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Quanser Engineering Trainer for NI

1. Document Number 850 Revision 1 11 Page 2 QNET User Manual Figure 7 Setting up ONETs Go through the instructions in Section 2 1 to to setup a QNET with an NI ELVIS II or Section 2 2 if using the traditional NI ELVIS i e NI ELVIS J 2 1 QNET and NI ELVIS II Setup Procedure The procedure to install a Quanser Engineering Trainer QNET module on the NI ELVIS II is explained in this section The installed system using the QNET DC Motor module is pictured in Figure 8 Document Number 850 Revision 1 11 Page 3 QNET User Manual 9 1 6 5 AO MENTS 2 Mens 4 Mi seen ew m wee LIS A Figure 8 Components on ELVIS II and QNET Some of the components used in the installation procedure are located and marked by an ID number in Figure 8 and described in the Table 2 below ID Description ID Description 1 NI ELVIS II 6 USB Connection between PC and ELVIS II 2 Prototyping Board Power Switch 7 QNET DC Motor Control Trainer 3 Power LED 8 QNET Power LEDs 4 Ready LED 9 QNET Power Cable for QNET 5 Power Cable for ELVIS II Table 2 ELVIS II and QNET components Follow these instructions to setup a QNET board on an ELVIS II A 1 Do NOT make the following connections while power is supplied to the hardware 2 Place the small opening on the front of the QNET board over the mounting bracket on the NI Document Number 850 Revision 1 11 Page 4 QNET User Manual ELVIS
2. __PausePots stare cenerator Figure 45 Y axis of scope has been adjusted Similarly the minimum range of the y axis can be changed as well as the range of the x axis For example to see a time range of 10 seconds instead of 5 seconds the x axis range can be changed from 0 0 5 0 to 0 0 10 0 However when changing the x axis i e the time scale it is recommended to do the following 1 Pause the scopes or stop the VI and clear the chart right click on scope select Data Operation Clear Chart Document Number 850 Revision 1 11 Page 51 QNET User Manual 2 Apply the same scale change to both the output and input scopes Otherwise the data plotted in each scope will not be synchronized with each other 9 2 Saving Response Read the following to save a scope response 1 Right click on the scope and select Export Simplified Image as shown in Figure 46 Visible Items Change to Control Description and Tip Find Create Replace Data Operations Advanced Fit Control to Pane Scale Object with Pane Export Simplified Image x Scale Scale Transpose Array Ignore Attributes Stack Plots Chart History Length Properties Figure 46 Right click on scope and select Export Simplified Image 2 The dialog box shown in Figure 47 opens and gives various image export options One way is to export the image to the clipboard as a bitmap This can then be pasted in a graphical software e g
3. Email general information Document Number 850 Revision 1 11 Page 58
4. II Slide the PCI connector of the QNET module end into the female connector on the NI ELVIS II Make sure it is connected properly Connect the ELVIS II power cable Connect the ELVIS II USB cable to the PC Connect the supplied QNET transformer to the QNET power jack on the QNET module Note Not required for the QNET mechatronic sensors trainer Power the NI ELVIS II by turning ON the System Switch on the rear panel Turn ON the Prototyping Board Power switch ID 2 shown in Figure 8 9 Turn OFF the Prototyping Board switch if 10 11 1 On the QNET DCMCT QNET ROTPENT or QNET VTOL Trainer the DC motor begins to turn or 2 On the QNET HVACT the halogen light turns on brightly Take extra care when powering the QNET module to avoid causing any damage The Power and Ready LEDs of the NI ELVIS II unit should be lit as shown in Figure 9 below Figure 9 Ready and Power LEDs on NI ELVIS I As pictured in Figure 10 verify that the 15V 15V 5V and B LEDs on the QNET module are lit They indicate that the board has been properly connected to the ELVIS unit Note For the QNET MECHKIT ensure the 15V 15V and 5V LEDs are lit it does not require QNET power supply Document Number 850 Revision 1 11 Page 5 QNET User Manual l i Figure 10 ONET LEDs should all be on 2 2 QNET and ELVIS I Setup Procedure The procedure to setup a QNET on the NI ELVIS I is explained in this section The installed system usi
5. Once completed launch the Measurement amp Automation Explorer software 3 As illustrated in Figure 49 expand the Devices and Interfaces and NI DAQmx Devices items and select the NI ELVIS IT device 4 As shown in Figure 49 click on the Reset Device button Once successfully reset click on the Self Test button 6 Ifthe test passed reset the ELVIS II by performing steps 6 and 7 in Section 2 1 i e shut off the Prototyping Board switch and System Power switch and turn them back on again The Ready LED on the ELVIS II should now be lit ch Document Number 850 Revision 1 11 Page 54 QNET User Manual Y NI ELVIS II Devi Measurement amp Automation Explorer File Edit View Tools Help Configuration Xx Test Panels fh Reset Device E Q My System 8 Data Neighborhood Name Value 48 Devices and Interfaces 2 serial Number 0x13D26D7 8 NI DAQmx Devices YBNI ELVIS II Devi PX PXI System Unidentified E Y Serial amp Parallel 44 Scales Ed Software ce IVI Drivers E a Remote Systems Figure 49 Reseting and performing the self test on the ELVIS II 10 3 HVACT Issues Q1 When open a QNET HVACT VI the scopes are all reading 0 or near 0 as shown in Figure 50 below Digital Scopes Chamber Temp DK Ambient Temp 22 5 z Heater Voltage oo Y Figure 50 Scopes on ONET HVACT Vis The Prototyping Board Board switch is not ON The LED next to the switch should be bright green Plea
6. Une orottomeg Pi Jr fowercutofftiequeney JP Jr C mode cto ho e REES AAA Isolation Amplifier IN O AS VA aid O i spp Voas bk Table 23 Myoelectric specifications 8 5 Environmental The QNET Myoelectric environmental operating conditions are given in Table 24 Description Value Unit Operating temperature 15 to 35 C Humidity 20 to 90 Table 24 ONET Myoelectric trainer environmental operating conditions CAUTION Ensure the unit is operated under the temperature and humidity conditions given in Table 24 Otherwise there may be some issues with the experimental results Document Number 850 Revision 1 11 Page 49 QNET User Manual 9 QNET VI LabVIEW Hints 9 1 Scaling Scopes This section describes a handy method of changing the x or y axis in a LabVIEW scope using QNET DCMCT Swing Up Control VI as an example Read the steps below to reduce the y axis range of the Angle deg scope shown in Figure 43 in order to see the blue trace more up close angle dea L zem Jazz Figure 43 Scope needs to be scaled 1 As illustrated in Figure 44 to decrease the positive range of the scope down to 40 double click on 100 in the y axis type in 40 and press ENTER Document Number 850 Revision 1 11 Page 50 QNET User Manual 100 PPA Figure 44 Changing scale of LabVIEW scope 2 The resulting scope is depicted in Figure 45 The blue trace is now more visible angle deg
7. and 500 Hz respectively The electromyogram signal measured by the electromyograph relative to the ground terminal that is amplified by the isolation amplifier can be measured be measured on D A 1 by setting the AD1 DIP switch to OPTO_OUT The amplitude of the raw EMG signal is small and the signal is offset at around 2 5 V As shown in Figure 42 the signal is then amplified to fit the 10 V range and biased to 0 V This processed signal is available on A D 0 and is used to measure the amount of muscle contraction Document Number 850 Revision 1 11 Page 47 QNET User Manual 8 3 4 DIP Switches The AD1 AD2 and ADS DIP Switches dictate what signals can be measured on the Digital to Analog lines 1 2 and 5 respectively The AD1 DIP switch components 6 shown in Figure 40 is used to measure the 555 timer or the output of the optical isolation circuit on D A 1 As shown in Figure 42 the OPTO_OUT is the electromyogram signal that is measured by the EMG sensor and amplifier and offset by the isolation amplifier It is offset by about 2 5 V The 555 Timer resembles a sawtooth wave but is more like an integrated pulse signal Use the AD2 DIP switch ID 7 in Figure 40 to view either DAO AMP or PRE STAGE_OFFSET on D A 2 The DAO_AMP signal is the processed Digital to Analog 0 channel output as illustrated in Figure 42 This is the A D 0 signal i e the analog output signal supplied to DAQ that is scaled down and offset by the post
8. available for download at www ni com as well e ELVIS II The QNET VIs use the ELVISmx drivers Make sure you install the contents of the ELVIS II CD before attempting to open any of the QNET VIs available for download at Www ni com as well 10 2 General Hardware Issues Q1 None of the LEDs on the QNET board are lit Make sure both the System Power switch which is located on the back of the ELVIS I and II units and the Prototyping Board Power switch which is situated on the front panel of the ELVIS I and on the top right corner of the ELVIS II are ON See Section 2 for more information Q2 On the QNET board the 15V 15V and 5V LEDs are bright green but the B LED is not lit Ensure the QNET power connector on the QNET board is connected with the supplied QNET power cable See the Section 2 for more information Q3 At least one of the B 15V 15V and 5V LEDs on the QNET board is not lit e See Q2 if only the B is not lit e Ifone or more of the 15V 15V and 5V LEDs is not lit then a 15V or 5V fuse s on the Protection Board of the NI ELVIS I is burnt Similarly if the B LED is still not lit after connecting the QNET power then the Variable Power Supplies Fuses on the ELVIS Protection Board are burnt See the Protection Board Fuses in the NI ELVIS User Manual and replace the fuses as directed Q4 The Ready LED on the ELVIS II does not go on 1 Go through the ELVIS II setup procedure outlined in Section 2 1
9. output of the Digital to Analog converter i e D A of channel 0 on the DAQ The maximum output voltage of the amplifier is 24 V Its maximum peak current is 5 A and the maximum continuous current is 4 A The amplifier gain is 2 3 V V 5 3 3 Analog Current Measurement Current Sense Resistor A series load resistor of 0 1 Ohms is connected to the output of the PWM amplifier The signal is amplified internally to result in a sensitivity of 1 0 V A The obtained current measurement signal is available at the Analog to Digital i e A D of channel 0 Such a current measurement can be used to Document Number 850 Revision 1 11 Page 22 QNET User Manual monitor the current running in the motor 5 3 4 Digital Position Measurement Optical Encoder Digital position measurement is obtained by using a high resolution quadrature optical encoder There is one optical encoder directly mounted to the rear of the motor and another that measured the pendulum pivot angle The motor encoder count measurement is available at Digital Input i e DI channel 0 on the DAQB and the pendulum encoder count is available at DI 1 on the DAQB 5 3 5 Analog Speed Measurement Tachometer An analog signal proportional to motor speed is available at the Analog to Digital i e A D Input channel 4 of the DAQ It is digitally derived from the encoder signal on the QNET board 5 3 6 Fuse The QNET power amplifier has a 250 V 3 A fuse 5 3 7 QNET Power Sup
10. that needs to be calibrated The offset is decreased by turning the knob clockwise 6 While the knob is turned examine the change in temperature in the Digital Scopes section of the VI Adjust it until the chamber and or ambient temperature read acceptable values 7 Do not change the sensor gain adjustments ID 8 and ID 11 in Figure 12 They are both turned counter clockwise to get the maximum gain before the shipment 4 QNET DCMCT 4 1 General Overview The photograph in Figure 15 shows an overview and the general layout of the QNET DC Motor Control Trainer DCMCT system CAUTION Ensure the DCMCT is setup as dictated in Section 2 and used as described in the Reference 1 The DCMCT is susceptible to protection impairment if not used as specified Document Number 850 Revision 1 11 Page 14 QNET User Manual Figure 15 General layout of ONET DCMCT The DCMCT components in Figure 15and Figure 16 are located and identified by a unique ID in Table 8 Figure 16 QNET DC motor components Document Number 850 Revision 1 11 Page 15 QNET User Manual ID Description ID Description 1 Dem T6 TONET PWM Encoder board High resolution encoder 7 av QNET power jack Motor metal chamber EJ Fuse 4 Inertial load o kp 15V 15V 5V LEDs 5 PCI connector to NI ELVIS for interfacing QNET module with DAC Table 8 DCMCT component nomenclature 4 2 System Schematic A schematic of the DCMCT system interface
11. 1 e A D Input channels 5 and 7 of the DAQ The AI 5 channel gives the chamber temperature signal and the AI 7 channel reads the ambient temperature signal The sensitivity of the thermistor sensor is 20 0 CV 3 3 8 Fuse The QNET power amplifier has a 250 V 3 A fuse 3 3 9 QNET Power Supply The HVACT has a 24 Volt DC power jack to power the on board PWM amplifier It is called the QNET power supply The B LED on the QNET board turns bright green when the amplifier is powered CAUTION Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and be rated at 3 0 A 3 4 Specifications The specifications ofthe HVACT system model parameters are given in Table 5 Document Number 850 Revision 1 11 Page 12 QNET User Manual Symbol Description Halogen Light Kv Heater ramp gain 0 01 C V s Vmax PWM amplifier maximum output voltage 24 V PWM amplifier maximum output current 5 A PWM amplifier gain 2 3 V V Table 5 HVACT model parameter and PWM power amplifier specifications The specifications on the HVACT system sensors are given in Table 6 Description Value Current Sense Current calibration 1 A V Current sense resistor 0 1 ohms Voltage calibration 3 33 V V Thermistor calibration at QNET A D input 20 C V Table 6 HVACT sensor parameter specifications 3 5 Environmental The HVACT environm
12. 2 General layout of ONET HVACT The HVACT components in Figure 12 and Figure 13 are located and identified by a unique ID in Table Table 4 LabVIEW Figure 13 Components of ONET HVACT heating chamber Document Number 850 Revision 1 11 Page 9 QNET User Manual ID Description ID Description 1 Halogen light bulb i e heater 8 Chamber thermistor gain 2 Fan i e cooling 9 Chamber thermistor offset 3 Thermistor chamber temperature sensor 10 Ambient thermistor offset 4 Chamber 11 Ambient thermistor gain 5 Thermistor ambient temperature sensor 12 24V QNET power jack 6 PCI connector to NI ELVIS for 13 Fuse interfacing QNET module with DAC 7 QNET PWM Encoder board 14 B 15V 15V 5V LEDs Table 4 HVACT Component Nomenclature 3 2 System Schematic A schematic of the HVACT system interfaced with a DAQ device is provided in Figure 14 Document Number 850 Revision 1 11 Page 10 QNET User Manual DAQ SYSTEM Heater Amp Chamber Ambient Command Voltage Temperature Temperature AO 0 Al 2 Al 5 Al 7 POWER AMPLIFIER VOLTAGE SENSE HEATER AMBIENT THERMISTOR CHAMBER THERMISTOR Figure 14 Schematic of ONET HVACT system 3 3 Component Description This Section provides a description of the individual elements comprising the full HVACT system 3 3 1 Halogen Light The halogen light is rated at 12 Volts 3 3 2 Fan The blower is a 24 Volt variable speed fan T
13. 77 2 72 18 4 28 151 7 2 3 8 95 3 35 27 36 3 47 122 8 4 4 8 119 4 2 40 32 2 95 104 9 6 5 9 141 4 97 56 64 2 49 88 10 8 6 6 152 5 36 71 28 2 13 75 Table 19 VTOL rotor specifications 7 3 2 Pulse Width Modulated Power Amplifier A PWM power amplifier is used to drive the VTOL DC motor The input to the amplifier is the output of the Digital to Analog converter i e D A of channel 0 on the DAQ The maximum output voltage of the amplifier is 24 V Its maximum peak current is 5 A and the maximum continuous current is 4 A The amplifier gain is 2 3 V V 7 3 3 Analog Current Measurement Current Sense Resistor A series load resistor of 0 1 Ohms is connected to the output of the PWM amplifier The signal is amplified internally to result in a sensitivity of 1 0 V A The obtained current measurement signal is available at the Analog to Digital i e A D of channel 0 Such a current measurement can be used to monitor the current in the heater 7 3 4 Analog Voltage Measurement Voltage Sense The analog signal proportional to the voltage output of the PWM amplifier is available at the Analog to Digital i e A D channel 4 of the DACB The voltage sensor sensitivity is 3 33 V V Such a voltage measurement can be used to monitor the voltage applied to the heater 7 3 5 Digital Position Measurement Optical Encoder Digital position measurement is obtained by using a high resolution quadrature optical encoder This
14. Digital position measurement is obtained by using a high resolution quadrature optical encoder This optical encoder is directly mounted to the rear of the motor The encoder count measurement is available at Digital Input i e DI channel 0 of the DAQ 4 3 5 Analog Speed Measurement Tachometer An analog signal proportional to motor speed is available at the Analog to Digital i e A D Input channel 4 on the DAQ It is digitally derived from the encoder signal on the QNET DCMCT board 4 3 6 Fuse The QNET power amplifier has a 250 V 3 A fuse 4 3 7 QNET Power Supply The DCMCT module has a 24 Volt DC power jack to power the on board PWM amplifier It is called the QNET power supply The B LED on the QNET board turns bright green when the amplifier is powered CAUTION Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and be rated at 3 0 A 4 4 Specifications The specifications of the DCMCT system model parameters are given in Table 9 Document Number 850 Revision 1 11 Page 17 QNET User Manual Symbol Description Unit Motor armature resistance Motor torque constant Motor back emf constant same as K in SI units Moment of inertia of motor rotor Maximum continuous torque 0 10 Maximum power rating Maximum continuous current Inertial load disc mass Inertial load disc radius Pulse Width Modulated Amplifier PWM amplifier maximum output v
15. ET_ROTPENT_Swing_Up_Control VI the pendulum does not move e Ensure the ONET Power cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green e Make sure the Start Control button on the VI has been clicked The controller is enabled when this button is pressed down and the Stop Control caption on the button is showing Also note that the balance controller is only active when the pendulum is withing the upright vertical position Q4 When I try to run the swing up controller using the QNET_ROTPENT_Swing_Up_Control VI the pendulum does not move e Ensure the ONET Power cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green e For the swing up control make sure both the Start Control button and the Activate Swing Up toggle switch on the VI have been clicked The controller is enabled when the Start Control button is pressed down and the Stop Control caption on the button is showing e Make sure the pendulum is perturbed to get the swing up going by clicking on the Disturbance button in the VI 11 References 1 QNET HVACT Laboratory Instructor or Student Manual Document Number 850 Revision 1 11 Page 57 QNET User Manual 12 Contact Information 1 905 940 3575 Telephone 1 905 940 3576 Facsimile 119 Spy Court Markham Ontario Mail j L3R 5H6 Canada E Http www quanser com Web Ta mailto info quanser com
16. H 56 11 e 57 12 CONTACT E E 58 Document Number 850 Revision 1 11 Page iv QNET User Manual 1 Introduction The Quanser Engineering Trainers for NI ELVIS QNET modules are listed and briefly described in Table 1 below and pictured in figures 1 2 3 4 5 and 6 These devices work with both the NI ELVIS I and the NI ELVIS II Section 2 demonstrates how to setup a QNET with an NI ELVIS The hardware of each QNET system is described in sections 3 4 5 6 and 7 Some helpful LabVIEW hints when using the QNET VIs are given in Section 9 along with a troubleshooting guide in Section 10 Name Full Name Plant Description QNET 012 HVACT Heating Ventilation Process Control Trainer QNET 010 DCMCT DC Motor Control Motion Control Trainer QNET 011 ROTPENT Rotary Inverted Task Based Control Pendulum Trainer QNET 015 MECHKIT Trainer Mechatronic Sensors Mechatronics Trainer QNET 014 VTOL Trainer Vertical Take Off and Aerospace Landing Trainer QNET 016 MYOELECTRIC Trainer Myoelectric Trainer Biomedical Table 1 Summary of Quanser Engineering Trainers for NI ELVIS ONET devices Document Number 850 Revision 1 11 Page 1 QNET User Manual Figure 2 ONET DCMCT Figure 5 ONET VTOL Trainer Figure 4 ONET MECHKIT Trainer Figure 6 ONET MYOELECTRIC Trainer 2 Setting up a QNET As illustrated in Figure 7 the QNET boards can easily be connected to an NI ELVIS system
17. MS Paint Irfanview and saved to a desired format e g gif Document Number 850 Revision 1 11 Page 52 QNET User Manual Export Simplified Image Bitmap bmp Encapsulated Postscript eps Enhanced Metafile emf 5 Export to clipboard O Save to file amy Hide Grid ee 7 Figure 47 Export Simplified Image dialog box 3 The resulting image that is saved is shown in Figure 48 Potentiometer Y H 1 1 D I 5 0 6 0 7 0 8 0 9 0 10 0 Figure 48 Sample saved response The scope can be saved whether or not the VI is running However typically it is easier to stop the VI when the desired response is collected and then export the image as instructed above 10 Troubleshooting 10 1 General Software Issues Q1 When I try to open a QNET VI it says there are some missing VIs and they have a CD or Sim in the name The LabVIEW Control Design and Simulation Toolkit is not installed Q2 When open a QNET VI a message prompts that a VI with PID in the name cannot be found The LabVIEW PID Control Toolkit is not installed Document Number 850 Revision 1 11 Page 53 QNET User Manual Q3 When open a QNET VI a message prompts that a VI with ELVIS in the name cannot be found e ELVISI The QNET VIs use drivers that are installed from the ELVIS 3 0 or later CD Make sure it is installed If the folder National Instruments NI ELVIS 3 0 does not exist then it is not installed
18. PWM amplifier maximum output voltage gt PWM amplifier maximum output current 0 0826 um Mass of the pendulum link and weight combined 0270 Total length of pendulum Di Length of pendulum center oF mass from pot 15 Mass of the pendulum fr Du Mass ofthe pendulum weien bos Length of pendulum link IT Length o pendulumwejghe o Pendulum moment of inertia about its pivot axis 1 70E 04 Pendulum viscous damping TN i D lt PWM amplifier gain Table 13 ROTPENT model parameter and PWM power amplifier specifications The viscous damping parameters of the pendulum B and of the arm Beg are regarded as being negligible in this laboratory The specifications on the ROTPENT system sensors are given in Table 14 Document Number 850 Revision 1 11 Page 24 QNET User Manual Description Current Sense Current calibration Pendulum Encoder Encoder ml Encoders OB dT Motor Encoder Encoder OOOO o a SSS Encoders o iA Tachometer Tachometer calibration at QNET A D input 2987 RPM V Table 14 ROTPENT sensor parameter specifications 5 5 Environmental The QNET rotary pendulum control trainer environmental operating conditions are given in Table 15 Description Value Unit Operating temperature 15 to 35 C Humidity 20 to 90 Table 15 QNET rotary pendulum trainer environmental operating conditions CAUTION Ensure the unit is operated under the temperature and humidity
19. QNET HVACT DCMCT ROTPENT MECHKIT VTOL and MYOELECTRIC Quanser Engineering Trainer for NI ELVIS Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of Quanser Inc Copyright 2010 by Quanser Inc All rights reserved QNET User Guide Table of Contents i ED Eh h COI D LOINIE E E E des 1 AS E 2 2 1 QNET and NI ELVIS II Setup Procedure is cA vo cevaseses dais ida ada ainda caves 3 22 QNET and ELVIS 1 Setup Procedure eccoir a A A a 6 3 ONE FHV AC CP KE 8 E EE 8 TEE EE 10 3 3 Component DESEO EE 11 33d Halogen LAG EE 11 3 3 2 O 11 EI ul 11 3 3 4 Pulse Width Modulated Power Ampltfter conan conan rononn corn can nr carr nrrnnnnnnos 11 3 3 5 Analog Current Measurement Current Sense Reststor conan conan rcnonnnncnnnnnos 12 3 3 6 Analog Voltage Measurement Voltage Senge 12 3 3 7 Analog Temperature Measurement Thermistor Sensor 12 KEE 12 3 39 ONET Power Supply sc ii dee eae nn Ate ced Wea edt eae ee Ree 12 34 Specifications EE 12 ee CW ET E 13 A O 14 A KENE CL da 14 4 Gener l OR da 14 4 2 O YM nn aia 16 Document Number 850 Revision 1 11 Page i QNET User Guide 43 COMPonent Descriptio EE 16 AS Vs RTE e 17 4 3 2 Pulse Width Modulated Power Amplifter nono ncnnnn cnn nr non nr ca
20. Table 21 Description Value Unit Operating temperature 15 to 35 S Humidity 20 to 90 Table 21 QNET VTOL environmental operating conditions CAUTION Ensure the unit is operated under the temperature and humidity conditions given in Table 21 Otherwise there may be some issues with the experimental results Document Number 850 Revision 1 11 Page 39 QNET User Manual 7 6 Assembly This section describes how to assemble the QNET Vertical Take Off and Landing trainer When fully assembled it should appear as pictured Figure 39 1 The VTOL trainer is shipped as shown Figure 32 Figure 32 Disassembled VTOL 2 Remove one of the thumbscrews located on the support arm as depicted in Figure 33 Document Number 850 Revision 1 11 Page 40 QNET User Manual Remove thumb screw Figure 33 Remove thumbscrew on support arm 3 As shown in Figure 34 rotate the VTOL body so both thumbscrews on the support arm are located underneath and re tighten the thumbscrew that was removed in the previous step Fasten thumb screw k Remove thumb screws Figure 34 Re tighten thumbscrew on support arm and remove the two bottom thumbscrews 4 Remove the two thumbscrews located underneath the support The bottom screws to be removed are shown above in Figure 34 5 Bring the support arm in the upright position and align the two screw holes located on the base with two holes on the QNET module board
21. This is illustrated in Figure 35 Tighten the two supplied thumbscrews from the bottom of the module board to fasten the board onto the VTOL body base as shown in Figure 36 Document Number 850 Revision 1 11 Page 41 QNET User Manual Figure 35 Tighten the two thumbscrews from the bottom of the module to the screw holes on the VTOL anchor base Figure 36 Tightening the two thumbscrews from the bottom of the module As demonstrated in Figure 37 connect the motor cable from the VTOL actuator to the wires from the QNET PWM Encoder board Make sure the red and black cables match Document Number 850 Revision 1 11 Page 42 QNET User Manual A CAUTION Ensure the red and black wires are connected to each other Figure 37 Connect motor cable 7 Connect the encoder cable from the QNET PWM Encoder board to the encoder connector on the VTOL as shown in Figure 38 AN CAUTION Make sure the signals of the cable and encoder match e g Ch B on connector is connected to Ch B on encoder Roms 316796 DIGITAL usdigital com 800 736 0194 Optical Encoder S1 1024 250 N B D Figure 38 Connect encoder cable Document Number 850 Revision 1 11 Page 43 QNET User Manual 8 The final assembly of the QNET VTOL is shown in Figure 39 You can vary the position of the counter weight at the end of the VTOL body It is recommended to move the mass as far away from the propeller without actually lifting the pr
22. ard switch is not ON The LED next to the switch should be bright green Please review Section 2 Q2 The motor does not move when run the VI e Ensure the ONET Power cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green e Make sure the Start Control or Start Generator button on the QNET DCMCT VI has been clicked The controller is enabled when the Start Control button is pressed down and the Stop Control caption on the button is showing 10 5 ROTPENT Issues Q1 When open a QNET ROTPENT VI the scopes are all reading 0 or near 0 as shown in Figure 52 below Why are the scopes not responding if manually move the pendulum Digital Scopes Theta nn deg Aha wm Current 01 e A Voltage oi y Figure 52 Scopes on ONET ROTPENT His The Prototyping Board Board switch is not ON The LED next to the switch should be bright green Please review Section 2 Document Number 850 Revision 1 11 Page 56 QNET User Manual Q2 When I run the QNET_ROTPENT_Simple_Modeling VI the pendulum does not move e Ensure the ONET Power cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green e Make sure the Start Generator button on the QNET HVACT VI has been clicked The controller is enabled when this button is pressed down and the Stop Generator caption on the button is showing Q3 When I try to run the balance controller using the 08 QN
23. at varies linearly with the angle being measured As listed in Table 17 the potentiometer has a mechanical limit of 300 degrees 6 3 10 Encoder The encoder knob is fitted onto a spindle with 9 teeth As spindle is rotates the teeth go through two optical switches and generate the encoder A and B signals The index pulse is generated by a magnetic pickup sensor 6 3 11 Micro Switch The analog input line connected to the miniature snap action switch is pulled high to 5V when the switch is in open position and goes down to low when pressed down The micro switch circuit is depicted in Figure 27 5V 10 KQ AD_Micro_Switch Figure 27 Micro switch circuit 6 3 12 Push Button The push button analog line goes to 5V when the button is pressed down i e when the switch is Document Number 850 Revision 1 11 Page 32 QNET User Manual closed Its circuit is shown in Figure 28 below 5V AD_Push 10 kQ Figure 28 Push button circuit 6 3 13 Optical Switch The optical switch is a photo microsensor that consists of a transmissive and a reflective component If an object is placed between the components and the reflective sensor does not sense any light the output goes high to 5V The switch outputs 0V when no object is detected 6 3 14 Light Emitting Diodes The yellow light emitting diode LED 7 is connected to Digital Output 9 on the ELVIS II and DO 1 on ELVIS I The red LED LED 8 is connected to Digi
24. conditions given in Table 15 Otherwise there may be some issues with the running the experiments 5 6 Assembly Follow the instructions below to setup the QNET Rotary Pendulum trainer for experimental use 1 The ROTPENT device comes disassembled as pictured in Figure 21 below Document Number 850 Revision 1 11 Page 25 QNET User Manual QUANSER NI ELVIS TRAINER i m Figure 21 Disassembled QNET ROTPENT 2 Remove the thumbscrews from the bottom of the DC motor chamber 3 Align the four screw holes on the bottom of the chassis with four holes on the QNET base The ROTPEN should be upright similarly as shown in Figure 22 Document Number 850 Revision 1 11 Page 26 QNET User Manual Figure 22 Place the ONET ROTPENT upright on the module and align screw holes 4 Tighten the four thumbscrews from the bottom of the QNET module board though the DC motor chamber This is pictured below in Figure 23 Figure 23 Tighten four thumbscrews Document Number 850 Revision 1 11 Page 27 QNET User Manual 5 The final system should look similarly as shown in Figure 18 above 6 QNET MECHKIT 6 1 General Overview The photograph in Figure 24 shows an overview and the general layout of the QNET mechatronic sensors trainer MECHKIT system CAUTION Ensure the MECHKIT trainer is setup as dictated in Section 2 and used as described in the Reference 1 The MECHKIT trainer is susceptible to protection impa
25. d for the QNET mechatronic sensors trainer 6 Ensure the Prototyping Board Power switch ID 2 is set to the OFF position and the Communications switch ID 3 is set to the BYPASS mode 7 Power the NI ELVIS Benchtop Workstation by turning the Standby Switch on the rear panel of the system to ON Turn ON the Prototyping Board Power switch 9 Turn OFF the Prototyping Board switch if 1 On the QNET DCMCT QNET ROTPENT or QNET VTOL Trainer the DC motor begins to turn or 2 On the QNET HVACT the halogen light turns on brightly Take extra care when powering the QNET module to avoid causing any damage 10 The System Power Prototyping Board and Communications LEDs situated on the front panel of the NI ELVIS unit should all be lit 11 Verify that the 15V 15V 5V and B LEDs on the QNET module are lit They indicate that the board has been properly connected to the ELVIS unit Note For the QNET MECHKIT ensure the 15V 15V and 5V LEDs are lit it does not require QNET power supply 3 QNET HVACT 3 1 General Overview The photograph in Figure 12 shows an overview and the general layout of the QNET heating and ventilation trainer HVAC trainer system CAUTION Ensure the HVAC trainer is setup as dictated in Section 2 and used as described in the Reference 1 The HVAC trainer is susceptible to protection impairment if not used as specified Document Number 850 Revision 1 11 Page 8 QNET User Manual Figure 1
26. d with a DAQ device is provided in Figure 17 DAQ SYSTEM Command Current Encoder Tachometer AO 0 Al 0 DI 0 Al 4 POWER AMPLIFIER TACHOMETER CURRENT SENSE MOTOR ENCODER Figure 17 Schematic of ONET DCMCT system 4 3 Component Description This section provides a description of the individual elements comprising the full DCMCT system Document Number 850 Revision 1 11 Page 16 QNET User Manual 4 3 1 DC Motor The 12 Volt DC motor has 5 commutator segments 64 windings per pole and has a flux ring The Coulomb friction of the motor corresponds to a voltage between 0 5 and 1 5 V 4 3 2 Pulse Width Modulated Power Amplifier A PWM power amplifier is used to drive the motor The input to the amplifier is the output of the Digital to Analog converter i e D A of channel 0 on the DAQ The maximum output voltage of the amplifier is 24 V Its maximum peak current is 5 A and the maximum continuous current is 4 A The amplifier gain is 2 3 V V 4 3 3 Analog Current Measurement Current Sense Resistor A series load resistor of 0 1 Ohms is connected to the output of the PWM amplifier The signal is amplified internally to result in a sensitivity of 1 0 V A The obtained current measurement signal is available at the Analog to Digital i e A D of channel 0 Such a current measurement can be used to monitor the current running in the motor 4 3 4 Digital Position Measurement Optical Encoder
27. ental operating conditions are given in Table 7 Description Value Unit Operating temperature 15 to 35 E Humidity 20 to 90 Table 7 ONET HVACT environmental operating conditions CAUTION Ensure the unit is operated under the temperature and humidity conditions given in Table 7 Otherwise there may be some issues with the motion control experiment results Document Number 850 Revision 1 11 Page 13 QNET User Manual 3 6 Calibration Follow this procedure to calibrate the thermistor sensors that measure the chamber and ambient temperature on the QNET HVACT module 1 Power the NI ELVIS and the QNET as described in Section 2 2 Open and run the LabVIEW virtual instrument QNET HVACT On Off Control as described in the Reference 1 3 Let the fan cool down the chamber for at least 2 minutes and make sure the heater if OFF In the Digital Scopes section of the VI make sure the Chamber Temp and the Ambient Temp are reading values suitable for the control laboratory See the Troubleshooting Section on Page 53 for more information 4 Ifthe sensors definitely need to be re calibrated remove the plastic cover on the QNET HVACT module by loosening its four screws 5 The thermistor offset can be changed on the QNET PWM Encoder board The offset of the chamber thermistor and ambient thermistor sensors are ID 9 and ID 10 in Figure 12 Take a screwdriver with a small head and vary the knob corresponding to the sensor
28. ges the value of the amplifier gain Ay Document Number 850 Revision 1 11 Page 30 QNET User Manual 15V 10 kQ 47 KQ 10 kQ 15V Figure 26 Thermistor circuit on QNET mechatronic sensors trainer 6 3 5 Sonar The sonar range finder device on the QNET MECHKIT has a operating measuring range of 6 254 inches and a resolution of 1 inch It can detect objects in the range of 0 254 inches The sonar sensor specifications are listed in Table 17 6 3 6 Infrared The infrared distance measuring unit uses a triangulation method to detect the distance of an object and has a distance measuring range of 20 150 cm as given in Table 17 It outputs a voltage that correlates to the distance of the target 6 3 7 Magnetic field The linear magnetic field transducer on the QNET mechatronic sensors trainer outputs a voltage that is proportional to the magnetic field that is applied perpendicularly to the object being measured The relationship however between the output voltage and the target distance is exponential Document Number 850 Revision 1 11 Page 31 QNET User Manual 6 3 8 Optical Position The optical position sensor on the QNET MECHKIT board consists of an infrared emitting diode and a silicon photo transistor both mounted side by side The range of the optical position sensor on the QNET MECHKIT is 0 25 inches as given in Table 17 6 3 9 Rotary potentiometer The rotary potentiometer outputs a voltage th
29. here is a constant voltage of 16 Volts applied to the fan 3 3 3 Chamber The chamber or duct is constructed from Plexiglas 3 3 4 Pulse Width Modulated Power Amplifier A PWM power amplifier is used to drive the halogen bulb to heat the chamber The input to the Document Number 850 Revision 1 11 Page 11 QNET User Manual amplifier is the output of the Digital to Analog converter i e D A of channel 0 on the DAQ The maximum output voltage of the amplifier is 24 V Its maximum peak current is 5 A and the maximum continuous current is 4 A The amplifier gain is 2 3 V V 3 3 5 Analog Current Measurement Current Sense Resistor A series load resistor of 0 1 Ohms is connected to the output of the PWM amplifier The signal is amplified internally to result in a sensitivity of 1 0 V A The obtained current measurement signal is available at the Analog to Digital i e A D of channel 0 Such a current measurement can be used to monitor the current in the heater 3 3 6 Analog Voltage Measurement Voltage Sense The analog signal proportional to the voltage output of the PWM amplifier is available at the Analog to Digital i e A D channel 2 of the DACH The voltage sensor sensitivity is 3 33 V V Such a voltage measurement can be used to monitor the voltage applied to the heater 3 3 7 Analog Temperature Measurement Thermistor Sensor An analog voltage signal proportional to the temperature is available at the Analog to Digital
30. irment if not used as specified Figure 24 General layout of ONET mechatronics sensors trainer The MECHKIT components in Figure 24 above are located and identified by a unique ID in Table 16 Document Number 850 Revision 1 11 Page 28 QNET User Manual ID Description ID Description 1 Piezo Sensor 16 Enc BLED 2 Flexible link connected to strain gage 17 Enc Index LED 3 Flexible link ruler 18 Optical position sensor knob 4 Temperature sensor gain potentiometer 19 Magnetic field sensor knob 5 Temperature sensor offset potentiometer 20 ADO Jumper 6 Thermistor 21 AD1 Jumper 7 Push button 22 AD2 Jumper 8 Micro switch 23 ADS Jumper 9 Optical switch 24 Potentiometer 10 Infrared sensor on off switch 25 DO 1 LED 11 Infrared sensor on off LED 26 DOOLED 12 Infrared sensor 27 Plunger connected to pressure sensor 13 Sonar sensor 28 Pressure sensor 14 Encoder knob 29 Plunger ruler 15 Enc A LED 30 PCI connector to NI ELVIS for interfacing QNET module with DAC Table 16 MECHKIT component nomenclature 6 2 System Schematic A schematic of the MECHKIT system interfaced with a DAQ device is provided in Figure 25 Document Number 850 Revision 1 11 Page 29 QNET User Manual DAQ SYSTEM Opto Switch Micro Switch Push Button EncA EncB Pressure Enc Index Strain Gage Piezo Temperature Potentiometer LED 8 LED 7 Optical Position Magnetic Field S
31. n nnnann ron nr nnnnnnns 17 4 3 3 Analog Current Measurement Current Sense Resistor conan ncnonnconn nora nnnncnnns 17 4 3 4 Digital Position Measurement Optical Encoder nono nn rnnnnnnnnnnnnns 17 4 3 5 Analog Speed Measurement Tachometer 17 SE 17 43 7 ONE Power SUPPLY nia aabt deed O AREA Eege 17 4A Specifications i STA UA IRE ADAN AAA AAA 17 A Eengel aay slngany nena e eee Desana ieo ES AAS SE 18 Sc UNET ROTPEN WE 19 DL General RE 19 A O e 21 5 3 Component DESCH Pil Ot EE 22 SI DOE MOI E A E AA 22 5 3 2 Pulse Width Modulated Power Amphfer conan cnnon encon nro nrrnannnnnnno 22 5 3 3 Analog Current Measurement Current Sense Resistor 22 5 3 4 Digital Position Measurement Optical Encoder 23 5 3 5 Analog Speed Measurement Tachometer oooonnnocononcooonconnnconcnnonccnonononnncnn nn cnn nn corno non nnnann rn nn cnn nnrnn nero 23 13101 TEE 23 5 337 QNET Power Spp ly cx pal ad E EA ASA ARO ENS Oe PRET dees ERE 23 5 4 Specifications EE 23 SS ENVIE EE 25 DOs EE E N EE 25 6 QONET MECHKIT a dde 28 6 1 General Overview rro inir oei a ii 28 EE E EE 29 6 3 Component DeseripiOne a ouciecancn A eee 30 E Strain Gage Silas eRe eae ed Nae ca A Se en a oneal ates 30 Document Number 850 Revision 1 11 Page ii QNET User Guide BEER ee Eeer eege eet e NEEN 30 EE 30 DEET tT E EE ane ee 30 IO SONAR ee EE hate ce deat bate ab cba ebe Ebene 31 63 6 NONE 31 6 3 7 Magnetic E WEE 31 6 338 Optical Roster eet
32. ng the QNET DC Motor module is pictured in Figure 11 Document Number 850 Revision 1 11 Page 6 QNET User Manual D s CO es S WWW QUANSER COM romeo rr LADVI OC NATIONAL INSTRUMENTS reng as e 2 3 Figure 11 NI ELVIS and QNET DCMCT setup for use with LabVIEW Some of the components used in the installation procedure are located and marked by an ID number in Figure 11 and described in the Table 3 below ID Description ID Description NI ELVIS Benchtop Workstation Traditional NI ELVIS or NI ELVIS I Nn 68 Pin E Series or M Series DACB Cable nN 2 Prototyping Board Power Switch QNET DC Motor Control Trainer 3 Communications Switch 7 QNET Power Cable 4 Power Cable of NI ELVIS I Table 3 ELVIS I and QNET components Follow these instructions to setup a QNET board on an ELVIS I A 1 Do NOT make the following connections while power is supplied to the hardware 2 Place the small opening on the front ofthe QNET board over the mounting bracket on the NI Document Number 850 Revision 1 11 Page 7 QNET User Manual ELVIS note that some ELVIS workstations may not have mounting brackets 3 Slide the PCI connector of the QNET module end into the female connector on the NI ELVIS II Make sure it is connected properly 4 Connect the NI ELVIS power cable shown as ID 4 in Figure 11 5 Connect the QNET power cable labeled ID 7 in Figure 11 Note Not require
33. o c 32 6 3 9 R tary potento Me ii See EES DEE eegen ele eege 32 6 32102 ENCON A A A AA AAA A aa 32 6A Ee Ge ET 32 6 3 12 Push Button EE 32 6 3 13 Optical iS EE 33 6 3 14 Eight Emitting Diderot nda 33 6 4 E A EE 33 S RAN A KA ek DEERE E ET E EERE E EE E T 35 TA EE ON 35 A ota Ee a O 37 7 3 Component ee e Ir EE 37 23 1 Rotor EE 37 7 3 2 Pulse Width Modulated Power Ampltfter conan ron n nro nn can nn ran rnrcnnnnnnos 38 7 3 3 Analog Current Measurement Current Sense Reststor conan conan cnnoncnncnnnnnos 38 7 3 4 Analog Voltage Measurement Voltage Senge 38 7 3 5 Digital Position Measurement Optical Encoder ccccccssccssseeesseceseeeeneeeeseeseeeeeseeeeeeeeeeeseeneeeeensaes 38 O O RO 38 Pal QNET POWeE SUP Ai e Aa aos 39 TAS PECES a oler 39 T3 ee EE 39 A ea e e e a a E a A A A aE Dae e aE 40 S KS DIN BN GT E Ae A4 Sl E RE 44 Document Number 850 Revision 1 11 Page iii QNET User Guide 8 2 SY SUCHE SChemati Caf a xcs eebe AN 46 EE 47 8 3 1 Servo Mot ERAN 47 8 3 2 Isolation EE 47 8 3 3 Muscle Contraction Measurement EMG Sensor 47 EE EE 48 Bide Di Me TEE 48 3 310 UE 48 8 3 7 ONE TE POWER i1 0 2 a OE ls dad 48 Sd SPCC IPICALIONS astra enee it 48 9 3 Environmental see iiaea a a RN 49 AIN A 50 TACA A SR 50 OD Savin s Responses sani kreeg aE eege Eege 52 10 Ke e 53 101 General Software tege aos 53 10 2 General Hardware Isi uct caatuanty selene a ia aeai 54 NEE 55 104 PEMO T EE 56 ERR OR C
34. oltage l Jin De o Ke lt Table 9 DCMCT model parameter and PWM power amplifier specifications The specifications on the DCMCT system sensors are given in Table 10 Description Value Unit Current Sense Encoder line count 360 Encoder resolution in quadrature mode Encoder ll Encoder signals AB IT Tachometer Tachometer calibration at QNET A D input 2987 RPM V Table 10 DCMCT sensor parameter specifications 4 5 Environmental The DC motor control trainer environmental operating conditions are given in Table 11 Document Number 850 Revision 1 11 Page 18 QNET User Manual Description Value Unit Operating temperature 15 to 35 E Humidity 20 to 90 Table 11 QNET DC motor control trainer environmental operating conditions CAUTION Ensure the unit is operated under the temperature and humidity conditions given in Table 11 Otherwise there may be some issues with the heating and cooling results 9 QNET ROTPENT 5 1 General Overview The photograph in Figure 18 shows an overview and the general layout of the QNET Rotary Pendulum Control Trainer ROTPENT device CAUTION Ensure the ROTPENT is setup as dictated in Section 2 and used as described in the Reference 1 The ROTPENT is susceptible to protection impairment if not used as specified Document Number 850 Revision 1 11 Page 19 QNET User Manual DO EA mm LabVIEW Figure 18 General layo
35. onar Infrared DO 0 DO 1 Al 0 Al 1 Al 2 AI 5 H Opto Switch Micro Switch Push Button emm ENC A ENCB Pressure POT ki Strain Gage Piezo Temperature INFRARED Optical Position Magnetic Field Figure 25 Schematic of ONET MECHKIT system Hl it Remark The Digital Output channels for the LEDs are different on the ELVIS I On the ELVIS I LED 8 is connected to DO 8 and LED 7 is connected to DO 9 6 3 Component Description 6 3 1 Strain Gage The strain gage is mounted on the flexible link and outputs a voltage ranging between 5 0 V relative to the amount of deflection 6 3 2 Piezo The piezo is a flexible component that includes a piezoelectric polymer film that is laminated to a polyester substrate The laminated strip contains an added mass at the end weighing 0 78 g See Table 17 for sensitivity and resonance specifications 6 3 3 Pressure As outlined in Table 17 the pressure transducer on the QNET mechatronic sensors trainer has a range of 0 30 PSI a sensitivity of 0 133 V PSI and outputs a voltage between 0 5 4 5 V Thus it has a zero pressure offset of 0 5 V and a full scale span of 4 5 V 6 3 4 Thermistor The thermistor is the in the circuit shown in Figure 26 and is the component labeled by R The Gain and Offset components represent the potentiometer knobs on the QNET mechatronic sensors trainer The Offset changes the offset of the input offset voltage vi and the Gain chan
36. opeller itself 1 e it should still be resting on the QNET module Figure 39 Fully assembled ONET VTOL trainer 8 MYOELECTRIC 8 1 General Overview The photograph in Figure 40 shows an overview and the general layout of the QNET Myoelectric Trainer system CAUTION Ensure the myoelectric trainer is setup as dictated in Section 2 and used as described in the Reference 1 The myoelectric trainer is susceptible to protection impairment if not used as specified Document Number 850 Revision 1 11 Page 44 QNET User Manual Figure 40 General layout of ONET Myoelectric trainer The Myoelectic components in Figure 40 are located and identified by a unique ID in Table 22 ID Description ID Description 1 Ground Strap Connector P HI5V 15V 5V LEDs PCI connector to NI ELVIS for interfacing 13 24V QNET power jack QNET module with DAC 7 ADD swin A EMO sensor sap OO G G AD2 Dip Switch 115 Grounding strap ADS Dip Switch AAA RA Table 22 Myoelectric component nomenclature Document Number 850 Revision 1 11 Page 45 QNET User Manual 8 2 System Schematic A schematic of the QNET Myoelectric system interfaced with a DAQ device is illustrated in Figure 41 The block diagram representing the circuit in the Myoelectric board is shown in Figure 42 DAQ SYSTEM 555 Ref DA 0 Amp PWM Signal In Command EMG Sensor Opto Out Pre Stage Offset Post Stage Offset AO 0 Al 0 Al 1 Al 2 Al 4 Circui
37. optical encoder is mounted near the top of the VTOL support arm The encoder shaft is used as the pivot of the VTOL body The encoder count measurement is available at Digital Input i e DI channel 0 of the DAQ 7 3 6 Fuse The QNET power amplifier has a 250 V 3 A fuse Document Number 850 Revision 1 11 Page 38 QNET User Manual 7 3 7 QNET Power Supply The VTOL module has a 24 Volt DC power jack to power the on board PWM amplifier It is called the QNET power supply The B LED on the QNET board turns bright green when the amplifier is powered CAUTION Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and be rated at 3 0 A 7 4 Specifications The VTOL specifications listed in Table 20 include the various masses and lengths of the system as well as the viscous damping Note that the viscous damping is estimated and will vary between different VTOL units Description Symbol Value Unit Propeller mass m 0 068 kg Counter weight mass m 0 27 kg VTOL body mass Mh 0 048 kg Length from pivot to propeller center l 15 6 cm Length from pivot to center of counter weight 1 5 6 cm Total length of helicopter body Li 28 4 cm Estimated viscous damping of VTOL this B 0 002 N m rad s may vary from unit to unit Table 20 VTOL Specifications 7 5 Environmental The QNET VTOL environmental operating conditions are given in
38. ply The ROTPENT module has a 24 Volt DC power jack to power the on board PWM amplifier It is called the QNET power supply The B LED on the QNET board turns bright green when the amplifier is powered CAUTION Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and be rated at 3 0 A 5 4 Specifications The specifications of the ROTPENT system model parameters are given in Table 13 Value Unit El Er S X Ka ei S E E or Mot i i 2 Equivalent moment of inertia about motor shaft pivot axis with J q p E 2 pendulum assembly GER Motor maximum continuous torque 0 1 Motor maximum power rating 20 0 Motor maximum continuous current l Document Number 850 Revision 1 11 Page 23 O o o QNET User Manual Pendulum Arm Mass of the arm 0 0826 0 000 N m rad s 0 0270 0 191 0 153 0 008 kgm Length of arm pivot to pendulum pivot Arm viscous damping Pendulum Link Mass of the pendulum link and weight combined No ide dl d Total length of pendulum Length of pendulum center of mass from pivot Mass of the pendulum link 0 019 0 171 0 190 1 70E 04 kg m 0 000 N m rad s Mass of the pendulum weight E 2 Length of pendulum link m p2 Length of pendulum weight Pendulum moment of inertia about its pivot axis Pendulum viscous damping Pulse Width Modulated Amplifier
39. se review Section 2 Q2 The halogen light does not turn on when I run the VI e Ensure the QNET Power cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green e Also make sure the Start Control button on the QNET HVACT VI has been clicked The controller is enabled when this button is pressed down and the Stop Control caption on the button is showing Q3 The ambient and chamber temperatures are not accurate The thermistor sensors on the QNET HVACT each have a gain and offset adjustment They are calibrated before being shipped to match the actual temperature However they are relative measurements Thus when the module is brought to different rooms with varying temperatures the thermistor reading may not represent the actual temperature very accurately Document Number 850 Revision 1 11 Page 55 QNET User Manual If the difference between the ambient and chamber temperatures is more than 10 degrees OR one of the sensors is reading an extremely inaccurate value 1 e like a negative number then see Section 3 6 on how to re calibrate the thermistor sensors 10 4 DCMCT Issues Q1 When open a QNET DCMCT VI the scopes are all reading 0 or near 0 as shown in Figure 51 below Why are the scopes not responding when manually move the disk load Digital Scopes ee DR rs Current EG A voltage ESO y Figure 51 Scopes on speed measuring ONET DCMCT VIs The Prototyping Board Bo
40. stage offset value before getting passed to the comparator The PRE STAGE OFFSET is a constant value It is the offset used to bring the EMG signal to be around 0 V The ADS DIP switch component 8 shown in Figure 40 determines what signal can be viewed on D A 5 PWM_ SIG or POST _STAGE OFFSET The PWM_SIG is the pulse width modulated signal being sent to the servo It is the result of passing the 555 Timer pulse and the processed A D 0 signal through a comparator The POST STAGE OFFSET is the offset used to regulated the attenuated A D 0 signal to be about 0 V 8 3 5 555 Timer The National Semiconductor LM555CM ND is a high precision 555 timer integrated circuit that is used for the PWM cycles It can be monitored on A D 1 by setting AD1 DIP switch to 555_ REF 8 3 6 QNET Myoelectric Power Supply The QNET Myoelectric trainer has a 12 Volt DC power jack to power the on board ICs It is called the QNET Myoelectric power supply CAUTION Please make sure you use the correct type of wall transformer or you will damage the system It should supply 12 VDC and be rated at 5 0 A The QNET Myolectric does NOT use the same power supply as other QNET systems 8 4 Specifications The specifications of the QNET Myoelectic are given in Table 23 Symbol Description Value Unit Servo Motor Topemimrtage fan Je Document Number 850 Revision 1 11 Page 48 QNET User Manual Dimensions AO O EMG Sensor Analog outputrange SV SSES
41. t e g 555 timer op amps SERVO Figure 41 Schematic of ONET Myoelectric trainer Document Number 850 Revision 1 11 Page 46 QNET User Manual Battery Power 555_REF Se M Timer a OPTO_OUT Compare L 1m Servo EMG Opto Electrode Isolation D A 0 A D O all NI ELVIS PWM_SIG Attenuate d Offset adjust Offset adjust DAO_AMP PRE_STAGE_OFFSET POST_STAGE_OFFSET Figure 42 ONET Myolectric circuit block diagram 8 3 Component Description This section provides a description of the individual elements comprising the full DCMCT system 8 3 1 Servo Motor The servo motor supplied with the QNET Myoelectric trainer is controlled by a PWM signal and has an operating range of 4 8 6 0 V as given in Table 23 8 3 2 Isolation Amplifier The HCPL 7800 optical isolation amplifier is used to amplify the electromyogram signal measured by the EMG electrode remove noise and isolate the power source from the user See the Opto Isolation block in Figure 42 The amplifier has a gain of 8 0 V V and its output voltage ranges between 1 29 V and 3 8 V The output of the isolation amplifier can be measured on A D 1 when the DIP switch is set to OPTO_OUT 8 3 3 Muscle Contraction Measurement EMG Sensor The EMG Sensor consists of a two electrode eletromyograph and a grounding strap with a ground electrode It has an on board gain of 300 V V and a local band pass filter with lower and upper cutoff frequencies of 25 Hz
42. tal Output 8 on the ELVIS II and DO 0 on ELVIS I The yellow LED is active high whereas the red LED is active low 6 4 Specifications Some of the sensor specifications for the MECHKIT are given in Table 17 Document Number 850 Revision 1 11 Page 33 QNET User Manual Description Potentiometer Mechanical angle range Value 300 000 deg Independent linearity Infrared Sensor Distance measuring range 5 20 to 150 Optical Position Range 0 25 Pressure range 0 30 PSI Sensitivity 0 133 V PSI Output range 0 5 4 5 V Quantization step 3 0 mV Accuracy 2 VS Object detection 0 254 in Sonar range 6 254 in Resolution 1 0 in Reading frequency 20 0 Hz Piezo Film Ring mass on film 0 72 g Location of mass from edge 1 40 cm For 0 78 g added mass Sensitivity at resonance 16 0 V g Resonant frequency 40 0 Hz 3 dB frequency 20 0 Hz Table 17 MECHKIT Specifications Document Number 850 e Revision 1 11 Page 34 QNET User Manual 7 QNET VTOL 7 1 General Overview The pictures in Figure 29 and Figure 30 show the general layout of the QNET vertical take off and landing trainer CAUTION Ensure the VTOL trainer is setup as dictated in Section 2 and used as described in the Reference 1 The VTOL trainer is susceptible to protection impairment if not used as specified Figure 29 Front view of VTOL layout Document Number 850 Re
43. ut of ONET ROTPENT The ROTPENT components in Figure 18 and Figure 19 are located and identified by a unique ID in Table 12 Document Number 850 Revision 1 11 Page 20 QNET User Manual Figure 19 Components of ONET ROTPENT pendulum assembly ID E ID Description 1 DC motor DC motor 8 Pendulum link High resolution encoder that Pendine measured arm angle PCI connector to NI ELVIS for interfacing QNET SS metal chamber module with DAC ang D JONET PWM Encoder boad a e Pendulum encoder J be Table 12 ROTPENT component nomenclature 5 2 System Schematic A schematic of the ROTPENT system interfaced with a DAQ device is provided in Figure 20 Document Number 850 Revision 1 11 Page 21 QNET User Manual DAQ SYSTEM Command Current Motor Encoder Pendulum Encoder Tachometer AO 0 Al 0 DI 0 DI 1 Al 4 AMPLIFIER TACHOMETER CURRENT SENSE E MOTOR ENCODER PENDULUM ENCODER Figure 20 Schematic of ONET ROTPEN system 5 3 Component Description This Section provides a description of the individual elements comprising the rotary pendulum trainer system 5 3 1 DC Motor The 12 Volt DC motor has 5 commutator segments 64 windings per pole and has a flux ring The Coulomb friction of the motor corresponds to a voltage between 0 5 and 1 5 V 5 3 2 Pulse Width Modulated Power Amplifier A PWM power amplifier is used to drive the motor The input to the amplifier is the
44. vision 1 11 Page 35 QNET User Manual 14 13 12 16 Figure 30 Top view of VTOL layout The VTOL components in Figure 29 and Figure 30 are located and identified by unique ID in Table 18 ID Description ID Description 1 DC Motor 9 Encoder 2 Motor leads connects amplifier to motor 10 Counterweight 3 Propeller holder 11 Counterweight thumbscrews 4 Propeller shield 12 PCI connector to NI ELVIS for interfacing QNET module with DAC 5 VTOL body 3 QNET PWM Encoder board 6 Pivot encoder shaft 14 24V QNET power jack 7 Support arm 15 Fuse 8 Support thumbscrews 16 B 15V 15V 5V LEDs Table 18 VTOL component nomenclature Document Number 850 Revision 1 11 Page 36 QNET User Manual 7 2 System Schematic A schematic of the VTOL system interfaced with a DAQ device is provided in Figure 31 DAQ SYSTEM Command Current Voltage Encoder AO 0 Al 0 Al 4 DI 0 POWER AMPLIFIER CURRENT SENSE VOLTAGE SENSE MOTOR ENCODER Figure 31 Schematic of ONET VTOL system 7 3 Component Description 7 3 1 Rotor Actuator The EM150 DC motor and the EP2245X6 rotor have the specifications given in Table 19 Document Number 850 Revision 1 11 Page 37 QNET User Manual Volts V Amps A Thrust g Thrust 0z Power W Efficiency Efficiency GH 0z kW 3 6 1 5 32 1 13 5 4 5 93 209 4 8 2 2 50 1 76 10 56 4 73 167 6 3

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