QNET VTOL User Manual
Contents
1. Read the following to save a scope response 1 Right click on the scope and select Export Simplified Image as shown in Figure 8 19 A GUA NS ER ORO RCRCRO RCE 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 4 Scale Y Scale Transpose array Ignore Attributes Stack Plots Chart History Length Properties Figure 8 19 Right click on scope and select Export Simplified Image 2 The dialog box shown in Figure 8 20 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 MS Paint Irfanview and saved to a desired format e g gif gt Export Simplified Image Bitmap rrp Encapsulated Postscript eps Enhanced Metafile emp Export to clipboard O Save to File Hide Grid Figure 8 20 Export Simplified Image dialog box QNET VTOL User Manual ee 3 The resulting image that is saved is shown in Figure 8 21 Potentiometer Figure 8 21 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 A GUA NS ER 9 TROUBLESHOOTING 9 1 GENERAL SOFTWARE ISSUES Q1 When try to open a QNET2. Connecting a QNET Trainer E Caution Do not position the ELVIS II so that it is difficult to disconnect the main power E Caution If the equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired QNET VTOL User Manual ec 7 1 QNET AND NI ELVIS Il SETUP The procedure to install a Quanser Engineering Trainer QNET module on the NI ELVIS II is detailed in this section The NI ELVIS II components used in the installation procedure are located and marked by an ID number in Figure 7 13 and described in Table 6 7 1 1 ELVIS Il Components hi Figure 7 13 Components on ELVIS II Description NI ELVIS Il Prototyping board power switch Power LED Ready LED Power Cable for ELVIS II USB Connection between PC and ELVIS Il Table 6 ELVIS Il components Q QNET VTOL User Manual GUA NS ER INNOVATE EDUCATE v1 0 7 1 2 ELVIS Il Setup Procedure Follow these instructions to setup a QNET board on an ELVIS II E Caution Do NOT make the following connections while power is supplied to the hardware E Caution The unit is provided with a grounded cord to be used with a properly grounded outlet only this is a safety feature do not disable it 1 Place the small opening on the front of the QNET board over the mounting bracket on the NI ELVIS Il 2 Slide the PCI connector of the QNET module end into the female connector on the NI ELVIS II Make sure it
3. OAZA LAAN 40 60 00 D Figure 8 16 Scope needs to be scaled 1 As illustrated in Figure 8 17 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 Arm Angle deg i pas deg Pause Pause Plots e Start Generator Generator Pendulum Angle deg re TA No a OE VAV AVA VARN l l l l l lI 112 0 1124 5 113 0 113 5 114 0 114 5 115 0 115 5 116 0 116 5 117 0 Figure 8 17 Scope needs to be scaled 2 The resulting scope is depicted in Figure 8 18 The blue trace is now more visible Arm Angle deg ae Angle deg Pause Plots Stark Generator Pendulum Angle deg Fave AAR 30 40 l l l l l l I l l i 147 0 147 5 145 0 145 5 149 0 149 5 150 0 150 5 151 0 151 5 152 0 Figure 8 18 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 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 8 2 SAVING RESPONSE
4. 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 OOO Q2 When open a QNET VI a message prompts that a VI with ELVIS in the name cannot be found e ELVIS I The QNET Vlis 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 available for download at www ni com as well e ELVIS Il 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 LOU 9 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 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 the QNET Setup Guide for more information OOo 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 QNET Setup Guide for more information Ooo 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 If one or m
5. is 2 3 V V 2 1 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 The current measurement can be used to monitor the current running in the motor QNET VTOL User Manual C 2 1 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 DAQ The voltage sensor sensitivity is 3 33 V V 2 1 5 Digital Position Measurement Optical Encoder Digital position measurement is obtained by using a high resolution quadrature optical encoder This 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 2 1 6 Fuse The QNET power amplifier has a 250 V 3 A fuse 2 1 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 E Caution Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and b
6. 9 2 General Hardware Issues Technical Support 10 11 16 17 20 21 24 24 26 1 INTRODUCTION The Vertical Take off and Landing Trainer VTOL is designed to teach and demonstrate the fundamentals of vertical take off and landing flight control The system can be configured to utalize a veriety of control methods to control the flight of the trainer In particular the system can be used to teach current control and PID control fundamentals This is done using a PC with real time control capabilities and the NI ELVIS II The hardware of the VTOL is described in Section 2 A schematic of the hardware components is included in Section 3 and the specifications are listed in Section 4 and Section 5 Assembly instructions are provided in Section 6 Some helpful LabVIEW hints when using the QNET Vlis are given in Section 8 along with a troubleshooting guide in Section 9 Figure 1 1 QNET Vertical Take off and Landing VTOL QNET VTOL User Manual i e SYSTEM DESCRIPTION 2 1 VTOL COMPONENTS The components comprising the Vertical Take off and Landing Trainer are labeled in Figure 2 2 and Figure 2 3 and are described in Table 1 E Caution Ensure the trainer is setup as dictated in the QNET Setup Guide The trainer is susceptible to protection impairment if not used as specified Description Description DC motor Encoder Motor leads amp to motor Counterweight Propeller holder Counterweight thumbscre
7. Cy QUANSER INNOVATE EDUCATE USER MANUAL QNET VTOL Trainer for NI ELVIS set Up and Configuration TIONAIL e Win eT RUMEN TS Elvin i AND Lad wie Bat ws fy J T a de ay ep E n i EEan TT H ai Wi 1 a ikr a P U Bew QNET Trainers for NI ELVIS are powered by p n m i i CAPTIVATE MOTIVATE GRADUATE 2011 Quanser Inc All rights reserved Quanser Inc 119 Spy Court Markham Ontario L3R 5H6 Canada info quanser com Phone 1 905 940 3575 Fax 1 905 940 3576 Printed in Markham Ontario For more information on the solutions Quanser Inc offers please visit the web site at http www quanser com This document and the software described in it are provided subject to a license agreement Neither the software nor this document may be used or copied except as specified under the terms of that license agreement All rights are reserved and no part may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of Quanser Inc Contents QUAN 1 AA WwW Ol 10 A S ER Introduction System Description 2 1 VTOL Components System Schematic Specifications Environmental Assembly Setup Guide 7 1 QNET and NI ELVIS II Setup QNET LabVIEW Hints 8 1 Scaling Scopes 8 2 Saving Response Troubleshooting 9 1 General Software Issues
8. arallel 2 Eee Scales a6 Software IWI Drivers a Remote Systems Figure 9 22 Reseting and performing the self test on the ELVIS II QNET VTOL User Manual v 1 0 10 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 the requested software and hardware information as well as a description of the problem encountered Also make sure your e mail address and telephone number are included Submit the form and a technical support person will contact you Six QNET Trainers to teach introductory controls using NI ELVIS gt QNET DC Motor Control Trainer gt QNET HVAC Trainer gt QNET Mechatronic Sensors Trainer teaches fundamentals of DC motor control teaches temperature process control teaches functions of 10 different sensors we beta gt QNET Rotary Inverted gt QNET Myoelectric Trainer gt QNET VTOL Trainer Pendulum Trainer teaches control using principles of teaches basic flight dynamics and control teaches classic pendulum control experiment electromyography EMG gt NI ELVIS I mE Quanser QNET Trainers are plug in boards for NI ELVIS to teach introductory controls in undergraduate labs Together they deliver added choice and cost effective teaching solutions to engineering educators All six QNET Trainers are offered with comprehensive ABET aligned course materials that have been developed to e
9. d Figure 6 8 Tighten two thumbscrews 5 As demonstrated in Figure 6 9 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 Figure 6 9 Connect motor cable E Caution Ensure the red and black wires are connected to each other 6 Connect the encoder cable from the QNET PWM Encoder board to the encoder connector on the VTOL as shown in Figure 6 10 Q QNET VTOL User Manual v 1 0 INNOVATE EDUCATE RoHS J16796 USs DIGITAL usdigital com 800 736 0194 Optical Encoder 1 1024 250 N B D Figure 6 10 Connect encoder cable Caution Make sure the signals of the cable and encoder match e g Ch B on connector is connected to Ch B on encoder QNET VTOL User Manual ae cE Ce lt gt Figure 6 11 Position counter weight 7 The final assembly of the QNET VTOL is shown in Figure 6 11 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 propeller itself i e it should still be resting on the QNET module Q gt QNET VTOL User Manual v 1 0 QUANSER 7 SETUP GUIDE As illustrated in Figure 7 12 the QNET boards can easily be connected to an NI ELVIS system The instructions in Section 7 1 detail the setup procedure for using a QNET with an NI ELVIS Il DO 33 LabVIEW _ Figure 7 12
10. e rated at 3 0 A OD GUA NS ER 3 SYSTEM SCHEMATIC A schematic of the VTOL system interfaced with a DAQ device is provided in Figure 3 4 DAQ SYSTEM Command Current Voltage Encoder AO 0 Al 0 Al 4 DI 0 POWER AMPLIFIER CURRENT VOLTAGE SENSE SENSE MOTOR ENCODER Figure 3 4 Schematic of QNET VTOL system 4 SPECIFICATIONS The VTOL specifications listed in Table 3 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 Symbol Description Value Unit m Propeller mass 0 068 m Counter weight mass oar w VTOL body mass 0 048 cmy I Length from pivot to center of counterweight 56 om ta Teta length afhetenpler body 28 Lom 8 Estimated viscous damping of VTOL 0 602 Nara Table 3 VTOL specifications The specifications on the VTOL system sensors are given in Table 4 Description Value Unit Current Sense Current Calibration Voltage Sense Voltage Calibration V V Arm Encoder fEncodertype OSS O O S SO Encodersigas O O O O aeS SSS SS Table 4 VTOL sensor parameter specifications Q GUA NS ER 5 ENVIRONMENTAL The Vertical Take off and Landing Trainer environmental operating conditions are given in Table 5 Description Value Unit Operating temperature 15 to 35 Humidity 20 to 90 Table 5 VTOL environmental operating condi
11. 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 Power the NI ELVIS II by turning ON the System Power Switch on the rear panel N ODO OF fF O Turn ON the Prototyping Board Power switch ID 2 shown in Figure 7 13 E Caution Turn OFF the Prototyping Board Power switch if the DC motor begins to turn E Caution Take extra care when powering the QNET module to avoid causing any damage 8 The Power and Ready LEDs of the NI ELVIS II unit should be lit as shown in Figure 7 14 Figure 7 14 Ready and Power LEDs on NI ELVIS II 9 As pictured in Figure 7 15 verify that the 75V 75V 5V and B LEDs on the QNET module are lit They indicate that the board has been properly connected to the ELVIS unit QNET VTOL User Manual a ee e GUA NS ER vV CATE cs A 3 495 1 Figure 7 15 QNET LEDs should all be ON QNET VTOL User Manual v 1 0 o QNET LABVIEW HINTS 8 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 V as an example Read the steps below to reduce the y axis range of the Angle deg scope shown in Figure 8 16 in order to see the blue trace more up close Angle deg Pause Plots Start Generator 100 Arm Angle deg Ba Pendulum Angle deg A 80 60 40 a
12. nhance the student learning experience To request a demonstration or quote please email info ni com 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 2012 Quanser Inc All rights reserved LabVIEW is a trademark of National Instruments G I COM INFO QUANSER COM GUANSER Solutions for teaching and research Made in Canada NNOVATE E
13. ore 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 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 LIU Q4 The Ready LED on the ELVIS II does not go on QNET VTOL User Manual 1 Go through the ELVIS II setup procedure outlined in the QNET Setup Guide Once completed launch the Measurement amp Automation Explorer software As illustrated in Figure 9 22 expand the Devices and Interfaces and NI DAQmx Devices items and select the NI ELVIS II device As shown in Figure 9 22 click on the Reset Device button Once successfully reset click on the Self Test button If the test passed reset the ELVIS II 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 OOL X NI ELVIS Il Devi Measurement amp Automation Explorer File Edit wiew Tools Help gt nee ah kc a A ie Configuration u j Properties x Delete Ee ser rex Test Panels be Reset Device ee My System 2 eee Data Neighborhood Name Value ae Devices and Interfaces a Serial Number Ox1lsb2eD 7 i MI DAQmx Devices gl EET O EPE PHI System Unidentified a Serial amp P
14. tions E Caution Ensure the unit is operated under the temperature and humidity conditions given in Table 5 Otherwise there may be some issues with the heating and cooling results 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 1 1 1 Remove one of the thumbscrews located on the support arm as depicted in Figure 6 5 Remove thumb screw Figure 6 5 Remove thumbscrew on support arm 2 As shown in Figure 6 6 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 A 4 Remove thumb screws Figure 6 6 Re tighten thumbscrew on support arm and remove the two bottom thumbscrews 3 Remove the two thumbscrews located underneath the support The bottom screws to be removed are shown above in Figure 6 6 4 Bring the support arm in the upright position and place the support arm onto the velcro pads on the surface of the QNET board Align the two screw holes located on the base with two holes on the QNET module board This is illustrated in Figure 6 7 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 6 8 Q GUA NS ER Figure 6 7 Align the two screw holes located on the base with two holes on the QNET module boar
15. ws Propeller shield PCI connector to NI ELVIS for interfacing QNET module with DAC VTOL body 24V QNET PWM Encoder board Pivot encoder shaft 24V QNET power jack Support arm Fuse Support thumbscrews B 15V 15V 5V LEDs Table 1 VTOL component nomenclature 11 et a ie uw Ae 4 ub i TS E ya i xy a ee eS ty 4 W o ay Wee gt d Ww 3 Figure 2 2 Front view of VTOL layout gt QNET VTOL User Manual v 1 0 oo A U C 13 sA 12 Eip eT J aaan on CWP SRERSANET BR8 14 i ap pate Wat Vz PNGANUDAB A fd nyvistorts RUAN ER A Ad ba al nhs ae 7 ei f 406 KENS i H eat 5j BYEN WN bettas gt P T A n LAA y ny pete HE T M in H y Hp 1 6 y TY gan TE al 1 amare 7 Ry la iit i mee o a w 9 o N T fy LabViEW sai i 3 Figure 2 3 Top view of VTOL layout 2 1 91 Rotor Actuator The EM150 DC motor and the EP2245xX6 rotor have the specifications given in Table 2 Volts V Amps A Thrust g Thrust oz Power W _ Efficiency g W Efficiency oz kW 5 93 209 Table 2 VTOL rotor specifications 2 1 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
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