - 132 VAC or200 VAC - 240 VAC

47Hz - 63Hz

Fuse Type: 3AG, Slow-Blow

FUSEFUSE FUSEFUSE

Amplifier (rear)

Make sure the pendulum is hanging downwards and is motionless.

Amplifier

Make sure your PC and amplifier are powered ON.

On the Resources DVD (supplied with the QUARC and Servo Base Unit package), locate the Quick Start Folder: Rotary\Rotary Inverted Pendulum\ Quick Start. Copy the Quick Start folder to your local hard drive.

A B

Double-click on the HIL Initialize block and choose the board that is installed on your system (e.g. Q2-USB).

Open the Simulink model file (.mdl) found under the Quick Start folder on your hard drive.

Configure HIL Initialize window

E F Once the model code has been compiled, click on the Connect To Target button.

Click on the Build Model button on the Simulink model toolbar.

HClick on the Run button to start the QUARC real-time model.

C D

KClick on the Simulink Stop button to stop the running model.

Please review the following recommendations before contacting Quanser’s technical support engineers.

The Motor is not responding.

A. Review connections in Steps 4F and 4G.

B. Ensure the power amplifier is powered on and operational, i.e., when using VoltPAQ-X1 verify that the green LED is lit.

C. Verify the data acquisition device is functional.

D. See the Rotary Servo Base Unit User Manual for more troubleshooting information.

The Encoder is not reading.

A. Review connections in Steps 4H and 4I.

B. Verify that the data acquisition (DAQ) device is functional. Refer to the DAQ User Manual for troubleshooting guidelines

C. See the Rotary Servo Base Unit User Manual for more troubleshooting information.

1. Make sure the cables are firmly connected.

2. Check the connection (outlined in Step 4 in this guide).

3. Make sure the Rotary Servo Base Unit has been set up and tested successfully. Review the Rotary Servo

Base Unit Quick Start Guide and User Manual setup or troubleshooting section for more information.

LEARN MORE To find out about the full range of Quanser Rotary Control modules, visit www.quansercontrollabs.com

Expand the Rotary Servo Base Unit to the following popular experiments using Quanser Rotary Control add-on modules.

Flexible Link Ball and Beam Flexible Joint

STILL NEED HELP? For further assistance from a Quanser engineer, contact us at tech@quanser.com or call +1-905-940-3575.

TROUBLESHOOTING

Double Inverted Pendulum

Getting an error when trying to build or run the Quick Start Simulink model (.mdl)

A. Type ver in the Matlab Command Window and verify that QUARC is on the list. If not, then go through the QUARC Quick Installation Guide to install QUARC. If it is listed, run mex-setup as described in the QUARC Installation Guide.

B. If the “… specific kernel level driver for the specified card could not be found” error is prompted when you attempt to run, then you may not have selected the correct data acquisition (DAQ) device in the HIL Initialize block or the DAQ device has not been installed properly (refer to the DAQ device User Manual).

©2013 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc. V.1