IP01_2 User Manual_501
Contents
1. PARAMETER MIL PRF 12934 MIL PRF 39023 TEST PROCEDURES APPLY STANDARD SPECIAL Total Resistance Model 132 Wirewound 5Q to 20KQ to 35KQ Tolerance 509 and above 3 1 Below 50Q 5 3 i omc n ai 1KQ to 50KQ olerance 10 5 Model 139 Cermet 5009 to 2MQ Tolerance 20 5 Linearity Independent STANDARD BEST PRACTICAL Total Resistance 132 5Q to 200 1 0 0 75 202 to 2009 1 0 0 50 2002 and above 0 5 0 25 138 139 0 5 0 25 Noise 132 1009 ENR Output Smoothness 138 amp 139 0 1 maximum Power Rating 40 C Ambient Model 132 2 75 watts Model 138 2 watts Model 139 5 watts All Models derated to zero at 125 C Electrical Rotation MODEL 132 Loara MODEL 139 Continuous 352 2 45 4 345 4 Stops 336 2 336 4 336 4 Insulation Resistance 1000MQ minimum at 500VDC Dielectric Strength 1000Vans 60Hz Absolute Minimum Resistance 1 0 of total resistance or 0 5Q whichever is greater 132 only Minimum Voltage 0 5 maximum Temperature Coefficient of Resistance 132 Refer to standard resistance element data 1 100ppm C maximum MATERIAL SPECIFICATIONS ENVIRONMENTAL SPECIFICATIONS Housing Molded glass filled thermoplastic Vibration 15Gs thru 2000 Hz Shock 50g Rearlid Glass filled thermoset plastic Salt Spray _ 48 Hours Shaft Stainless steel non magnetic vce le ae na Terminals Brass plated for solderability Model 132 500 000 Non passivated Model2. 99 13 1416 55 For gearhead length with motor 2338 add 8 7 mm 0 343 in 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 2338 200 906 2224 g5 822 2230 ene P24 2444 923 2842 a5 2233 923 1 96230 945 1 192 906 ae p 54 05 3x120 a aig S 3 748 aesa 4 157 DEEP 039 10 ie Orientation witn respect 334 tp mater terminals 223 2 3 not defined L18 16 3 L128 231 630 Front View Document Number 501 Revision 03 Page 23 IPO1 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 75 Dual Gang Configuration and Concentric Shafts High Torque and Center Tap Special Markings and Front Shaft Extensions Servo Unit available and Slipping Clutch N ELECTRICAL SPECIFICATIONS PARAMETER MODEL 533 MODEL 534 Resistance Range Standard Values Capability Range 5Q to 60KQ 5Q to 100KQ Standard Tol 5 5 MODEL 535 Linearity Independent 0 25 0 25 Noise 1002 ENR 1002 ENR Rotation Electrical amp Mechanical 0 10 0 10 Power Rating 70 C 1 0
3. face and use your IP01 or IP02 with WinCon please refer to the manual titled JPO or IP02 WinCon Integration 6 1 The IP01 or IP02 DC Motor 6 1 1 Testing Apply a small voltage e g around 1V to analog output channel 0 of the MultiQ terminal board using for example WinCon and Simulink A positive voltage should result in a motion of the cart to the right when facing the IP01 or IP02 i e when facing the position and motor pinions in front of the cart with the 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 IP01 or IP02 6 1 2 Troubleshooting If the motor is not responding to any signals applied you should check that the power amplifier e g UPM is functional e g is the power switched on check that the MultiQ is functional i e the desired voltage is being generated The red LED i e Light Emitting Diode on the board should be on If it is not the fuse may be burnt and need replacement Document Number 501 Revision 03 Page 18 IP01 and IP02 User Manual check that the voltage is actually reaching the motor terminals use a voltmeter or an 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 21 for information on contacting Quanser for
4. To Analog cable is the 5 pin DIN to RCA cable described in Table 8 and shown in Figure 11 Connect the RCA end of this cable to the Analog Output 0 i e DAC 0 of the MultiQ PCI terminal board and its 5 pin DIN connector to the socket labelled From D A on the UPM These two connections are illustrated by cable 1 in Figures 16 and 17 above 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 IP01 or Document Number 501 Revision 03 Page 16 IP01 and IP02 User Manual Figure 3 for the IP02 Then connect the cable 6 pin DIN connector to the UPM socket labelled To Load The connection to the UPM is illustrated by cable 2 in Figure 17 above 5 2 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 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 the IP01 S1 amp S2 Connector which is shown as component 21 in Figure 6 Then connect its other end to the UPM socket labelled S1 amp S2 which is contained inside the UPM From Analog Sensors front panel The con
5. VDC power supply ground channel A and channel B i Figure 13 Encoder Cable 6 pin mini DIN This cable is specific to the to IPO1 system It carries analog 6 pin mini DIN signals between one or two plant sensors and the UPM where the signals can be either monitored and or used by an Figure 14 From Analog Sensors Cable analog controller For example connected to the IP01 the ca ble provides a 12VDC bias to the two potentiometers and carries the two wiper voltages to S1 and S2 on the UPM 5 pin DIN This cable is needed by the IPO1 system It carries the ana log signals previously taken from the plant sensors un changed from the UPM to the Digital To Analog input chan nels on the data acquisition ter minal board Figure 15 To Analog To Digital Cable Table 8 Cable Nomenclature Document Number 501 Revision 03 Page 15 IP01 and IP02 User Manual 5 2 Typical Connections For The IP01 And IP02 Figure 16 and Figure 17 below show the MultiQ PCI Terminal Board and the Universal Power Module UPM with a cabling necesary to interface to an IP01 or IP02 Figure 16 MultiQ PCI Terminal Board Figure 17 Universal Power Module UPM 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 IP01 and IP02 are identical These connections are described below Connect the From Digital To Analog Cable The From Digital
6. 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 G amp Data Acquisition Board Quanser MultiQ PCI MultiQ 3 or equivalent amp Power Amplifier Quanser UPM 1503 UPM 2405 or equivalent 5 1 Cable Nomenclature Table 8 below provides a description of the standard cables used in the wiring of the IP01 and IP02 Cable Designation Description 5 pin DIN This cable connects an analog to output of the data acquisition RCA terminal board to the power module for proper power am plification Figure 11 From Digital To Analog Cable 4 pin DIN This cable connects the output to of the power module after am 6 pin DIN plification to the desired ac tuator i e IPO1 or IP02 mo tor One end of this cable con tains a resistor that sets the am plification gain The cable gains currently available are 1 3 or 5 Every cable carries a label at both ends with its particular gain on it Figure 12 To Load Cable Document Number 501 Revision 03 Page 14 IPO1 and IP02 User Manual Cable Designation Description 5 pin stereo This cable is specific to the DIN IP02 system It carries the en to coder signals between an en 5 pin stereo coder connector and the data DIN acquisition board to the en coder counter Namely these signals are 5
7. watts 2 0 watts 1 5 watts Additional Sections 75 of section 1 Insulation Resistance 1000MQ minimum 500VDC Dielectric Strength 1000V pus minimum 60Hz Absolute Minimum Resistance Not to exceed linearity x total resistance or 12 whichever is greater Tempco 20ppm C standard values wire only End Voltage 0 25 of total applied voltage maximum CCW end points section 2 phased to section 1 within 2 Taps Center tap only RESISTANCE VALUES Unit Manufacturer s name and model number Identification resistance value and tolerance linearity SOR 100R 200R 500R 1K 2K 5K 10K 20K specification date code and terminal 100R 200R 500R 1K 2K 5K 40K 20K 50K 100K identification 535 50R 100R 200R 500R 1K 2K 5K 10K 20K 50K ORDERING INFORMATION The Models 533 3 turn 534 10 tum 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 03 Page 24 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 139 ELECTRICAL SPECIFICATIONS
8. 01 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 case of the IPO1 the cart position is sensed via a ten turn potentiometer The IP01 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 IP01 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 IPO2 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 en
9. 02 DC MG On carta atria ceale tie cstauecuede etesencheuneeenueied eee pasa tetounnne 18 A PES IG a desea ol econ ach declare est ected Toast ssa erie acd data aha daa EA 18 Gide 2 PROUBIES OG FINS sats ch tacts dc Aaa in as cd tuadead AE ea E a A eden 18 6 2 The IPOI POO Meters ss sciaich od ttl eai a a a naeet a caged E 19 6 2 1 PESIN Eeri a a sea a a e a a E aE n ae aa an ES 19 6 2 2 Tro bl sh oting sian e ET E R R accrue Ata S hal 19 6 3 The IPO EnCOdETS eann a ee aE T S 20 6 3 1 Testinin iiaeiai a e e E E a e Nn Manes aches ous Be 20 Document Number 501 Revision 03 Page i IP01 and IP02 User Manual 6 3 2 Troubleshooting sis 3144Stacapheedssnpandesatues e EA A E AAE aa AAA e EES iah 21 7 Obtaining SUPPOrtissccsacsatissacsadaaxissterssassatss E E EART EDA TEANA EI ERRA SENESTE REIASA 21 Appendix A DC Motor Specification Sheet ccsccscsssssssssssesncesscsscsosscessesesesseseesonsees 22 Appendix B Planetary Gearhead Specification Sheet 0 ccceecceseeceeeeseeeceeeeeseceeeeeseeeeeees 23 Appendix C IP01 Cart Potentiometer Specification Sheet ce ceeceeesceseeeeeenseeneeenseeneees 24 Appendix D IP01 Pendulum Potentiometer Specification Sheet cc ceeeeeeceseeeseeeneees 25 Appendix E IP02 Encoder Specification Sheet icccisssee ny viens Gear 26 Document Number 501 Revision 03 Page ii IP01 and IP02 User Manual 1 IP01 and IP02 Presentation 1 1 General Description The IP
10. 138 2 million Mount Hardware Model 139 2 million Lockwasher Internal Tooth Steel nickel plated Operating Temperature Range 55 C to 125 C Panel nut Brass nickel plated Moisture Resistance 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 03 Page 25 IP01 and IP02 User Manual Appendix E IP02 Encoder Specification Sheet Optical Shaft Encoders Description Features The S1 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 gt Low cost direction into TTL compatible quadrature outputs with or without index The encoders utilize an gt 2 channel quadrature TTL square wave outputs unbreakable mylar disk metal shaft and bushing LED light sou
11. 2 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 N A Single Inverted Pendulum SIP Single Pendulum Gantry SPG Self Erecting Single Inverted Pendulum SESIP Single Linear Flexible Joint SLFJ Seesaw Design of a control system to manipulate the position of the IPO1 or IP02 cart Design of two different control systems to manipulate the speed of the IPO1 or IP02 cart Design of a control system that keeps the classical inverted pendulum balanced and tracks the cart to a commanded position Design of a control system to track a desired cart linear position while minimizing the swing of the suspended pendulum Design of a control system to swing up the pendulum keep it upright and maintain the cart position Design of a control system to manipulate the position of a spring driven cart Design of a control system to balance a seesaw using a sliding powered mass Document Number 501 Rev
12. Linear Motion Servo Plants IP01 or IP02 s GUANS ER E IP01 and IP02 i a el al wel m User Manual IP01 and IP02 User Manual Table of Contents LeIPOdsand IPOD Presentation iists az sisaeudrtalediir atic ni i a e O e sel R E E 1 ly General Desernntl OMiscsecc ere los irane a d means r E a ta E E dk latecdcoeg Matin 1 1 2 IP01 Inverted Pendulum Partie wlarities iccuaicsnticcdncaeadsvay savseacatd i vaacdis ereasdonessederee l 1 3 IP02 Self Erecting Inverted Pendulum Particularities cece eeeeeeteeeteeereeeneeeeaes 1 2 Module Options List of Experiments Based on the IP02 Servo Plant eeeeeeeseeetees 3 Je hy Linear Family Pack age scncese nna a a a aa ANS 3 2 2 Module Options for either IPO1 or IP02 s nnesnseeseeesseessessesseeesessssesseesssessressessreeseess 4 2 3 Module Options Specific to the 1PO2 sao acto haul heath civnsatteal ia arenas 4 2 4 Two Cart i e MIMO Systems with either IPO or P02 eee ecceeeeeeeeeteeeeteeeeees 5 3 IP01 and IP02 Component Description ccs s csdetasecasstwieedan teste Aseceacs eter iades bard oaeteaateas 6 3 1 Component Nomenclature svctiea lis cee donee hate ateaenteaete a taeas soe Nee tad 6 3 22 COmponent Description esserne ia n a o a ig Avda dade dee nes 8 3 2 1 RACK Component 9 lasiescacidanie agate saivies tsvedsvs i apai eieiei na ri eiciia 8 3 2 2 DC Motor Component 13 essseessseeessseeessseessseessseessreesseess
13. Thermal resistance Rihi Rtn2 C W 19 Thermal time constant T wt Tw2 s 20 Operating temperature range motor C F rotor max permissible CCH Note Special operating temperature models for 21 Shaft bearings ball bearings ball bearings preloaded 22 Shaft load max optional optional with shaft diameter in radial at 3 000 rpm 0 12 in from bearing oz axial at 3 000 rpm oz axial at standstill oz 23 Shaft play radial lt in axial lt s in 24 Housing material 25 Weight oz 26 Direction of rotation Recommended values 27 Speed up to Ne max rpm 28 Torque up to Me max oz in 29 Current up to thermal limits le max 1 380 0 680 0 510 0 330 0 260 A 4X M2 4 157 DEEP E e3 Al orertatiar with o Document Number 501 Revision 03 Page 22 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 Shaft load max preloaded ball bearings radial 10 mm 0 394 in from mounting face s 612 oz axial s 540 oz Shaft press fit force max lt 540 oz Shaft play on bearing output radial 0 0006 in axial 0 0039 in Operating temperature range 30 to 100 C 22 to 212 F length with motor output torque reduction ratio w
14. c to the IP02 Table 3 below provides a list of the modules only compatible with the IP02 linear motion servo plants Some of them are part of the Linear Family Package Document Number 501 Revision 03 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 IP02 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 IPO02 Based MIMO Experiments Document Number 501 Revision 03 Page 5 IP01 and IP02 User Manual 3 IP01 and IP02 Component Description 3 1 Component Nomenclature As a q
15. coders as opposed to potentiometers as in the IPO1 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 IP02 is 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 in itself is a module and can be mounted on or remove from the cart Document Number 501 Revision 03 Page 1 IPO1 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 IP01 System Figure 2 IP02 System Document Number 501 Revision 03 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 facili tates the change from one experimental setup to another with relative ease of work 2 1 Linear Family Package The IP0
16. e gradually increasing to 2 5V Likewise rotating the inverted pendulum counter clockwise CCW when facing 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 measure correctly you should check that the MultiQ is functional The red LED on the board should be on If it is not the fuse may be burnt and need replacement To check the analog to digital con version from the analog input channel that you are using on the MultiQ you could run the analog loopback example provided in the WinCon User s Guide manual check that the power amplifier e g UPM is functional The power to the UPM needs to be switched on in order for it to supply both potentiometers with 12VDC Document Number 501 Revision 03 Page 19 IP01 and IP02 User Manual G measure the voltage across the potentiometer Prior to doing that ensure that the po tentiometer 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 re placed To obtain technical assistance please refer to Section Obtaining Support
17. e Diameter 0 375 in 0 005 0 10K rad sec S2 series 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 lbs Shaft Loading 1 Ib 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 03 Page 26
18. eight ngth continuous intermittent direction efficiency nominal without without 2224U 2230 U 2233 U 2444 S 2342S operation operation of rotation motor motor 2842 S reversible L2 E L1 L1 1 L1 L1 M max M max oz mm in mm_ in mm_ in mm in imm in mm in ozin oz in 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 3 71210 292 27 89 1209 _ gt E 718 2 83 69 8 2 75 28 32 56 65 Ss 88 14 k 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 4248 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 99 13 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 1416 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 88 4 3 48 99 13 1416 60 159 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 1416 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 1416 60 415 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 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 13 141 6 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
19. 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 Document Number 501 Revision 03 Page 9 IP01 and IP02 User Manual within approximately a 5 volt range The main specifications of the IPO1 pendulum potenti ometer are included in Appendix D on page 25 Refer to Table 7 on page 13 for the result ing 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 socket represented as compo nent 21 is also available in Figure 6 Once the 6 pin mini DIN socket is connected to a Quanser UPM the potentiometer signals are typically available on S and 2 where S1 and S2 are respectively the voltages proportional to the IP01 cart position and pendulum angle ELP POTP BLCK 10K GREEN ELP SCKT MDIN 6 BLUE 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 neu tral mounting position 3 2 5 IPO2 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 compo
20. ision 03 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 IP01 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 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 IP01 and IP02 Based List of Modules 2 3 Module Options Specifi
21. 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 IPO1 and IP02 systems Value Symbol Vion fVmax Orange Description Motor Nominal Input Voltage Motor Input Voltage Maximum Frequency Motor Armature Resistance Motor Armature Inductance Motor Torque Constant Motor Efficiency Back ElectroMotive Force EMF Constant Rotor Moment of Inertia Planetary Gearbox Gear Ratio Planetary Gearbox Efficiency IPO1 Cart Mass IP02 Cart Mass IP02 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 IP02 Cart Encoder Resolution IP02 Pendulum Encoder Resolution IPO1 Inverted Pendulum Mechanical Range 6 0 50 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 664E 003 6 35E 003 24 0 01482975 56 2 275E 005 0 0015 32 N m A V s rad kg m kg kg kg m m m tooth m m count rad count o Document Number 501 Revision 03 Page 12 IP01 and IP02 User Manual Symbol Description Value Unit Krc IPO1 Cart Potentiometer Sensitivity 0 0931 m V Kopp IPO1 Pendulum Potentiometer Sensitivity 0 2482 rad V Table 7 IP01 and IP02 System Paremeters Document Number 501 Revision 03 Page 13 IP01
22. nection to the UPM is illustrated by cable 4 in Figure 17 above Connect the To Analog To Digital Cable The To Analog To Digital cable is the 5 pin DIN to 4xRCA cable described in Table 8 and shown in Figure 15 First connect the cable 5 pin DIN connector to the UPM socket labelled To A D as illustrated by cable 3 in Figure 17 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 UPM namely S1 S2 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 MultiQ terminal board Specifically connect S1 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 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 steps described below 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 MultiQ terminal board just as illustra
23. nents 8 and 9 respectively Having an encoder as opposed Document Number 501 Revision 03 Page 10 IP01 and IP02 User Manual 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 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 UPM 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 com ponent 10 or 11 in Figure 3 ELP CON ENCODER ELP SCKT RDIN S 180 ELP ENC USD Ee 1024 Figure 10 IP02 Encoder Wiring Document Number 501 Revision 03 Page 11 IPO1 and IP02 User Manual 4 IP01 and IP02 Model Parameters Table 7 below
24. on page 21 for information on contacting Quanser 6 3 The IP02 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 signals For example with WinCon and Simulink the two encoder counters can be read by the Encoder Input block corresponding to your MultiQ and traced on WinCon Scopes and or displayed on WinCon Digital Meters On the MultiQ terminal board the cart encoder signal is available on the encoder input channel 0 and the pendulum encoder signal on the encoder input channel 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 IP02 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 position pinion Combining this with the observations made in Section The IP01 or IP02 DC Motor on page 18 it is seen that a positive motor voltage results in increasing cart position encoder counts and vice versa Similarly rotating the IP02 free falling pendulum or pendulum socket c
25. ounter 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 pendulum encoder counts which should decrease at a rate of 4096 counts per pendulum revolution Notes You should keep in mind that 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 resolu tion Other data acquisition systems do measure in quadrature but increment the count by Document Number 501 Revision 03 Page 20 IP01 and IP02 User Manual 0 25 as opposed to having 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 num ber 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 check that the MultiQ is functional The red LED on the board should be lit If it is not the fuse may be burnt and need replacement check that both signals from the encoder channels A and B are properly generated and fed to the MultiQ Using an oscilloscope you should observe two square wave
26. rce and monolithic electronics They gt 3rd channel index option may operate from a single 5VDC supply gt Tracks from O to 100 000 cycles sec gt 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 pane manual interface Single 5V supply gt 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 ENR 1 18 ca thread aif 24997 0000 50 E a 3 8 32 thread 1 24997 5 50 81 Star Washer 025 x 025 square pins 025 x 025 square pins 80 Mates with CON C5 Mates with CON C5 50 E 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 SOK rad sec Shaft Rotation Continuous amp reversible Hol
27. ry 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 IPO1 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 534 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 kQ 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 its 10 complete turns i e 3600 degrees The main specifications of the IPO1 cart potenti ometer are included in Appendix C on page 24 Regarding the inverted pendulum potenti ometer it is a Vishay Spectrol model 138 0 0 103 It is represented in Figure 6 by compo nent 19 Its wiring diagram is also depicted in Figure 9 No bias resistor is used On the IPO1 the
28. s rep resenting channels A and B with a phase shift of 90 e between the rising edge of the two channels 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 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 03 Page 21 IP01 and IP02 User Manual Appendix A DC Motor Specification Sheet Series 2338 S PEEL BS 1 Nominal voltage Un Volt 2 Terminal resistance R 12 Q 3 Output power P2 max wW 4 Efficiency TN max 5 No load speed No 12 rpm 6 No load current with shaft 0 12 in lo 50 A 7 Stall torque Mu oz in 8 Friction torque Mr oz in 9 Speed constant ky rpm V 10 Back EMF constant ke mV rpm 11 Torque constant km oz in A 12 Current constant ky A oz in 13 Slope of n M curve An AM rpm oz in 14 Rotor inductance L pH 15 Mechanical time constant Tm ms 16 Rotor inertia J 5 oz in sec 17 Angular acceleration O max 10 rads 18
29. setesseessseessseesseressee 8 322e WISSEL ION saris a a E a A a e e E e ES 8 oD 2 WV MIN EAA E E A E EE AE AA 9 3 2 3 Planetary Gearbox Component 14 esssessssessseesessssessessrsseessesressseserssressessess 9 3 2 4 IPO1 Potentiometers Components 18 and 19 ee ccccceseceeeeeeteeeeteeeeeeenaees 9 SZ A L Descriptio ai ei inaari ioed aE Aa TEASE R E EAAS ERR 9 J2 ADs WINN g eotia A a E AR E ER a EAEE ESR RA 10 3 2 5 IP02 Encoders Components 8 and 9 s sssssssssesesessessressessessseeserssressessresseese 10 32 51 D seriptio n sinn e a A E a E a 10 3 25 24 WINN g miea a a A A RE a a a a oe a 11 4 IP01 and IP02 Model Parameters ns nneeseeeseesseeeseeseeessessressessseesersssessessseeserssresseesseeseess 12 5 Wiring Procedure For The IPO1 And P02 cece cecccceseccenceceeeceseceaeceaecnaeeesaeenseeen 14 5d Cable Nomen ature nno a E EEEE A E EEA AE EE a 14 5 2 Typical Connections For The IP01 And IPO2 cccccssscsssccesccsssrscseessseessncessacees 16 5 2 1 Connections Common To Both IP01 And P02 0 cee ccececeeeseeeeeeeeeeeeeeeeees 16 5 2 2 Connections Specific To The WPO IM ie iods csc aichtsacedslee meat sadachenddantcoabigeanpobdicsuadadee 17 5 2 3 Connections Specific To TTPO vascx soudaadyscaeesnguvantessatghese oer tes tee acudedueeeseoeateets 17 6 Testing and Troubles OOUing a sii has As asats s etecteeel a anam decal seine dundeesncud ebeemeone wateav uaa 18 6 1 The IP01 or IP
30. sing feature or component 24 at both ends of the IPO1 or IP02 rack This feature plays the role of a hardware safety watchdog in preventing the IPO1 or IP02 cart from running into one of the track s ends which could potentially be damaging 23 7 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 IP01 and IP02 incorporate a Faulhaber Coreless DC Motor 2338S006 as shown in Figures 4 and 5 component 13 on page 7 This model is a high efficiency low induc tance 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 Number 501 Revision 03 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 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 Planeta
31. technical support 6 2 The IP01 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 IP01 potentiometer signals i e S1 and S2 Using for example WinCon and Simulink the two potentiometer voltages can be traced on WinCon Scopes and or displayed on WinCon Digital Meters On the MultiQ terminal board the cart position potentiometer voltage i e S1 is available on the analog input channel 0 and the pendulum angle potentiometer voltage i e S2 on the analog input channel 1 Pushing manually the IP01 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 18 it is seen that a positive motor voltage results in an increasing cart position potentiometer voltage and vice versa On a similar manner rotating manually the inverted pendulum or pendulum socket clockwise CW when facing the cart should result in a positive change in the pendulum potentiometer voltag
32. ted by cable 5 in Figure 16 above 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 Document Number 501 Revision 03 Page 17 IP01 and IP02 User Manual Then connect the other cable end to the Encoder Input 1 on your MultiQ terminal board just as illustrated by cable 6 in Figure 16 above CAUTION Any encoder should be directly connected to the Quanser terminal board or equivalent using a standard 5 pin DIN cable DO NOT connect the encoder cable to the UPM 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 IP01 or IP02 have been entirely connected as described in Section Wiring Procedure For The IPO1 And IP02 above To carry out the testing and troubleshooting if necessary described hereafter you should be able to create and use a controller that can measure and apply desired signals You can do so very conveniently in software by using the WinCon and Simulink implemen tation or SimuLinuxRT or LabView or equivalent Alternatively the IPO1 or IP02 testing can also be achieved by using a signal generator and an oscilloscope To learn how to inter
33. uick 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 IP02 Cart Encoder Connector IP02 Pendulum Encoder Connector Motor Connector DC Motor Planetary Gearbox Linear Bearing Pendulum Socket IP02 Weight IPO1 Cart Potentiometer IPO1 Pendulum Potentiometer IPO1 Cart S1 amp S2 Connector Rack End Plate Rack Set Screw 7 64 Track Discontinuity Table 5 IP01 and IP02 Component Nomenclature Document Number 501 Revision 03 Page 6 IP01 and IP02 User Manual Figure 5 IP02 with Weight Front View Figure 6 IP01 Front View Document Number 501 Revision 03 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 IP01 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 mis
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