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2DOF Ball Balancer Product Information

Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

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Saqib Khattak
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295 views2 pages

2DOF Ball Balancer Product Information

Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

Uploaded by

Saqib Khattak
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ROTARY CONTROL CHALLENGE

2x SRV02 + 2DBB = 2DOF Ball Balancer Experiment


Description The 2DOF Ball Balancer (2DBB) system allows users to explore various control techniques to stabilize the position of a ball on a plate. The center of the plate is supported by a main gimble joint that allows the plate to move in two-degrees-offreedom (2 DOF). The overhead digital camera captures
IIDC 1394-based Digital Camera v 1.31

Product Information Sheet R14 - 1

images of the plate and is used with the supplied Quanser image processing blocks to obtain the x and y positions of the ball. Images are transferred quickly to the PC via a FireWire connection. The plate is also connected through gimbals to the load gear of two SRV02 units in order to control the angular position of the plate about the x and y axes. With the controller provided, the ball can be made to track various trajectories, e.g. circle, or even stabilize the ball when it is thrown onto the plate.

Key Features Fully compatible with MATLAB/Simulink & LabVIEW Chassis is precision crafted and constructed of durable ABS plastic. High-resolution encoders for accurate sensing and positioning of table plate in 2D plane High resolution, high quality, fast frame rate CCD digital camera with FireWire connection to allow quick real-time sensing of object position in 2D plane Quanser image processing software and library for use in The Mathworks Simulink User manual details the hardware specifications of the device along with setup information. Laboratory manual features modeling, sensor calibration, and control design exercises. System is open architecture, allowing users to design their own controller.

Curriculum Topics Position Control Disturbance Rejection Tracking Control & Regulation PID Controller Design Multiple Control Loops Lead / Lag Compensation State Feedback System Modeling & Simulation Root Locus Design Nyquist Stability Real-Time Control Discrete Time Sampling System Identification Multivariable Control Design

Range of Quanser SRV02 Challenges

The SRV02 series serve as the base of Quansers Rotary Control Challenges. Quansers modular design approach allows you to readily interchange additional modules, transforming the SRV02 into a multitude of different configurations.
SISO Configurations (Single Input, Single Output) SRV02: Position Control SRV02-T: Position Control BB01: Ball & Beam ROTFLEX: Rotary Flexible Joint FLEXGAGE: Rotary Flexible Link ROTPEN: Rotary Gantry ROTPEN: Rotary Inverted Pendulum ROTPEN-SE: Rotary Self-Erecting Inverted Pendulum DBPEN: Double Inverted Pendulum MIMO Configurations (Multiple Input, Multiple Output) 2D ROBOT: 2 SRV02 Modules Coupled together to control 2 axis. 2D GANTRY: Use the 2D ROBOT to Control the position of the gantry in 2 planes. 2D PENDULUM: Control the Inverted Pendulum with 2 degrees of freedom. 2D Ball Balancer: Control the position of the ball on a plate moving with 2 DOF
Some configurations require specific SRV02 model, please confirm at time of order.

With Quanser the possibilities are infinite

+1 (905) 940-3575

w w w. q u a n s e r. c o m

ROTARY CONTROL CHALLENGE


2x SRV02 + 2DBB = 2DOF Ball Balancer Experiment
SRV02 Model Range
Product Information Sheet R14 - 2

All SRV02 models are supplied with additional gears to configure the required ratio as well as an extra set of external loads to vary the inertia. The following models are available:
Model SRV02 SRV02-E SRV02-EHR SRV02-ET SRV02-ETS Description Standard Servo plant. Instrumented with a continuous turn potentiometer to measure output/load angular position. Same as the SRV02 with an optical encoder measuring the output shaft position. Same as the SRV02 model equipped with a high resolution optical encoder to acquire high precision position data. Same as the SRV02-E with a tachometer attached to measure the speed of the motor. Same as the SRV02-ET but with a slip-ring mounted to the load gear allowing a continuous 360 motion.

Typical Response

The following plots demonstrate typical ball position step response of the system when using a PID controller.

Figure 2 : Ball position step response shown in x-y plane Figure 1: Ball position step response shown for x- and y-axis separately

System Requirements

The 2D Ball Balancer system requires the following components to complete the experimental setup: Component Power Module Control Hardware Control Software Quanser Recommended
(Common Configuration)

Alternative Alternate Power Amplifier (Minimum requirements: +/- 12V, 3A) dSPACE DS1104** National Instruments E- or M-Series DAQs** The Mathworks xPC dSPACE ControlDesk National Instruments LabVIEW

Quanser UPM 1503/2405 Quanser Q4, Q8 Series Quanser Q3 ControlPaQ-FW* Quanser QuaRC

* configuration with Q3 ControlPaQ-FW amplifier-on-board control unit does not require UPM power module ** Quanser offers interface boards for NI E- and M- series & dSPACE DS1104 boards.

System Specifications

Specification Calibrated Base Dimensions (w x d x h) Camera support height Table length Lever arm length Support arm length Camera specification Camera Standard Resolution Camera frame rate (at full resolution, Y8 format) Camera pixel format

Value 41.75 x 41.75 69.5 27.5 9.7 14.6 IIDC 1394-based Digital Camera v 1.31 640x480 30 Y8 in BGR format

Units cm2 cm cm cm cm

FPS

With Quanser the possibilities are infinite

+1 (905) 940-3575

w w w. q u a n s e r. c o m

Products and/or services referred to herein are trademarks or registered trademarks of Quanser Inc. and/or its affiliates. Other product and company names mentioned herein are trademarks or registered trademarks of their respective owners. 2008 Quanser Inc. All rights reserved. Specifications are subject to change without notice. Errors and omissions excepted.

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