IP01 and IP02 User Manual
Contents
1. a BUBUR 23 63de a ak 23 NN 24 J CObtamninp DUDBOLELU os aso roto bs A Do Med EN 24 Appendix DC Motor Specification sace BSN NN NAN aee uie edat ads 25 Appendix B Planetary Gearhead Specification Sheet o ooooo occ 26 Appendix C IPO1 Cart Potentiometer Specification Sheet o ooooo 27 Appendix D IP01 Pendulum Potentiometer Specification 28 Appendix E IP02 Encoder Specification Sheet ooo ooooooo ooooomooo oom 29 Document Number 501 Revision 5 0 Page ii IP01 and IP02 User Manual 1 IP01 and IP02 Presentation 1 1 General Description The IPO1 and IP02 are fundamental modules for the linear motion experiments They consist of a precisely machined solid aluminum cart driven by a high quality DC motor equipped with a planetary gearbox The cart slides along a stainless steel shaft using linear bearings The cart is driven via a rack and pinion mechanism as opposed to belts or wheels in order to eliminate slippage belt stretching and other undesirable effects This therefore ensures consistent and continuous traction The following sections provide more insight into the differences between the IPO1 and IP02 and their applications 1 2 IP01 Inverted Pendulum Particularities A typical IPO1 is depicted in Figure 1 below In the case2. Figure 15 To Analog To Digital Cable Table 8 Cable Nomenclature Document Number 501 Revision 5 0 Page 15 IP01 and IP02 User Manual 5 2 Typical Connections for the IPO1 IPO2 Figure 16 below shows necessary connections from the data acquisition terminal board and the power amplifier to interface to IP01 or IP02 The procedure is discussed below and summarized in Table 9 Data Acquisition Card Terminal Board Control Header 01007 DIO815 DIO1623 DIO23 31 Analog Output Analog Input 30 70 O 20 0 Amplifier Single Channel SA black Current _82 white To ADC E Stop 05 5 0 Ot hair ier 1 3 Amplifier To Load 51852 54 Command 9 Pendulum Encoder Encoder IPO1 2 Figure 16 Connections between IP02 and power amplifier 5 2 1 Connections Common to both IP01 and IP02 As both IP01 and IP02 share the same DC motor the power connections for both IPOT and IP02 are identical These connections are described below 1 Connect the Amplifier Command Cable The Amplifier Command cable is the 2xRCA to 2xRCA cable described in Table Document Number 501 Revision 5 0 Page 16 IP01 and IP02 User Manual and shown in Figure 11 Connect the one of RCA ends of this cable to the Analog Output 0 i e DAC 0 of the terminal board and the other RCA end of the same colour to the socket labelled Amplifier
3. rotor max permissible Note Special operating temperature models for Shaft bearings Shaft load max with shaft diameter radial at 3 000 rpm 0 12 in from bearing axial at 3 000 rpm axial at standstill ball bearings optional ball bearings preloaded optional 0 1181 Shaft play radial lt 0 0006 axial lt 0 Housing material Weight Direction of rotation Speed up to Ne max Torque up to Me max Current up to thermal limits le max 6 000 0 566 0 260 4X M2 rpm A oz in oz in rpm V mV rpm oz in A Aloz in rpm oz in pH ms oz in sec 10 rad s C W s C F F in oz oz oz in in oz rpm oz in 4 157 DEEP gt 3 oriertztior with respect to motor terminals Document Number 501 Revision 5 0 Page 25 IP01 and IP02 User Manual Appendix B Planetary Gearhead Specification Sheet Housing material metal Geartrain material all steel Recommended max input speed for continuous operation 4 000 rpm Backlash at no load lt 1 Bearings on output shaft preloaded ball bearings Shaft load max radial 10 mm 0 394 in from mounting face 5 612 oz axial 540 oz Shaft press fit force max 540 oz Shaft play on bearing output radial 0 0006 in axial 0 0039 in Operating temperature range 30 to 100 22 to 212 F Specifications length with motor output torque
4. 55 For gearhead length with motor 2338 add 8 7 0 343 to 2233 motor length column Note Reduction ratios have been rounded off Exact values are available upon request Subtract 3 9 mm 0 154 in from L2 column to account for smaller mounting flange 2342 NN 2224 2230 224 2444 gus 2842 a66 2233 223 1 05 010 945 1 102 508 01 ED 54 05 3 120 ER gs 748 1 A CIS DEEP 533 10 Orientation witn respect 394 motor terminals 12 3 2 3 not defined Liss 16 3 118 23A 630 231 Frant View Document Number 501 Revision 5 0 Page 26 IP01 and IP02 User Manual Appendix C IP01 Cart Potentiometer Specification Sheet 7 8 22mm Precision Wirewound Potentiometer FEATURES Special Resistance Tolerances to 1 Rear Shaft Extensions and Support Bearing Non Turn Lug Insulating Plastic Shaft Special Independent Linearity to 0 7596 Dual Gang Configuration and Concentric Shafts High Torque and Center Tap Special Markings and Front Shaft Extensions Servo Unit available and Slipping Clutch ELECTRICAL SPECIFICATIONS PARAMETER Resistance Range Standard Values Capability Range Standard Tol Linearity Independent Noise MODEL 533 MODEL 535 500 to 20KQ 50 to 60KO 5 0 25 1000 ENR 0 10 1 0 watts 500 to 50KQ 5Qto 100KQ 5 0 25 1000 ENR 0 10 1 5 watts Rotation Electrical amp Me
5. Shaft Torque 0 5 0 2 in oz Panel Thickness 0 125 in max Shaft Torque 0 05 in oz max 0 3 in oz max NT option Panel Nut Max Torque 20 in Ibs Shaft Loading 1 16 max Shaft Loading 2 Ibs max dynamic Bearing Life 40 P Life in millions of revs 20 Ibs max static P radial load in pounds Weight 0 7 oz Weight 0 7 oz Shaft Runout 0 0015 T I R max Shaft Runout 0 0015 T I R max Document Number 501 Revision 5 0 Page 29
6. To Load Cable Designation Description This cable connects an analog output of the data acquisition terminal board to the power module for proper power amp lification 4 pin DIN This cable connects the output to of the power module after 6 pin DIN amplification to the desired actuator i e IPO1 or IP02 mo tor Document Number 501 Revision 5 0 Page 14 IP01 and IP02 User Manual Cable Designation Description 5 pin ste reo DIN to 5 pin ste reo DIN This cable is specific to the IP02 system It carries the en coder signals between an en coder connector and the data acquisition board to the en coder counter Namely these signals are 5 power supply ground channel A and channel B 1 Figure 13 Encoder Cable 6 pin mini DIN to 6 pin mini DIN This cable is specific to the IPO1 system It carries analog signals between one or two plant sensors and the amplifier where the signals can be either monitored and or used by an Figure 14 From Analog Sensors Cable analog controller For ex ample connected to the the cable provides a 12VDC bias to the two potentiometers and carries the two wiper voltages to 51 and 2 on the amplifier This cable is needed by the IPO1 system It carries the ana log signals previously taken from the plant sensors un changed from the amplifier to the Digital To Analog input channels on the data acquisi tion terminal board
7. reduction ratio weight length continuous intermittent direction efficiency nominal without without 2224U 2230 U 2233U 2444 S 2342 S operation of rotation motor motor 28425 reversible 12 1 L1 L1 1 L1 L1 M max M max oz mm mm mm in oz in oz in Yo 3 71 1 2 12 23 8 0 937 44 1 1 74 53 8 2 12 56 6 2 23 28 32 56 65 88 212 718 2 83 69 8 2 75 2832 5665 188 14 1 2 47 34 1 1 34 54 4 2 14 60 2 2 37 63 0 2 48 78 1 3 07 76 1 3 00 42 48 84 97 80 43 1 3 17 40 3 1 59 60 6 2 39 66 4 2 61 69 2 2 72 84 3 3 32 82 3 3 24 9913 1416 70 66 1 3 17 40 3 1 59 60 6 2 39 66 4 2 61 69 2 2 72 84 3 3 32 82 3 3 24 99 13 141 6 70 134 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 90 4 3 56 884 3 48 99 13 141 6 60 159 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 904 3 56 88 4 3 48 99 13 141 6 60 246 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 90 4 3 56 88 4 3 48 99 13 141 6 60 415 1 3 88 526 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 141 6 55 592 1 3 88 52 6 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 1416 55 989 1 3 88 52 6 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 1416 55 1 526 1 3 88 52 6 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 141 6
8. 139 ELECTRICAL SPECIFICATIONS Insulation Resistance Dielectric Strength PARAMETER MIL PRF 12934 MIL PRF 39023 TEST PROCEDURES APPLY STANDARD SPECIAL Total Resistance Model 132 Wirewound 50 to 20KQ lo 35KQ Tolerance 509 and above 396 196 Below 502 596 396 Aa 1KQ to 50KQ olerance 10 5 Model 139 Cermet 5002 to 2MQ Tolerance 2096 5 Linearity Independent STANDARD BEST PRACTICAL Total Resistance 132 50 to 200 1 096 t 0 7596 200 to 2000 1 096 0 50 2000 and above 0 5 0 25 138 139 05 0 25 Noise 132 1000 ENR Output Smoothness 138 amp 139 0 1 maximum Power Rating 40 C Ambient Model 132 2 75 watts _2 watts Model 139 5 watts All Models derated to zero at 125 C Electrical Rotation MODEL 132 MODEL 139 Continuous 352 2 45 4 345 4 Stops 336 2 336 4 336 4 1000MQ minimum at 500VDC 1000 60Hz Absolute Minimum Resistance Minimum Voltage Temperature Coefficient of Resistance 132 1 0 of total resistance or 0 5Q whichever is greater 132 only 0 5 maximum Refer to standard resistance element data 100ppm C maximum MATERIAL SPECIFICATIONS ENVIRONMENTAL SPECIFICATIONS Housing Molded glass filled thermoplastic Vibration 15Gs thru 2000 Hz Shock 50g Rear Lid Glass filled thermoset plastic 5 48 Hours Shaft Stainless steel non magnetic rer bid iR Terminals Brass plated for solderability
9. EMF Constant Rotor Moment of Inertia Planetary Gearbox Gear Ratio Planetary Gearbox Efficiency IPO1 Cart Mass IPO2 Cart Mass IPO2 Cart Weight Mass Track Length Cart Travel Rack Pitch Motor Pinion Radius Motor Pinion Number of Teeth Position Pinion Radius Position Pinion Number of Teeth IPO2 Cart Encoder Resolution Document Number Value 6 0 50 1 0 628 3 2 6 0 18 0 00767 100 0 00767 3 90E 007 3 71 100 0 52 0 57 0 37 0 990 0 814 1 664 003 6 35 003 24 0 01482975 56 2 275 005 m count 501 Revision 5 0 Page 12 IP01 and IP02 User Manual Symbol Description Value IP02 Pendulum Encoder Resolution rad count IPO1 Inverted Pendulum Mechanical Range IPO1 Cart Potentiometer Sensitivity m V IPO1 Pendulum Potentiometer Sensitivity Table 7 IPO1 and IP02 System Paremeters Document Number 501 Revision 5 0 Page 13 IP01 and IP02 User Manual 5 Wiring Procedure For The IP01 And IP02 This section describes the standard wiring procedure for both IPO1 and IP02 The following hardware accompanying the IP01 or IP02 is assumed e Data Acquisition Board e Power Amplifier Quanser Q2 USB Q8 USB QPID Q3 ControlPAQ FW or equivalent Quanser VoltPAQ ControlPAQ FW equivalent 5 1 Cable Nomenclature Table 8 below provides a description of the standard cables used in the wiring of IP01 and IP02 Cable Figure 11 Amplifier Command Cable Figure 12
10. Model 132 500 000 Non passivated 2 million Mount Hardware Model 139 2 million Lockwasher Internal Tooth Steel nickel plated 55 C to 125 C Panel nut Brass nickel plated ORDERING INFORMATION The Models 132 138 and 139 can be ordered from this specification sheet by stating Example 139 0 0 203 139 0 0 203 MODEL MECHANICAL OPTIONS OTHER OPTIONAL RESISTANCE CODE FEATURES 132 138 or 139 0 Continuous 0 Standard End Taps 2 1st Significant digit 2 Stops 1 Center Tap Within 5 of Electrical Center 0 2nd significant digit 3 Number of Zero s Other characteristics will be standard as described on this specification sheet If special characteristics are required such as special linearity tolerance special resistance tolerance non linear functions etc please state these on your order Document Number 501 Revision 5 0 Page 28 IP01 and IP02 User Manual Appendix E IP02 Encoder Specification Sheet Optical Shaft Encoders Description Features The 1 and S2 series optical shaft encoders are non contacting rotary to digital converters Useful gt Small size for position feedback or manual interface the encoders convert real time shaft angle speed and Low cost direction into TTL compatible quadrature outputs with or without index The encoders utilize gt 2 channel quadrature TTL square wave outputs unbreakable mylar disk metal shaft and bushing LED light source and monolithi
11. Support Note that a support contract may be required to obtain 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 requested software version and hardware information and a descrip tion of the problem encountered Submit the form Be sure to include your email address and a telephone number where you can be reached A qualified technical support person will contact you Document Number 501 Revision 5 0 Page 24 IP01 and IP02 User Manual Appendix A DC Motor Specification PWN 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 Series 2338 Recommended values Sheet Nominal voltage Terminal resistance R 12 23 5 38 0 Output power P2 max 3 18 3 50 Efficiency N max 67 67 No load speed 12 7 400 7 600 No load current with shaft 0 12 in lo 50 0 030 0 025 Stall torque 2 32 2 49 Friction torque Mn 0 095 0 102 Speed constant kn 428 330 Back EMF constant ke 2 340 3 030 Torque constant km 3 158 4 107 Current constant ki 0 317 0 244 Slope of n M curve An AM 3 190 3 052 Rotor inductance L 1 400 2 600 Mechanical time constant Tm 17 17 Rotor inertia J 5 098 10 5 381 10 Angular acceleration max 46 47 Thermal resistance Rint Rih Thermal time constant Tw2 Operating temperature range motor
12. in itself is a module and can be mounted on or remove from the cart Document Number 501 Revision 5 0 Page 1 IP01 and IP02 User Manual Furthermore in order to run the self erecting experiment the supplied extra mass needs to be attached to the cart so that the swinging inertia of the pendulum does not lift the cart off the track Figure 1 IPO1 System Figure 2 IP02 System Document Number 501 Revision 5 0 Page 2 IP01 and IP02 User Manual 2 Module Options List of Experiments Based on the IP02 Servo Plant Quanser values itself for the modularity of its experiments This modular philosophy facilit ates the change from one experimental setup to another with relative ease of work 2 1 Linear Family Package The IPO2 linear plant module serves as the base component for the linear family of experi ments also known as the Linear Family Package The Linear Family is a package that has all the modules required to configure 7 completely different challenges based on the IP02 thus maximizing the return on your investment Table 1 below provides a list of the modules members of the Linear Family Package Each one of them individually or in combination expands the range of possible experiments based on the IP02 linear motion servo plant Module Name Experiment Description N A Design of a control system to manipulate the position of the IPO1 or IP02 cart N A Design of two different control syste
13. socket represented as com ponent 21 is also available in Figure 6 Once the 6 pin mini DIN socket is connected to a power amplifier e g Quanser VoltPAQ ControlPAQ FW the potentiometer signals are typically available on S7 and S2 where S1 and S2 are respectively the voltages propor tional to the IPOI cart position and pendulum angle K15 BLACK ORANGE BLUE 7K15 ELP POTP BLCK 10K GREEN ELP SCKT MDIN 6 ELP PLITP YLL W 10K Figure 9 IP01 Wiring of the Two Potentiometers As a remark it should be noted that a potentiometer measures an absolute position signal However the zero position can be modified by manually adjusting the potentiometer neut ral mounting position Document Number 501 Revision 5 0 Page 10 IP01 and IP02 User Manual 3 2 5 IP02 Encoders Components 8 and 9 3 2 5 1 Description On the IP02 both cart and pendulum positions are measured with two optical encoders rep resented in Figure 3 by components 8 and 9 respectively Having an encoder as opposed to a potentiometer sensing the pendulum angular position no longer constrains the range of motion of the pendulum to the inverted position Therefore self erecting inverted pendulum experiments become possible The encoder measuring the IP02 cart linear position does so through a rack pinion system Both encoders are typically identical The encoder model used
14. to Analog Input 0 S2 to Analog Input 1 S3 to Analog Input 2 and S4 to Analog Input 3 as illustrated by cable 3 in Figure 16 above 4 Connect the From Analog Sensors Cable The From Analog Sensors cable is the 6 pin mini DIN to 6 pin mini DIN cable described in Table 8 and shown in Figure 14 First connect one end of the cable to IPO1 S1 amp S2 Connector which is shown as component 21 in Figure 6 Then connect its other end to the amplifier socket labelled S1 amp S2 which is contained inside the amplifier From Analog Sensors front panel The connection to the amplifier is illustrated by cable 4 in Figure 16 above 5 2 3 Connections Specific to the IP02 In the case of the IP02 the two encoders have to be connected To do so follow the two Document Number 501 Revision 5 0 Page 17 IP01 IP02 User Manual steps described below 5 Connect the Cart Position Encoder Cable The Encoder cable is the 5 pin stereo DIN to 5 pin stereo DIN cable described in Table 8 and shown in Figure 13 First connect one end of the cable to the IP02 Cart Encoder Connector which is shown as component 10 in Figure 3 Then connect the other cable end to the Encoder Input 0 on your DAQ Terminal Board as illustrated by cable 5 in Figure 16 above 6 Connect the Pendulum Angle Encoder Cable The Encoder cable is the 5 pin stereo DIN to 5 pin stereo DIN cable described in Table 8 and shown in Figure 13 First conn
15. 34 1 1 103 As illus trated by its wiring diagram in Figure 9 the IPO1 cart potentiometer is connected to a 12 Volt DC power supply through two bias resistors of 7 15 kU each According to the wiring diagram Figure 9 and under normal operations potentiometer terminal 1 should measure 5VDC while terminal 3 should measure 5VDC The actual position voltage is available at terminal 2 The total output range of the cart position potentiometer results to be 5V over Document Number 501 Revision 5 0 Page 9 IP01 and IP02 User Manual its 10 complete turns i e 3600 degrees The main specifications of the IPO1 cart poten tiometer are included in Appendix C on page 27 Regarding the inverted pendulum poten tiometer it is a Vishay Spectrol model 138 0 0 103 It is represented in Figure 6 by com ponent 19 Its wiring diagram is also depicted in Figure 9 No bias resistor is used On the IPO1 the inverted pendulum is mechanically constrained to the upright position and limited to a 32 deviation from the vertical during which the pendulum potentiometer output is within approximately 5 volt range The main specifications of the IPO1 pendulum poten tiometer are included in Appendix D on page 28 Refer to Table 7 on page 13 for the res ulting potentiometer sensitivities 3 2 4 2 Wiring Both IP01 potentiometers are wired to one 6 pin mini DIN socket as seen in the wiring schematic in Figure 9 A picture of the same 6 pin mini DIN
16. A NN 10 3 2 5 IP02 Encoders Components 8 and 9 tede is 11 35 5 ly Description ede costae es ace emban bald 11 3 11 4 TROL and IP02 Model Para Meteran ERA BN 12 5 Wiring Procedure For The IP01 And IPOL tacite ta er io rete cue ea bots 14 14 5 2 Typical Connections for the IPOTIIPDA BEN 16 5 2 1 Connections Common to both and IP02 sse 16 5 2 2 Connections Specific to the IPOT ia eva eere eere t 17 5 2 3 Connections Specific to the 1 02 nre rmt eta da ama 17 5 3 Typical Connections for the IPO1 IPO2 when using the Quanser ControlPAQ FW A E Het D REED TN 19 5 3 1 Connections Common to both IPO And IPO2 o coooooo 20 5 3 2 Connections Specific to the LPO ce e ossi INA ios 20 5 3 3 Connections Specific to 20 6 Desung and deci da tod bad a edm E eu aa p td ae edd 21 6 1 TheIPOlT or IPO DC Moto memanen aan ANN ANA 21 RN NN ESSI TS 2 D 1 2 Troubleshooting used ueni Recto ay nae ea aan Ban ka Rania 22 Document Number 501 Revision 5 0 Page i IP01 and IP02 User Manual 6 2 The TPOT Potentiometers icini a ade ao ates AME 22 oA TVS o ae doom abet t dtc 22 23 63 The TPOZ Btn Er
17. Command on the power amplifier This connection is illustrated by cable 1 in Figure 16 2 Connect the To Load Cable The To Load cable is the 4 pin DIN to 6 pin DIN cable described in Table 8 and shown in Figure 12 First connect the cable 4 pin DIN connector to the IPO1 or IP02 motor connector which is shown as component 12 in Figure 6 for the IPOI or Figure 3 for the IP02 Then connect the cable 6 pin DIN connector to the amplifier socket labelled To Load The connection to the power amplifier is illustrated by cable 2 in Figure Figure 16 above 5 2 2 Connections Specific to the IP01 In the case of the IPOI the two potentiometers have to be connected To do so follow the two steps described below 3 Connect the To Analog To Digital Cable The To Analog To Digital cable is the 5 pin DIN to AxRCA cable described in Table 8 and shown in Figure 15 First connect the cable 5 pin DIN connector to the amplifier socket labelled To ADCC as illustrated by cable 3 in Figure 16 above The other end of the cable is split into four RCA connectors each one labelled with a single digit ranging from one to four This numbering corresponds to the four possible analog sensor signals passing through the amplifier namely S1 2 S3 and S4 In order for the analog signals to be used in software you should then connect all four RCA connectors to the first four analog input channels of your Terminal Board Specifically connect S1
18. DIN cable described in Table 8 and shown in Figure 14 Connect of the cable from the IP01 S1 amp S2 Connector shown as component 21 in Figure 6 to the ANALOG IN socket on the front panel of the Q3 The connection to the is illustrated by cable 2 in Figure 17 above 5 3 3 Connections Specific to the IP02 In the case of the IP02 the two encoders have to be connected To do so follow the two steps described below 3 Connect the Cart Position Encoder Cable The Encoder cable is the 5 pin stereo DIN to 5 pin stereo DIN cable described in Table 8 and shown in Figure 13 First connect one end of the cable to the IP02 Cart Encoder Connector which is shown as component 10 in Figure 3 Then connect the other cable end to the ENCODERS 0 socket on your Q3 as illustrated by cable 3 in Figure 17 above 4 Connect the Pendulum Angle Encoder Cable The Encoder cable is the 5 pin stereo DIN to 5 pin stereo DIN cable described in Table 8 and shown in Figure 13 First connect one end of the cable to the IP02 Pendulum Encoder Connector which is shown as component 11 in Figure 3 Then connect the other cable end to the ENCODERS 1 on your Q3 device as Document Number 501 Revision 5 0 Page 20 IP01 IP02 User Manual shown by cable 4 in Figure 17 above Cable From Signal Q3 Motors 0 IPO1 2 Motor Power leads to IPO1 2 DC motor connector connector Analog In IP01 S1 amp S2 IPO1 c
19. Inverted Design of a control system to balance a flexible inverted Pendulum pendulum FLEXPEN Linear Flexible Joint Cart Design of a control system to manipulate the position of a LFJC spring driven cart Single Linear Flexible Joint Design of a control system to balance a pendulum on a with Inverted Pendulum spring driven cart SLFJ with IP Seesaw Design of a control system to balance a seesaw using a sliding powered mass SLFJ on Seesaw Design of a control system to balance a seesaw using a flexible structure mounted atop of it Active Mass Damper 1 Design of a control system to dampen the vibrations in a Floor AMD building like structure Table 2 IPO1 and IP02 Based List of Modules 2 3 Module Options Specific to the IP02 Table 3 below provides list of the modules only compatible with the IPO2 linear motion servo plants Some of them are part ofthe Linear Family Package Document Number 501 Revision 5 0 Page 4 IP01 and IP02 User Manual Module Name Experiment Description Single Pendulum Gantry Design of a control system to track a desired cart position SPG while minimizing the swing of the linear suspended pendulum Self Erecting Single Inverted Design of a control system to swing up the pendulum Pendulum keep it upright and maintain the cart position SESIP Double Inverted Pendulum Design of a control system to balance a double inverted DBIP pendulum on a linear motion cart Table 3 I
20. Linear Motion Servo Plants IP01 or IP02 Sonn ES F4 ED DJ COAT IP01 and IPO2 User Manual IP01 and IP02 User Manual Table of Contents 1s TEOT and POP PresentaliQfis EN 1 Description x uec net RONDA Rae a pei m deii e men Nu 1 1 2 IPO Inverted Pendulum Particularities lin 1 1 3 IP02 Self Erecting Inverted Pendulum Particularities eee 1 2 Module Options List of Experiments Based on the IP02 Servo Plant 3 21 Linear Family Package ride aon Banana 3 2 2 Module Options for either POT or 4 2 3 Module Options Specific to the os soe ee Bee oue usa 4 2 4 Two Cart i e MIMO Systems with either IPO or 02 5 3 IPOT and IP02 Component 1 6 3 1 Component TNorene IStBfe an 6 3 2 Component Des eriptlOnss oce SNN rax d IRR SN eren RAT 8 3 2 1 Rack Components 8 3 22 DC Motor Component 13 iier rri ecd seenak 8 5 2 2 A DGS CH POU cot ined ne ete cen aaa te ove ol edet ba va ve OR PR una 8 3 212 9 WV WUT cones ds Uter Dee uM dM EU Ui tc fd 9 3 2 3 Planetary Gearbox Component 14 sse 9 3 2 4 IPO1 Potentiometers Components 18 and 19 sss 9 DoD Ard Descriptions 9 SA Sen A
21. P0O2 Based Modules 2 4 Two Cart i e MIMO Systems with either IP01 or IP02 Table 4 below lists some of the possible combinations of the previous modules to configure Multi Input Multi Ouput MIMO experiments based on either the IPO1 or IP02 Module Name Experiment Description Seesaw Inverted Pendulum Design of a control system to balance an inverted pendulum on top of a seesaw Active Mass Damper 2 Design of a control system to dampen the vibrations in a Floors AMD 2 building like structure using a MIMO approach Table 4 IP01 or IPO2 Based MIMO Experiments Document Number 501 Revision 5 0 Page 5 IP01 and IP02 User Manual 3 IP01 and IP02 Component Description 3 1 Component Nomenclature As a quick nomenclature Table 5 below provides a list of all the principal elements composing the IPO1 and IP02 systems Every element is located and identified through a unique identification ID number on the IP01 and or IP02 systems represented in Figures 3 4 5 and 6 below as well as Figures 7 and 8 Description Description IP02 Cart 2 Stainless Steel Shaft Rack 4 Cart Position Pinion Cart Motor Pinion 6 Cart Motor Pinion Shaft Pendulum Axis 8 IP02 Cart Encoder IP02 Pendulum Encoder IPO2 Cart Encoder Connector IP02 Pendulum Encoder Connector Motor Connector DC Motor Planetary Gearbox Linear Bearing Pendulum Socket IPO2 Weight IPO1 Cart Potentiometer IPO1 Pendulum Potentiometer IPO1 Cart S1 a
22. art S1 AI 0 and pendulum connector connector S2 AI 1 potentiometer measurements Encoders 0 IP02 Cart encoder IP02 cart position measurement connector connector Encoders 1 1 02 Pendulum IP02 pendulum shaft angle connector encoder connector measurement Table 10 IPO1 2 system wiring summary when using 6 Testing and Troubleshooting The present section and following subsections describe some basic functional tests to de termine if your IPO1 or IP02 is operating normally It is assumed that the IPO1 or IP02 have been entirely connected as described in Section Wiring Procedure For The IPO1 And IPO2 above To carry out these tests it is preferable if the user can use a software such as QUARC or LabVIEW to read sensor measurements and feed voltages to the motor See the manual entitled P01 2 Integration with QUARC to learn how to interface the IP01 or IP02 with QUARC Alternatively these tests can be performed with a signal generator and an os cilloscope 6 1 The IP01 or IP02 DC Motor 6 1 1 Testing Ensure the IPO1 2 motor is operating correctly by going through this procedure 1 Apply a small voltage e g around 1V to analog output channel 0 of the terminal board using for example the QUARC software 2 A positive voltage should result in a motion of the cart to the right when facing the IPO1 or IP02 i e when facing the position and motor pinions in front of the cart with th
23. c electronics They gt 3rd channel index option may operate from a single 5VDC supply gt Tracks from 0 to 100 000 cycles sec Ball bearing option tracks to 10 000 RPM The S1 and S2 encoders are available with ball bearings for motion control applications or torque gt 40 to 100 C operating temperature loaded to feel like a potentiometer for front panel manual interface gt Single 5V supply US Digital warrants its products against defects and Electrical Specifications workmanship for two years See complete warranty B leads A for clockwise shaft rotation A leads B for counter clockwise shaft rotation viewed from for details the shaft bushing side of the encoder For complete details see our HEDS data sheet Mechanical Specifications 27 3 8 32 Star Washer 26 x thread if 2499 0000 3 8 32 thread T 2499 0005 50 81 025 x 025 square pins 025 x 025 square pins 26 80 Mates with CON C5 Mates with CON C5 50 Mechanical Notes ball bearing Mechanical Notes sleeve bushing Materials amp Mounting Acceleration 10 000 rad sec Acceleration 10 000 rad sec Shaft Brass or stainless Vibration 20 g 5 to 2KHz Vibration 20 g 5 to 2KHz Bushing Brass Shaft Speed 10 000 RPM max continuous Shaft Speed 100 RPM max continuous Connector Gold plated Acceleration 50K rad sec Shaft Rotation Continuous amp reversible Hole Diameter 0 375 in 0 005 0 10K rad sec S2 series
24. chanical Power Rating 70 C Additional Sections 75 of section 1 1000MQ minimum 500VDC 1000Vams minimum 60Hz Insulation Resistance Dielectric Strength Absolute Minimum Resistance Tempco Not to exceed linearity x total resistance or 10 whichever is greater 20ppm C standard values wire only End Voltage Phasing Taps 0 25 of total applied voltage maximum CCW end points section 2 phased to section 1 within 2 Center tap only RESISTANCE VALUES Unit Manufacturer s name and model number 50R 100R 200R 500R 1K 2K 5K 10K 20K 100R 2008 500R 1K 2K 5K 10K 20K 50K 100K 50R 100R 200R 500R 1K 2K 5K 10K 20K 50K Identification resistance value and tolerance linearity specification date code and terminal identification 535 ORDERING INFORMATION The Models 533 3 turn 534 10 tur and 535 5 turn can be ordered by stating 534 1 2 XXX MODEL MOUNTING NUMBER OF SECTIONS RESISTANCE EIA CODE SECTION N 1 Bushing consult factory 2 Servo Document Number 501 Revision 5 0 Page 27 IP01 and IP02 User Manual Appendix D IP01 Pendulum Potentiometer Specification Sheet 1 5 16 33 3mm Low Cost Industrial Single Turn Wirewound Conductive Plastic Cermet FEATURES Choice of Three Elements for Broad Resistance Range Center Tap Available Continuous Rotation amp Mechanical Stops Both Standard High Power Rating
25. e cables connected to the back of the cart Likewise a negative voltage should result in a motion of the cart to the left part of the track when facing the IPO1 or IP02 Document Number 501 Revision 5 0 Page 21 IP01 and IP02 User Manual 6 1 2 Troubleshooting If the motor is not responding to any signals applied you should Verify that the power amplifier is functional For example when using the Guanser VoltPAO device is the green LED lit Check that the data acguisition board is functional e g the green LED on the Quanser Q2 USB Q8 USB or QPID terminal board should be bright green The DAO board fuse may be burnt and need replacement Make sure the voltage is actually reaching the motor terminals use a voltmeter or oscilloscope If the motor terminals are receiving the signal and the motor is still not turning your motor might be damaged and will need to be repaired Please refer to Section Obtaining Support on page 24 for information on contacting Quanser for technical support 6 2 The IPO1 Potentiometers 6 2 1 Testing Assuming that all the connections in relation to the IP01 have been made as described in Section Wiring Procedure For The IP01 And IP02 on page 14 you should be able to measure and monitor the two IPO1 potentiometer signals i e S1 and S2 Using a program such as QUARC the two potentiometer voltages can be traced on scopes and or displayed on digital meters On the DAQ board the cart posi
26. e correctly you should e Verify that the power amplifier is functional For example when using the Quanser VoltPAO device is the green LED lit Recall that the analog sensor signal goes through the amplifier before going to the data acquisition device Therefore the amplifier needs to be turned on to read the potentiometer Check that the data acquisition board is functional e g the green LED on the Quanser Q2 USB Q8 USB or QPID terminal board should be bright green If not then the DAC board fuse may be burnt and need replacement The power to the amplifier needs to be switched on in order for it to supply both potentiometers with 12VDC Ensure that the potentiometer is powered with 12VDC at the 6 pin mini DIN connector as shown in Figure 9 You should observe 5VDC at the cart position potentiometer terminals and 12VDC at the pendulum potentiometer terminals Moreover if the voltage from the wiper does not change when you rotate the potentiometer shaft measuring with for example a voltmeter or an oscilloscope your potentiometer may need to be replaced To obtain technical assistance please refer to Section Obtaining Support on page 24 for information on contacting Quanser 6 3 The IPO2 Encoders 6 3 1 Testing Assuming that all the connections in relation to the IP02 have been made as described in Section Wiring Procedure For The IP01 And IP02 on page 14 you should be able to measure and monitor the two IP02 encoder signal
27. ect one end of the cable to the IP02 Pendulum Encoder Connector which is shown as component 11 in Figure 3 Then connect the other cable end to the Encoder Input 1 on your DAQ Terminal Board as shown by cable 6 in Figure 16 above CAUTION Any encoder should be directly connected to the data acquisition terminal board using a standard 5 pin DIN cable DO NOT connect the encoder cable to the amplifier Cable From Signal Terminal Board Amplifier Amplifier Control signal to the amplifier Analog Output Command connector 0 Amplifier IPO1 2 Motor Power leads to IPO1 2 DC motor Load connector connector Amplifier To Terminal Board Carries the analog signals connected ADC connector SI to Analog Input 0 to the 51 amp S2 S3 and S4 connectors S2 to Analog Input 1 on the amplifier to the data S3 to Analog Input 2 acguisition board S4 to Analog Input 3 Amplifier S1 amp 1 1 S1 amp S2 IPO1 cart S1 AI 0 and pendulum S2 connector connector S2 AI 1 potentiometer measurements Terminal Board IP02 Cart encoder IP02 cart position measurement Encoder Input connector 0 Document Number 501 Revision 5 0 Page 18 IP01 and IP02 User Manual Cable From Signal Terminal Board IP02 Pendulum IP02 pendulum shaft angle Encoder Input encoder connector measurement 1 Table 9 IPO1_2 system wiring summary when using amplifier 5 3 Typical Connections for the IPO1 IPO2 when us
28. in the IP02 is a US Digital S1 single ended optical shaft encoder It offers a high resolution of 4096 counts per revolution i e 1024 lines per revolution with two channels in quadrature The complete specification sheet of the S1 optical shaft encoder is included in Appendix E An incremental encoder gives a relative position signal 3 2 5 2 Wiring The position signal generated by the encoder should be directly connected to a Quanser ter minal board a k a I O card using a standard 5 pin DIN cable DO NOT connect the en coder signal to the amplifier The internal wiring diagram of the IP02 encoder is depicted in Figure 10 The standard 5 pin DIN connector shown in Figure 10 is also pictured as component 10 or 11 in Figure 3 ELP CON ENCODER ELP SCKT RDIN 3 18l ELP ENC USD E e 1024 Figure 10 IP02 Encoder Wiring Document Number 501 Revision 5 0 Page 11 IP01 IP02 User Manual 4 IP01 and IP02 Model Parameters Table 7 below lists and characterizes the main parameters e g mechanical and electrical specifications convertion factors associated with the IPO1 and IP02 Some of these parameters can be used for mathematical modelling of the IP01 and IP02 systems Symbol Description Motor Nominal Input Voltage Motor Input Voltage Maximum Frequency Maximum input current Maximum motor speed Motor Armature Resistance Motor Armature Inductance Motor Torque Constant Motor Efficiency Back ElectroMotive Force
29. ing the Quanser Q3 ControIPAQ FW The connections needed on the ControlPAQ FW device when using the IP01 are shown in Figure 17 below The connection procedure is discussed below and summarized in Table 10 ControlPAQ FW Digital IN Encoders Analog In Digital OUT Motors d 3 M Motor Pendulum Cart 1 amp 2 Encoder Encoder 1 IPO1 2 Figure 17 Connections between IPO1 2 and Quanser Q3 ControlPAQ FW Document Number 501 Revision 5 0 Page 19 IP01 and IP02 User Manual 5 3 1 Connections Common to both IP01 And IP02 As both IP01 and IP02 share the same DC motor the power connections for both IP01 and IP02 are identical These connections are described below 1 Connect the To Load Cable The To Load cable is the 4 pin DIN to 6 pin DIN cable described in Table 8 and shown in Figure 12 First connect the cable 4 pin DIN connector to the IPO1 or IPO2 motor connector which is shown as component 12 in Figure 6 for the IPOI or Figure 3 for the IP02 Then connect the cable 6 pin DIN connector to the socket labelled MOTORS 0 The connection to the Q3 is illustrated by cable 1 in Figure 17 above 5 3 2 Connections Specific to the IP01 In the case of the IP01 the two potentiometers have to be connected To do so follow the two steps described below 2 Connect the From Analog Sensors Cable The From Analog Sensors cable is the 6 pin mini DIN to 6 pin mini
30. mp S2 Connector Rack End Plate Rack Set Screw 7 64 Track Discontinuity Table 5 IP01 and IP02 Component Nomenclature Document Number 501 Revision 5 0 Page 6 IP01 and IP02 User Manual Figure 5 IP02 with Weight Front View Figure 6 IP01 Front View Document Number 501 Revision 5 0 Page 7 IP01 and IP02 User Manual 3 2 Component Description 3 2 1 Rack Component 3 Table 6 below lists and characterizes the overall dimensions of the rack used in the IPOI and IP02 systems Description Value Overall Rack Length 1 02 Overall Rack Height 6 10E 002 Overall Rack Depth 0 15 Table 6 IP01 and IP02 Rack Overall Dimensions Moreover as illustrated in Figures 7 and 8 below parts of the track are missing feature or component 24 at both ends of the IP01 or IP02 rack This feature plays the role of a hardware safety watchdog in preventing the IP01 or IP02 cart from running into one of the track s ends which could potentially be damaging 23 23 23 Figure 7 Rack Left End Figure 8 Rack Right End 3 2 2 DC Motor Component 13 3 2 2 1 Description The IPO1 and IP02 incorporate a Faulhaber Coreless DC Motor 23385006 as shown in Figures 4 and 5 component 13 on page 7 This model is a high efficiency low induct ance motor resulting in a much faster response than a conventional DC motor The com plete specification sheet of the motor is included in Appendix A Document Numbe
31. ms to manipulate the speed of the IPO1 or IPO2 cart Single Inverted Pendulum Design of a control system that keeps the classical inverted SIP pendulum balanced and tracks the cart to a commanded position Single Pendulum Gantry Design of a control system to track a desired cart linear SPG position while minimizing the swing of the suspended pendulum Self Erecting Single Design of a control system to swing up the pendulum keep Inverted Pendulum it upright and maintain the cart position SESIP Single Linear Flexible Joint Design of a control system to manipulate the position of a SLFJ spring driven cart Seesaw Design of a control system to balance a seesaw using a sliding powered mass Document Number 501 Revision 5 0 Page 3 IP01 and IP02 User Manual Module Name Experiment Description Seesaw with SLFJ Design of a control system to balance a seesaw using a flexible structure mounted atop of it Table 1 Modules of the Linear Family Package 2 2 Module Options for either IP01 or IP02 Table 2 below provides a list of all the modules compatible with the IPO1 and IP02 linear motion servo plants These modules can be used individually or in combination Some of them are part of the Linear Family Package Module Name Experiment Description Single Inverted Pendulum Design of a control system that keeps the classical inverted SIP pendulum balanced and tracks the cart to a commanded position Flexible
32. of the the cart position is sensed via a ten turn potentiometer The IPOI cart is also equipped with a rotary joint with ball bearings to which a free turning erected rod can be attached This rod functions as an inverted pendulum in subsequent experiments The angle of the rod is sensed using a conductive plastic potentiometer However the IPO1 pendulum cannot suspend in front of the cart Should you wish to deploy the pendulum to conduct a full 360 degree rotation the IP02 should be utilized instead 1 3 IP02 Self Erecting Inverted Pendulum Particularities A typical IP02 is depicted in Figure 2 below The IP02 pendulum can suspend in front of the cart to perform self erecting and gantry experiments Consistently the IP02 system has encoders as opposed to potentiometers as in the IP01 to allow for multiple turns The IP02 cart position is sensed via an quadrature incremental encoder whose shaft meshes with the track via an additional pinion The 1 02 15 also equipped with a rotary joint to which a free swinging rod can be attached and suspends in front of the cart This rod functions in subsequent experiments as an inverted pendulum but more precisely as a self erecting inverted pendulum as well as a regular inverted pendulum The angle of the rod inclination about the vertical axis is also measured using a quadrature incremental encoder and is therefore unlimited and continuous over the entire range of motion The pendulum
33. r 501 Revision 5 0 Page 8 IP01 and IP02 User Manual CAUTION High Frequency signals applied to a motor will eventually damage the gearbox and or the motor brushes The most likely source for high frequency noise is derivative feedback If the derivative gain is too high a noisy voltage will be fed into the motor To protect your motor you should always band limit your signal especially derivative feedback to a value of 50Hz AN CAUTION Input 15 3A peak 1A continuous AN CAUTION Exposed moving parts 3 2 2 2 Wiring The supplied motor cable is designed to connect from a Quanser Universal Power Module to a 4 pin DIN connector shown as component 12 in Figures 3 4 and 6 on page 7 3 2 3 Planetary Gearbox Component 14 In the IP01 and IP02 the DC motor is coupled to a Faulhaber Planetary Gearhead Series 23 1 as shown in Figures 4 and 5 component 14 on page 7 Its reduction ratio is 3 71 1 The complete specification sheet of the planetary gearbox is included in Appendix B 3 2 4 IP01 Potentiometers Components 18 and 19 3 2 4 1 Description The main difference between the IP01 and the IP02 is that the IP01 makes use of two poten tiometers to sense both cart and pendulum positions as opposed to the IP02 which uses two encoders instead As depicted in Figure 6 by component 18 on page 7 the IPO1 cart position is sensed by a 10 turn black potentiometer namely the Vishay Spectrol model 5
34. s For example with QUARC the two encoder counters can be read by the Encoder Input block and displayed in scopes and or digital meters The cart encoder signal is available on the encoder input channel 0 and the pendulum encoder signal on the encoder input channel 1 1 Moving the IP02 cart when facing it to the right side of the track should result in a positive change i e increase in the cart position encoder counts which should increase at a rate of 4096 counts per revolution of the position pinion Likewise moving the 02 cart when facing it towards the left side of the track should result in a negative change in the cart position i e decrease in the cart position encoder counts which should decrease at a rate of 4096 counts per revolution of the Document Number 501 Revision 5 0 Page 23 IP01 and IP02 User Manual position pinion Combining this with the observations made in Section The 1 or IPO2 DC Motor on page 21 it is seen that a positive motor voltage results in increasing cart position encoder counts and vice versa 2 Similarly rotating the IPO2 free falling pendulum or pendulum socket counter clockwise CCW when facing the cart should result in a positive change in the pendulum encoder counts which should increase at a rate of 4096 counts per pendulum revolution Likewise rotating the free falling pendulum clockwise CW when facing the cart should result in a negative change in the pendul
35. tion potentiometer voltage 1 e S1 is available on the analog input channel 0 and the pendulum angle potentiometer voltage 1 e 2 on the analog input channel 1 Test the IPO1 2 potentiometers with the following procedure l Measure analog input channel 0 Pushing manually the IPO1 cart to the right side of the track when facing it should result in a positive change in the cart position potentiometer voltage which should gradually increase up to 5V Likewise pushing the IP01 cart towards the left side of the track when facing it should result in a negative change in the cart position potentiometer voltage which should gradually decrease down to 5V Combining this with the observations made in Section The IP01 or IP02 DC Motor on page 21 it is seen that a positive motor voltage results in an increasing cart position potentiometer voltage and vice versa Measure analog input channel 1 Manually rotating the inverted pendulum or pendulum socket clockwise CW when facing the cart should result in a positive change in the pendulum potentiometer voltage gradually increasing to 2 5 Likewise rotating the inverted pendulum counter clockwise CCW when facing Document Number 501 Revision 5 0 Page 22 IP01 and IP02 User Manual the cart should result in a negative change in the pendulum potentiometer voltage gradually decreasing to 2 5V 6 2 2 Troubleshooting If one of the potentiometers does not measur
36. um encoder counts which should decrease at a rate of 4096 counts per pendulum revolution Notes Some data acquisition systems do not measure in quadrature in which case you will receive a quarter of the expected counts resulting to a lesser resolution Other data acquisi tion systems do measure in quadrature but increment the count by 0 25 as opposed to hav ing integer number of counts Therefore you should know how the system you are using operates All Quanser counters measure a total of four times the number of encoder lines per rotation Therefore a 1024 line encoder results in 4096 integer number of counts for every full revolution 6 3 2 Troubleshooting If one of the encoders does not measure correctly you should e Check that the data acquisition board is functional e g the LED on the Quanser Q2 USB Q8 USB and QPID terminal boards should be bright green If not then the terminal board or DAC board fuses may be burnt and need replacement e Check that both the A and B channels from the encoder are properly generated and fed to the data acquisition device Using an oscilloscope there should be two square waves signals A and B with a phase shift of 90 degrees If this is not observed then the encoder may be damaged and need to be replaced If you believe that your encoder is damaged and need to be replaced refer to Section Obtaining Support below for information on contacting Quanser for technical support 7 Obtaining
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