Quanser Ball and Beam User Manual
Contents
1. E Caution Any encoder should be directly connected to the data acquisition terminal board or equivalent using a standard 5 pin DIN cable DO NOT connect the encoder cable to the amplifier Connect the To ADC socket on the amplifier to Analog Inputs 0 1 on the terminal board using the 5 pin DIN to 4xRCA cable Connect the red S3 RCA connector to Analog Input Channel 0 and the black S4 RCA connector to Analog Input Channel 1 Note The RCA cables may not be labeled S1 S2 S3 and S4 In that case use the colour convention yellow S1 white S2 red S3 black S4 Connect the Ball Position Sensor connector from the BB01 to the S3 socket on the amplifier using the 6 pin mini DIN to 6 pin mini DIN cable See connection 5 in Figure 5 1 This carries the the measured ball position from the beam potentiometer and is denoted by variable x If the SS01 remote sensor module shown in Figure 2 2 is used then connect Remote Ball Position Sensor connector from the SSO1 remote sensor module to the S4 socket on the amplifier using the 6 pin mini DIN to 6 pin mini DIN cable See connection 6 in Figure 5 1 This measures the ball position on the remote sensor and is denoted by xz 5 3 Connections with the VoltPAG X2 Because the VoltPAQ X2 has no analog input connectors users must interface their BB01 and SS01 sensors through the Analog Signal Conditioner box The amplifier also has to be enabled through the digital output lines The w2. SRVO2 Encoder Encoder load shaft angle measure Encoder Input 0 connector ment 4 Signal Conditioner Terminal Board Connects BB01 ball position measure Box S2 connector ADC 0 ment to Analog Input 0 on data acquisition board 5 Signal Conditioner Terminal Board Connects Remote Sensor SS01 ball Box S3 connector ADC 1 position measurement to Analog Input 1 on the data acquisition board 6 Signal Conditioner BBO1 Ball Position BB01 ball position measurement Box Input 1 con Sensor connector nector 7 Signal Conditioner SSO1 Ball Position SS01 ball position measurement Input 2 connector Sensor connector 8 Terminal Board Amplifier Enable Enables the amplifier channels DIO 1 Header Connector 9 Amplifier E Stop E Stop switch When E Stop is pressed down the am Connector plifier is deactivated Must be in re leased position for amplifier to become enabled Table 5 3 BB01 Wiring using VoltPAQ X2 6 TESTING AND TROUBLESHOOT ING This section describes some functional tests to determine if the Ball and Beam system is operating properly It is assumed that the system is connected as described in the Section 5 above To carry out these tests it is preferable if the user uses a software such as QUARC or LabVIEW to read sensor measurements and ouput voltages to the motor See Reference 1 to learn how to interface the SRVO2 with QUARC Alternatively these tests can be performed with a sign
3. Position Sensor The track of the BB01 linear transducer module on which the metal ball is free to roll consists of a steel rod in parallel with a nickel chromium wire wound resistor forming the track The resistive wire is the black strip that is stuck on the plastic which is fastened onto the metal frame The position of the ball is obtained by measuring the voltage at the steel rod When the ball rolls along the track it acts as a wiper similar to a potentiometer resulting in the position of the ball E Caution Regular cleaning of the beam is recommended to ensure proper operation of the ball and beam experiment Clean both the beam and the steel ball using rubbing alcohol 2 2 2 Remote Sensor Similarly to the BBO1 the SS01 has a wiper potentiometer sensor that detects the position of the ball 3 SPECIFICATIONS Table 3 1 lists and characterizes the main parameters associated with the BB01 See Figure 3 1 for an illustration of the Ball and Beam dimensions and the variables a 6 and x that are associated with the system Some of the parameters listed in Table 3 1 are used in the mathematical model Symbol Matlab Variable Value Description Mass of ball beam module 0 65 kg Calibration base length 50 cm Calibration base depth 22 5 cm rene Beam length 42 55 cm Lever arm length 12 0 cm Farm Distance between SRVO2 output r_arm 2 54 cm gear shaft and coupled joint Support arm length 16 0 cm ry Radius of ball r_ball 1 27
4. cm Mp Mass of ball m_ball 0 064 kg Kos Ball position sensor sensitivity K_BS 4 25 cm V Voias Ball position sensor bias power 12 V Vrange Ball position sensor measure 5V ment range Table 3 1 Ball and Beam specifications Lbeam 4 X re Ball a Beam j a A Base Load Gear Figure 3 1 Ball and beam lengths and variables D ABUANSER 4 SYSTEM SETUP See Section 4 1 for instructions on how to to put the ball and beam plant together Then go through the calibration procedure in Section 4 2 before performing the laboratory 4 1 Assembly Follow this procedure to setup the Ball and Beam module for experimental use 1 Before beginning ensure the SRVO2 is setup in the high gear configuration as detailed in 2 2 Lay the calibration base component 11 in Figure 2 1 flat on a table surface 3 As pictured in Figure 4 1 place the SRVO2 on its side such that the potentiometer gear fits into the cut out section of the calibration base Notice that the top gear of the SRVO2 should be the small 24 tooth motor pinion gear Figure 4 1 Setting up the SRV02 side of the BB01 plant 4 Fasten the coupling screw component 3 into the screw hole of the large 120 tooth load gear as depicted in Figure 4 1 5 Place the support base of the ball and beam component 8 into the cut out section of the base as pictured in Figure 2 1 4 2 Calibration Once the BB01 is set
5. Gu AN SE A User Manual 2011 Quanser Inc All rights reserved 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 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 CONTENTS 1 O GUANSER Presentation 1 1 Description 1 2 Remote Sensor Option Components 2 1 Component Nomenclature 2 2 Component Description Specifications System Setup 4 1 Assembly 4 2 Calibration Wiring Procedure 5 1 Cable Nomenclature 5 2 Connections using VoltPAQ X1 5 3 Connections with the VoltPAQ X2 Testing and Troubleshooting 6 1 SRV02 Motor and Encoder 6 2 Ball Position Sensor Technical Support AAR an 1 PRESENTATION 1 1 Description The Quanser Ball and Beam module pictured in Figure 1 1 consists a track on which the metal ball is free to roll The track is fitted with a linear transducer to measu
6. al generator and an oscilloscope 6 1 SRVO2 Motor and Encoder See 2 for information on testing and troubleshooting the SRVO2 separately 6 2 Ball Position Sensor 6 2 1 Testing Test the ball position sensor from the BBO1 or SS01 with the following procedure 1 Measure analog input channel 2 to test the BBO1 sensor or analog input channel 3 to test the SSO1 sensor unless the sensors are connected on a different channels 2 A typical signal response of the ball position sensor is illustrated in Figure 6 1 For the BB01 the ball position sensor should output a voltage of about 4 5 V when it is closest to the SRVO2 As the ball is rolled away from the SRVO2 the measured voltage signal should be decreasing down to approximately 4 5 V when the ball reaches the other end of the beam E Caution Sometimes when the ball is sitting at the very end of the beam it may not be in contact with the sensor In this case the reading will initially be 0 V but when the ball begins moving the sensor signal will jump up to about 4 5 V and then begin decreasing 3 Beside the ends of the beam the signal should have no discontinuities and little noise Similarly for the SS01 sensor the voltage signal should decreasing from approximately 4 5 V to 4 5 V as the ball travels towards the end of the beam with the analog connector 6 2 2 Troubleshooting Follow the steps below if the potentiometer is not measuring correctly e Verify that the power amp
7. he sig nals can be either monitored and or used by a controller The cable also carries a 12 VDC line from the amplifier in order to power a sensor and or signal conditioning circuitry e 5 pin DIN to 4xRCA 5 pin DIN to 4xRCA This cable carries the analog signals un changed from the amplifier to the Analog To Digital input channels on the data acquisition terminal board Table 5 1 Cables used to connect SRVO2 to amplifier and DAQ device Cable rom To Signal 1 Terminal Board Amplifier Amplifier Connects control signal from Analog DAC 0 Command connec Output 0 on DAQ device to the power tor amplifier 2 Amplifier To Load SRV02 Motor con Power leads to the SRVO2 dc motor connector nector 3 Terminal Board SRVO2 Encoder Encoder load shaft angle measure Encoder Input 0 connector ment 4 Amplifier To ADC Terminal Board Connects BBO1 and Remote Sensor connector SS01 ball position measurement to e S3 to ADC 0 analog input channels 0 and 1 on the s S4to ADC 1 DAQ device 5 Amplifier S3 con BBO1 Ball Position Ball and Beam BB01 ball position nector Sensor connector measurement 6 Amplifier S4 con SS01 Ball Position Remote Sensor SS01 ball position nector Sensor connector measurement Table 5 2 BB01 Wiring Note In this setup it is assumed the SRVO2 encoder is used for position feedback i e not using the potentiometer
8. iring is illustrated in Figure 5 2 and explained in Table 5 3 A GUANSER Data Acquisition Card Terminal Board Amplifier Single Channel DIO 0 7 BERT To ADC quent E Stop Encoders Analog Analog A Output Input SD O 1 Amplifier SDK i ae 1 amp S2 3 S4 Command Ta Beet re o0 Or ee Motor Tach Encoder S1 amp 8S2 S1 amp S2 Ball Position Ball Position Sensor Sensor SRV02 BB01 SS01 Figure 5 1 BB01 connections using generic DAQ with a single channel amplifier BB01 User Manual Saas Data Acquisition Card Terminal Board Encoders Analog Analog Output Input SETE o0 O Amplifier Dual Channel Amplifier Command Current Sense O To Load S1 2 Output Output Motor Emergency Stop Switch BBO1 SS01 Input Ball Position Ball Position Sensor Sensor Tach Encoder S1 amp S2 S1 amp S2 Analog Signal Conditoner Figure 5 2 BB01 User Manual QUANSER BB01 connections when using the VoltPAQ X2 v 1 0 Cable 1 rom Terminal DAC 0 Board To Amplifier Amplifier Command connec tor Signal Connects control signal from Analog Output 0 on the DAQ device to the power amplifier 2 Amplifier To Load SRVO2 Motor con Power leads to the SRVO2 dc motor connector nector 3 Terminal Board
9. lem encountered Also make sure your e mail address and telephone number are included Submit the form and a technical support person will contact you O GUANSER REFERENCES 1 Quanser Inc SRVO2 QUARC Integration 2008 2 Quanser Inc SRVO2 User Manual 2009 3 Quanser Inc Q2 USB Data Acquisition System User s Guide 2010 The modular control lab that expands to fit your requirements gt SRVO2 Base Unit gt Flexible Link gt Inverted gt Ball and Beam r AN Pendulum z oe lt a gt 2 DOF Robot gt 2 DOF Inverted gt Multi DOF Torsion Pendulum gt Flexible Joint gt Gyro Stable gt Double Inverted gt 2 DOF Ball Platform Pendulum Balancer With the SRVO2 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 LabVIEW To request a demonstration please email info quanser com 2011 Quanser Inc All rights reserved LabVIEW is a trademark of National Instruments QU NSER ATE INFO QUANSER COM 1 905 940 3575 QUANSER COM Solutions for teaching and research Made in Canada
10. lifier is functional For example when using the Quanser VoItPAQ device is the green LED lit Recall the analog sensor signal go through the amplifier before going to the data acquisition device except when using the Q3 ControlPAQ Therefore the amplifier needs to be turned on to read the potentiometer e Check that the data acquisition board is functional e g ensure it is properly connected that the fuse is not burnt e Measure the voltage across the potentiometer Ensure the potentiometer is powered with a 12 V at the 6 pin mini DIN connector on the BB01 component 10 in Figure 2 1 or on the SS01 component 14 in Figure 2 2 The two bottom pins of the DIN connector are GND pins and the leftmost pin i e where the green cable is connected to outputs the voltage of the ball Q ABUANSER bb01 sensor V oO 1 5 6 F 8 9 10 11 12 13 14 15 time s Figure 6 1 Typical voltage signal measured by the BB01 ball position sensor e Using a voltmeter connect one probe to the middle left pin and the other to the bottom GND pins The voltage should vary between about 4 5 V as the ball position is changed Please see Section 7 for information on contacting Quanser for technical support 7 TECHNICAL SUPPORT To obtain support from Quanser go to http www quanser com and click on the Tech Support link Fill in the form with all the requested software and hardware information as well as a description of the prob
11. mplifier i e use both white or both red RCA connectors See cable 1 shown in Figure 5 1 This carries the attenuated motor voltage control signal Vm Ka where K is the amplifier gain 4 Connect the 4 pin stereo DIN to 6 pin stereo DIN cable from To Load connector on the amplifier to the Motor connector on the SRVO2 See connection 2 shown in Figure 5 1 The cable transmits the amplified voltage that is applied to the SRVO2 motor and is denoted Vm 5 Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRVO2 panel to Encoder Input 0 on the terminal board as depicted by connection 3 in Figure 5 1 This carries the load shaft angle measurement and is denoted by the variable 6 Q GUANSER Cable a RCA Cable Type 2xRCA to 2XRCA Description This cable connects an analog output chan nel on the data acquisition board to the power amplifier for amplification b Motor Cable 4 pin DIN to 6 pin DIN This cable connects the output of the power amplifier to the dc motor on the servo 5 pin stereo DIN to 5 pin stereo DIN This cable carries the encoder signals be tween an encoder connector and the data acquisition board to the encoder counter Namely these signals are 5 VDC power supply ground channel A and channel B d Analog Cable 6 pin mini DIN to 6 pin mini DIN This cable carries analog signals e g froma potentiometer to the amplifier where t
12. nts The cables supplied with the SRV02 are described in Section 5 1 and the procedure to connect the above components is given in Section 5 2 E Caution When using the Quanser VoltPAQ X1 power amplifier make sure you set the Gain to 1 5 1 Cable Nomenclature The cables used to connect the Quanser SRVO2 system with a power amplifier and data acquisition device is shown in Table 5 1 Depending on your configuration not all these cables may be necessary 5 2 Connections using VoltPAQ X1 This section describes the typical connections used to connect the SRVO2 plant to a data acquisition board and a single channel power amplifier The connections are described in detail in the procedure below summarized in Table 5 2 and pictured in Figure 5 1 Note The data acquisition device used in Figure 5 1 is representative for any DAQ device For example if you are using a DAQ with 8 analog input output channels e g like the Quanser QPID or QPIDe then the same connection are performed Follow these steps to connect the SRV02 system 1 Make sure that your data acquisition device is installed and is operational For example see 3 if the Quanser Q2 USB will be used 2 Make sure everything is powered off before making any of these connections This includes turning off your PC and the amplifier 3 Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel 0 on the terminal board to the Amplifier Command connector on the a
13. re the position of the ball i e it outputs a voltage signal proportional to the position of the ball One side of the beam is attached to a lever arm that can be coupled to the load gear of the Quanser SRVO2 unit By controlling the position of the servo the beam angle can be adjusted to balance the ball to a desired position Figure 1 1 Quanser BBO1 system 1 2 Remote Sensor Option The SRV02 Ball and Beam module can also be accompanied by a remote ball sensor called the SS01 module This permits a master slave configuration where the ball command is generated by the SS01 instead of through a program 2 COMPONENTS The Ball and Beam components are identified in Section 2 1 Some of the those components are then described in Section 2 2 2 1 Component Nomenclature The components of the Ball and Beam module i e the BB01 device and the Remote Sensor system i e SS01 are listed in Table 2 1 and labeled in Figure 2 1 and Figure 2 2 ID Component ID Component SRV02 Lever arm Coupling screw Steel ball BB01 Potentiometer sensor BB01 Steel rod Support arm NOOO AON Support base Analog ball position sensor connector Support arm screws Calibration base SS01 Potentiometer sensor SS01 Steel rod Analog remote sensor connector Table 2 1 Listing of BB01 and SS01 Components Figure 2 2 Components on Remote Sensor system 2 2 Component Description Q GUANSER 2 2 1 Ball
14. up follow this procedure to calibrate the beam 1 As illustrated in Figure 4 2 use an 9 64 Allen Key to loosen the screws on the support arm 2 As illustrated in Figure 4 3 manually rotate the servo load gear to the 0 degree position The coupling screw should be aligned with the 0 degree position on the servo guANSER SL Z lt 1 m N Q 3 t n Figure 4 3 Move SRVO2 load gear to 0 degree position balanced system is shown in Figure 4 4 3 While holding the load gear at 0 degrees place the ball in the center of the beam and vary the height of the support arm component 7 such that the beam is approximately horizontal and the ball does not move The 4 Once the ball is balanced tighten the screws on the support arm as illustrated in Figure 4 2 to finalize the calibration of the BB01 experiment BB01 User Manual QUANSER v1 0 Figure 4 4 BB01 is calibrated when the centered ball is balanced on the beam while the SRVO2 is at 0 degrees BBO1 User Manual 5 WIRING PROCEDURE The following is a listing of the hardware components used in this experiment e Power Amplifier Quanser VoltPAQ X1 or equivalent e Data Acquisition Board Quanser QPID QPIDe Q8 USB Q2 USB or equivalent e Rotary Servo Plant Quanser SRV02 ET SRV02 ETS or equivalent e Ball and Beam Quanser BB01 Module e Remote Sensor Quanser SS01 Module See the corresponding documentation for more information on these compone
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