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1. QUANSER INSTRUCTOR WORKBOOK Flexible Link Experiment for LabVIEW Users Standardized for ABET Evaluation Criteria Developed by Jacob Apkarian Ph D Quanser Paul Karam B A SC Quanser Michel L vis M A SC Quanser SRVO2 educational solutions are powered by TO Course material complies with BET CAPTIVATE MOTIVATE GRADUATE ABET Inc is the recognized accreditor for college and university programs in applied science computing engineering and technology Among the most respected accreditation organizations in the U S ABET has provided leadership and quality assurance in higher education for over 75 years mmu ROTARY FLEXIBLE LINK SANMI EXPERIMENT GUANSER PREFACE Preparing laboratory experiments can be time consuming Quanser understands time constraints of teaching and research professors That s why Quanser s control laboratory solutions come with proven practical exercises The courseware is designed to save you time give students a solid understanding of various control concepts and provide maximum value for your investment Quanser course materials are supplied in two formats V 1 Instructor Workbook provides solutions for the pre lab assignments and amp ohtains typical experimental results from the laboratory procedure This version is notwintended for the students 2 Student Workbook contains pre lab assignments and in lab qus r students This course material is pre2. q1 and q4 elements have the greatest effect on the response K 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM Page 10 of 10 Ten modules to teach controls from the basic to advanced level gt SRVO2 Base Unit gt Flexible Link gt Inverted gt Ball and Beam Pendulum 2 DOF Robot gt 2 DOF Inverted gt Multi DOF Torsion Pendulum gt Flexible Joint gt Gyro Stable a gt Double Inverted Platform p 2 DOF Ball Pendulum Balancer With the SRVO2 Base Unit you can select from 10 add on modules to create experiments of varying complexity across a wide range of topics disciplines and courses All of the experiments workstations are compatible with LabVIEW To request a demonstration or a quote please email info quanser com 2012 Quanser Inc All rights reserved LabVIEW is a trademark of National Instruments QUANSER INFO QUANSER COM 1 905 940 3575 QUANSER COM Solutions for teaching and research Made in Canada
3. 4 Default ENTE Closed Loop Response 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM sep Sa TE eS I gt mI ROTARY FLEXIBLE LINK AVVIENE EXPERIMENT 6 If Q diag qx qx qz gal vary each g independently and examine its effect on the gain and the closed loop response For example when increasing g3 what happens to 0 and o Vary each q by the Same order of magnitude and compare how the new gain K changes compared to the original gain Keep R 1 throughout your testing Summarize your results Note Recall your analysis in pre lab Question 3 where the effect of adjusting Q on the generated K was assessed generally by inspecting the cost function equation You may find some discrepancies in this exercise and the pre lab questions Answer 3 6 Outcome Solution B 2 Let K k1 k2 k3 k4 The elements effect the gains as follows e Increasing q increases servo proportional gain k Makes respo decreases peak and settling time Ov ter i e e g gt does not much effect Q e ncreasing qs increases servo derivative gain ks It also prakes K more positive Minimizes overshoot of servo response but also lohan e Increasing q decreases the link proportional goi hx derivative gain k Minimizes deflection of flexible link without affecting Na related gains k and ks significantly From this exercise students should identify he
4. S PREFACE PAGE c INTRODUCTION TO QUANSER FLEXIBLE LINK COURSEWARE SAMPLE ooi ON INSTRUCTOR WORKBOOK TABLE OF CONTENTS rnu 4 BACKGROUND SECTION SAMPLE e PAGES PRE LAB QUESTIONS SECTION SAMPLE c PAGE6 LAB EXPERIMENTS SECTION SAMPLE ccccscsesseseseeseees Q ARR PAGE 7 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM S269 2 qe mmu ROTARY FLEXIBLE LINK SANMI EXPERIMENT GUANSER 1 INTRODUCTION TO QUANSER FLEXIBLE LINK COURSEWARE SAMPLE Quanser course materials provide step by step pedagogy for a wide range of control challenges Starting with the basic principles students can progress to more advanced applications and cultivate a deep understanding of control theories Quanser Flexible Link courseware covers topics such as e Modeling the Rotary Flexible Link using Lagrange e Find the linear state space model of the system e Do some basic model validation e Design a state feedback controller using Linear Quadratic Regulator LQR algorit oan simulation e Implement the designed LQR controller on the device e Compare the simulated and measured closed loop results V e Assess the behavior of implementing a partial state feedback contro S Every laboratory chapter in the Instructor Workbook is organized into four VA e Background section provides all
5. SER COM 4 68 die mm u I ROTARY FLEXIBLE LINK 3 Min EXPERIMENT GUANSER 5 LAB REPORT 5 1 TEMPLATE FOR CONTENT MODELING 5 2 TEMPLATE FOR CONTENT CONTROL 5 3 TIPS FOR REPORT FORMAT SCORING SHEET FOR PRE LAB MODELING QUESTIONS SCORING SHEET FOR LAB REPORT MODELING K SCORING SHEET FOR PRE LAB CONTROL QUESTIONS SCORING SHEET FOR LAB REPORT CONTROL APPENDIX A BB01 INSTRUCTOR S GUIDE REFERENCES jc Os 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM e Gee ae m n aI n ROTARY FLEXIBLE LINK Q EXPERIMENT GUANSER 3 BACKGROUND SECTION SAMPLE Model The Rotary Flexible Link model is shown in Figure 2 1 The base of the flexible link is mounted on the load gear of the SRVO2 system The servo angle 8 increases positively when it rotates counter clockwise CCW The servo and thus the link turn in the CCW direction when the control voltage is positive i e V gt Q The flexible link has a total length of the link L and a mass of m and its moment of inertia abou hac nter of mass is J See the Rotary Flexible Link User Manual in 5 for the values of these parame he deflection angle of the link is denoted as a and increases positively when rotated CCW Yo O Rotary Flexible Link Angles v The flexible link system can be regrese ted by the diagram shown in Figure 2 2 Our control varia
6. ble is the input servo motor voltage V AThis generates a torque t at the load gear of the servo that rotates the base of the link The viscous fri efficient of the servo is denoted by B This is the friction that opposes the torque being applied a vo load gear The friction acting on the link is represented by the viscous damping coefficient i ly the flexible link is modeled as a linear spring with the stiffness K r 0 a 4 4 Y AA HE O V Bea Ks B Q Figure 2 2 Rotary Flexible Link Model 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM See de kQ See RSS II ROTARY FLEXIBLE LINK SANMI EXPERIMENT GUANSER 4 PRE LAB QUESTIONS SECTION SAMPLE 1 Energy is stored in the flexible link i e the spring as it rotates by an angle of a see Figure 2 1 Find the potential energy of the flexible link Use the parameters shown in Figure 2 2 Answer 2 1 K Outcome Solution A 2 Using the Equation 2 13 the elastic energy stored in the spring equals r K a N Ans 2 1 This is the total potential energy that is stored in the system ox 2 A 2 Find the total kinetic energy of the system contributed by TA 0 and the deflection in the link a Use the parameters shown in Figure 2 2 Answer 2 2 RY Outcome Solution A 2 Using the Equation 2 11 the totali energy from the SRV02 rotating and the deflection o
7. e student work The outcomes targete the lab experiments can be assessed from the lab reports submitted by the students These reports should follow the specific template for content given at the end of each laboratory chapter This will provide a basis to assess the outcomes easily 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM See qi m r aI ging ROTARY FLEXIBLE LINK Q EXPERIMENT GUANSER 2 INSTRUCTOR WORKBOOK TABLE OF CONTENTS The full Table of Contents of the Quanser Ball and Beam Instructor Workbook is shown here 1 INTRODUCTION 2 MODELING 2 1 BACKGROUND K 2 1 1 MODEL 2 1 2 FINDING THE EQUATIONS OF MOTION Ov 2 1 3 POTENTIAL AND KINETIC ENERGY 2 1 4 LINEAR STATE SPACE MODEL 2 1 5 FREE OSCILLATION OF A SECOND ORDER SYSTEM 2 2 PRE LAB QUESTIONS os 2 3 LAB EXPERIMENTS 2 3 1 FINDING STIFFNESS 2 3 2 STATE SPACE MODEL X 2 3 3 MODEL VALIDATION 2 4 RESULTS 3 CONTROL DESIGN V 3 1 SPECIFICATIONS 3 2 BACKGROUND K 3 2 1 STABILITY 3 2 2 CONTROLLABILITY Y 3 2 3 LINEAR QUADRATIC REGULATOR to 3 2 4 FEEDBACK CONTROL 3 3 PRE LAB QUESTIONS 3 4 LAB EXPERIMENTS Q 3 4 1 CONTROL DESIGN 2 3 4 2 CONTROL SIMULATION 3 4 3 CONTROL IMP ATION jm AN RTIAL STATE FEEDBACK CONTROL 3 5 RESULTS 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUAN
8. f this link is S Jeq 0 h 0 a Ans 2 2 3 A 2 Compute the Lagrangian r Answer 2 3 Q Outcome Sol A 2 e Equation 2 6 the total kinetic energy from the SRVO2 rotating and the ction of this link is L Jaa 67 Sh 0 a Ksa Ans 2 3 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM Sem Tue mmu ROTARY FLEXIBLE LINK SANMI EXPERIMENT GUANSER 5 LAB EXPERIMENTS SECTION SAMPLE Control Design The LQR algorithm discussed in Section 3 is implemented in software to find the control gain that gives the desired closed loop response The simulation is performed using the linear state space model of the system Experimental Setup The FLEXGAGE Control Design VI shown in Figure 3 2 is used to design the feedback control gain g the LQR algorithm It also simulates the closed loop response of the Flexible Link using the deserit gain The VI reads the state space model from the file that is specified by the user lil EZELIS Ca mirri Fra noni me rm Has EEG CES Dub Nd k meg sme om Nfeure 3 3 VI used to design the state feedback control gain IMPORTANT Before qp onduct this experiment you need to make sure that the lab files are configured according ur system setup If they have not been configured already go to Section 4 2 to conf
9. igure the files irst Make sure the model you found in Section 2 3 3 is in File Dialog 1 In Rotary Kl xible Link Student lvproj open the FLEXGAGE Control Design VI in the Control Design and Si ion folder 2 un the VI It should look similarly as shown in Figure 3 2 except using your model The VI will prompt you to find a model file unless you selected a model in File Path already Find the model you saved from the previous modeling lab 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM seeded mm Ia I RISI ROTARY FLEXIBLE LINK Q SAM EXPERIMENT PERAR 9 Go to the Controllability Test tab Is the system controllable Explain why Answer 3 6 Outcome Solution B 7 The system is controllable because the rank of its controllability matrix equals the number of states EN 4 Gothe LQR tab As depicted in Figure 3 3 this computes a feedback gain K mM to the ee loaded and the Q and R matrices that are set in the VI The Q and R are initially set to o t values of 0 0 0 and 1 V T Y These will not give you the desired response but generates a default ga Figure 3 ated LQR Gain 5 Go the Simulation tab to simulate the closed ldop response with the gain generated back in the LQR tab The simulated response is shown in Figure 3 4 d 4 z u E a Ej ap sa ap ea rb ra sa sp sb samo Eie 3
10. pared for users of National Instruments Lab software Q E2 LabVIEW The courseware for Quanser Flexible Link experiment is aligned with equirements of the Accreditation Board for Engineering and Technology ABET f the most respected ABE organizations specializing in accreditation of educationa rams in applied science computing science and technology The Instructor Work rovides professors with a simple framework and set of templates to measure and document students ievements of various performance criteria and their ability to e Apply knowledge of math science and e ering e Design and conduct experiments and analyze and interpret data e Communicate effectively e Use techniques skills and werfen tools necessary for engineering practice Quanser Inc would like t Dr Hakan Gurocak from the Washington State University Vancouver for rewriting the original Oy include embedded outcomes assessment c The followinc erial provides an abbreviated example of pre lab assignments and in lab procedures for the Flexible Link experiment Please note that the examples are not complete as they are intended to give yerview of the structure and content of the course materials you will receive with the plant 2012 Intellectual property of Quanser Do not reproduce without written permission QUANSER COM 1 905 940 3575 INFO QUANSER COM seme de m n aI n ROTARY FLEXIBLE LINK 3 EXPERIMENT GUANSER TABLE OF CONTENT
11. the necessary theoretic ground for the experiments Students should read this section first to prepare for the PrexXtab questions and for the actual lab experiments e Pre Lab Questions section is not meant to be A ehensive list of questions to examine understanding of the entire background materia Rather it provides targeted questions for preliminary calculations that need to be do Cio to the lab experiments All or some of the questions in the Pre Lab section can be as o the students as homework e Lab Experiments section provides ste p instructions to conduct the lab experiments and to record the collected data e System Requirements section d scribes all the details of how to configure the hardware and software to conduct the iments It is assumed that the hardware and software configuration have been ed by the instructor or the teaching assistant prior to the lab sessions However if thexinstructor chooses to the students can also configure the systems by following the i s given in this section Assessment of ABET outcome corporated into the Instructor Workbook look for indicators such as These indicators correspo specific performance criteria for an outcome Appendix A of the Instructor Workbook includes details of thet d ABET outcomes list of perfo e criteria for each outcome scoring rufari s and instructions on how to use them in assessment The A targeted by the Pre Lab questions can be assessed using th
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