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MECHATRONICS CONTROL KIT USER`S MANUAL

1. DataTypes h 16 hardware h WINDOWSTARGET Files for MathWorks WindowsTarget WINDOWSTARGET 2 0 2 2 Files for WindowsTarget 2 0 2 2 readme txt c6xbd h c6xen dll c6xen h c6xen tle c6xlib mdl c6xpwm dll coxpwm h coxpwm tlc EXAMPLES Example External Simulink model for WTarget2 0 swpendtop mdl swpendtopobs mdl swpendmid mdl swIwhlE mdl HOWTO DLLS How to compile the mex dll files readme txt c6xen c c6xpwm c c6xbd h c6xen h coxpwm h WINDOWSTARGET2 5 Files for WindowsTarget 2 5 readme txt c6xbd h c6xen dll c6xen h c6xen tle c6xlib mdl c6xpwm dll coxpwm h coxpwm tlc EXAMPLES Example External Simulink model for WTarget2 0 swpendtop mdl swpendtopobs mdl swpendmid mdl swIwhlE mdl HOWTO DLLS How to compile the mex dll files readme txt c6xen c c6xpwm c c6xbd h c6xen h c6xpwm h SIMULINK Example simulation files for the two experiments using Simulink 17 readme txt pendubot blocks mdl swIwhlsimE mdl swIwhlsimEobs mdl swpendmidsim mdl swpendtopsim mdl swpendmidsimobs mdl swpendtopsimobs mdl pendubotanim m Iwhlanim m howto mak msvc60opts bat parfdbk c parfdbk dll pendubot c pendubot dll pend sfunc exmpl mdl furutaanim m goodfurutaobs mat goodIwhobs mat swfurutasim mdl swfurutasimobs mdl LINUXINCONTROL Method for controlling the Mechatronics Kit in Linux and Simulink See the readme t
2. E34 LJ AN SEA MECHATRONICS CONTROL KIT USER S MANUAL IMPORTANT NOTICE Do not attempt to operate the Mechatronics Control Kit without proper supervision and without first reading this manual Quanser Consulting Inc assumes no responsibility for injuries or damage caused by improper usage Copyright 2006 Quanser Consulting Inc under license by Mechatronic Systems Incorporated All rights reserved Table of Contents Chapter 1 EntroducUoIL banana PI SUO Ets M qve BN LER IEEE RAT ME Sip nenek 3 i About Quanser Consulem Inget aa ae en ne eo Oe aede 4 2 How to Contact Quanser LA RW aee eere GE RR RE BBR Gs 5 3 What Can You Do With the Mechatronics Control Kit sss 6 Chapter 2 Getting Started arena naa sanken an Gn anakan 7 1 Running Your First Controller nh hn anang bahas bahan 7 25 Sample Cone ee Be iau nigh usd sue CIR Mus CD OU aa nme 8 3s Parts Liste Rr P o T EE 9 A Additional Hs 55 11 antam nela Ponta Kelantan Por ie tur sebo ases oca lu uter Reeve Btn 10 Chapter 3 Software Installation na aa aan aa anna 11 1 Installing CCS under Windows 2000 Me XP eese nennen nnnm en nennen ener en 11 2 Installing the Mechatronics Rit Soft ate ha sena nan ae un sa au 11 Chapter 4 Software B uulnere m 12 1 Code Composer Studio and TI example code cie amen asma 12 2 Quanser Source Code and Documentation oooooo o
3. a Set Kp 150 0 Kd 21 0 and w at 5 55 b Start with an ampl value of around 1 7 c Ensure the links are at rest before running the control i e the encoders are reset when the controller begins running d Run the swing up control and examine if the swing up works e If the swing up control did not add enough energy to link 2 i e the link did not make it up to the equilibrium point increase ampl by about 0 05 and try the run again f Continue this until you find the ampl gain that brings link 2 to the equilibrium If the swing up control adds too much energy to link 2 and link 2 swings quickly through the equilibrium reduce the value of ampl by about 0 05 and try the run again Note that there are many gain values that will perform the swing up but the above gains are values that we have found to work well Also after successive swing up tests the motor and amplifier chip become warmer and this causes the motor torque constant to slightly decrease As a result this may require you to tune the ampl gain again to get the link to swing to the equilibrium 22 CAUTION Do not let the motor get stuck in a position say by a wrapped up cable or some other obstacle If the motor stalls with maximum torque being applied the motor could get very hot and become damaged Always take care to power off you system when it is unattended so that an issue like this can be avoided Also very high gain controllers can cause the motor to heat
4. feature to the DSP system For example a 4 channel 12bit 10V ADC granddaughter card has been fabricated for expansion header to add 4 ADC channels to the DSP system Another example would be to build a granddaughter card that would allow the DSP to communicate with an inexpensive micro controller programmed to do one specific task Serial port 1 expansion header giving you access to all the McBSPI pins This would allow you to add a serial interface granddaughter card to the DSP system Note the mechatronics Kit presently uses this header to connect to the LCD screen If you choose to use this header for your own purposes you will have to design another way to communicate with the LCD or not use the LCD Access to the 4 DSP external interrupt pins found at connectors J6 J10 and J12 Power ON LED for indication of appropriate power Below you will find the pin outs and descriptions for the different connectors and jumpers on the C6xDSK DigIO daughter board The connectors and jumpers needed for the mechatronics kit will be listed first followed by the connectors left unpopulated 1 Board Address Selector Jl The four jumpers installed or uninstalled on the pins of connector Jl determine the board s address location in the DSP memory space See the schematics for full details but in short Jl pins 1 3 5 7 are pulled HI through 2 2 KOhm resistors and connected to an identity comparator chip that compares those pins with the DSP address lines
5. floating point processor 16 Mbytes of SDRAM 512 Kbytes of flash 16 bit Audio Codec JTAG USB interface to Host PC Expansion connectors for add on daughter cards Pp ang Figure 5 24 6713 DSK Board This DSK board acts as the motherboard for our system All the control routines are run on the C6713 floating point processor and use the external SDRAM supplied on the DSK The USB 47 connector on this board is used to communicate with the host PC JTAG emulation is achieved through this USB port By reading through TI s documentation and tutorials you will become very familiar with this board and its capabilities The DSK kit comes included with the DSP board Code Composer Studio software and DSP BIOS II DSP BIOS II is a new DSP operating system that TI released in 2000 It is a powerful real time operating system that still allows for relatively small footprint in the DSP s memory In the CCS Help menu click on Contents and see the DSP BIOS item in the left panel for an overview of the DSP BIOS operating system For additional information see the TMS320C6000 DSP BIOS User s Guide SPRU423 document This manual along with many more C6000 documents can be found after CCS has been installed under the Help menu This manual for the Mech Kit is intended to give you enough information to run the different example programs supplied and get you started with the dynamics models of the two experiments We have n
6. 1 to the second 82C54 chip the 82C54 can be programmed to control RC Servo motors Contact us at Quanser for more information Pinf Signal Name Description Pinf Signal Name Description DGND DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd 5V DSP Daughter Power 4 5V DSP Daughter Power NC No Connect 6 NC No Connect NC No Connect 8 NC No Connect PWM3 PWM Output 3 10 PWM4 PWM Output 4 Connector for PWM Outputs 3 and 4 J5 See Schematics to add the appropriate ICs to the daughter card for the additional PWM Outputs 3 Granddaughter Card Expansion Connector J6 Use this connector to add additional expansion boards to your DSP system 52 Pin Signal Name Description Signal Name Description DGND DSP Daughter Digital Gnd 5V DSP Daughter Power 15V Daughter Card 15V 15V Daughter Card 15V BS Daughter Card Board Select DB_EINT7 DSP External Interrupt 7 DB DO DSP Data Line 0 DB AWE DSP Write Line DB DI DSP Data Line 1 DB D2 DSP Data Line 2 DB D3 DSP Data Line 3 DB D4 DSP Data Line 4 DB D5 DSP Data Line 5 DB D6 DSP Data Line 6 DB D7 DSP Data Line 7 DB D8 DSP Data Line 8 AGND Daughter Card Analog Gnd DGND DSP Daughter Digital Gnd DB D9 DSP Data Line 9 DB DIO DSP Data Line10 DB DII DSP Data Line 11 DB A2 DSP Address Line 2 DB A3 DSP Address Line 3 DB A12 DSP Address Line 12 DB ARE DSP Read Line DB A13 DSP Address Line 13 DB EINT6 DSP External Interrupt 6 AGND Daughter Card Analog Gnd 15V Daughter Card 15V 15V Daughter Card 1
7. DIP 1 DIP 2 UP UP UP Swing Reaction Wheel to Balancing point DOWN UP UP Swing Pendubot experiment to TOP position UP DOWN UP Swing Pendubot experiment to MID position DOWN DOWN UP Swing Up Furuta Pendulum All three of these controllers require the links to be at rest before the control algorithm can begin Tapping on DIP 3 in all three cases starts the control algorithm The source code for this program can be found in the bootcode directory Read the source code and readme txt file to familiarize yourself with this example 2 DSP BIOS II Example Program This example requires the use of both Code Composer Studio and Visual Basic 6 0 Visual Basic 6 0 is not required but highly recommended for ease of use With this example you use CCS to download the example balrtdx out file to the 6713DSK board Then you use the Visual Basic plug in to start the different controllers and to download gain settings The plug in also adds a mechanism for saving response data in a Matlab M file format This is the perfect environment for testing and tuning different control algorithms With this example five different controllers can be selected and run from the VB plug in 1 Swing Pendubot experiment to the MID position and balance it there 2 Swing Pendubot experiment to the TOP position and balance it there 3 Swing Reaction Wheel experiment to the inverted position and balance it there 4 Swing the Furuta Pendulum to the inverted balancing pos
8. ENC2 on the Quanser interface board This is the encoder 2 connector Match ground with Pin1 Plug the connector from the US Digital encoder into ENCI on the Quanser interface board Plug the other end of the US Digital encoder cable into the connector on the US Digital encoder Match ground with pin 1 33 3 Building the Pendubot As with the Reaction Wheel experiment it is very important not to put too much stress on the US Digital encoder when performing the assembly steps Work gently with the different pieces and NEVER force any thing into position When the experiment is complete take steps to not allow the linkage to be bumped into by yourself or other objects Avoid unneeded stress on the link one coupler ALWAYS assemble the link1 US Digital encoder link2 coupler assembly first before sliding the coupling onto the motor shaft l First mount the motor to the motor mount on the base plate using three 2 56 screws orientated so that the encoder connector faces straight up If the motor mount is not already attached to the base plate do so now You will want to have the M cable and the encoder cable loosely wrapped around the motor body This will keep these cables somewhat out of the way Do not wrap the cables too tight creating unneeded stress on the cable wires Screw the M red and M black leads into the screw terminal of the PWM AMP board Now assemble the linkage Use a 1 2 inch socket to mount the US Digital encod
9. Name Description Pinf Signal Name Description DGND DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd 5V DSP Daughter Power 4 5V DSP Daughter Power NC No Connect 6 NC No Connect NC No Connect 8 NC No Connect PWMI PWM Output 1 10 PWM2 PWM Output 2 Connector for PWM Outputs 1 and 2 J4 4 DB CLKSI jumper J8 The J8 jumper connects the 10MHz clock of the C6xDSK DigIO daughter card to the CLKSI pin of McBSP1 This jumper MUST be installed for the given LCD code to work The slow at least compared to the 150MHz clock of the DSP 1OMHz clock is used to generate the slow 19200 Baud rate for the LCD serial port transmissions The only reason you would need to remove this jumper is if you would like to use the J11 serial port connector for a different purpose then the LCD screen 5 Serial Port LCD connector J11 Use this connector to connect the serial LCD panel to the DSP s serial port 1 McBSPI The McBSPI s pins are not connected to the MAX232 RS232 voltage converter chip on the board Instead these connections need to be made at connector J11 So to convert McBSPI1 s data transmit pin to RS232 voltages pin 9 is jumper to pin 10 and pin 8 is taken to LCD See the schematics for more details Power is also brought out to this connector to power the LCD If the LCD screen is not needed you can use this connector to connect McBSP1 to other peripherals Signal Name Description Signal Name Description DGND DSP Daughter Digital Gnd 5V DSP Dau
10. RTDXproj vbw RTDXproj exe SETUP All setup files for use on PCs without Visual Basic INCLUDE Common Include files for example source code boot asm c6x11dsk h c6xdskdigio h c6xdskdigio c rts6701 lib switch_led c switch_led h BOOTCODE Source example that can be flashed to the DSK Default Flash Program readme txt bootflsh c Ink cmd 15 myvectors asm bootflsh pjt bootflsh out bootflsh map FLASH Files and Instructions for re flashing the DSK FBTC6713 out flashconf cdd flashfile hex flashit bat hex cmd hex map LogFlashBurn txt MATLAB Matlab M files used to identify and form the models of the two experiments readme txt id pendubot m id furuta m LINPENDU M linRwhl m id reaction wheel m RTW Files needed to run the Mechatronics Kit using Real Time Workshop readme txt WINCON Files to setup Quanser WinCon with the Mech Kit readme txt c6xbd h c6xen dll c6xen h c xen tlc c6xlib mdl c6xpwm dll coxpwm h coxpwm tlc EXAMPLES Example External Simulink models for WinCon swpendtop mdl swfuruta mdl swfurutaEnergy mdl swpendtopobs mdl swpendmid mdl swIwhIE mdl swIwhlEobs mdl goodRWhlobs mat HOWTO_DLLS How to compile the mex dll files readme txt c6xen c c6xpwm c c6xbd h c6xen h c6xpwm h
11. be run from the flash You can in fact download and run bootflsh out from CCS When done in this fashion the boot asm code is ignored This way you can modify the bootflsh source code and debug it using CCS Then when your final version is complete you can flash the program to the DSK See the files in the FLASH directory for information on re flashing the DSK 4 DSP BIOS II code and Visual Basic Interface Plugin BALRTDX and RTDXPROJ This section describes the DSP BIOS program found in the DSPBIOSINRTDXPRONDSP directory along with its companion Visual Basic program found in the DSPBIOSINRTDXPRONVB directory The target program must be loaded and run from inside CCS and then commanded to start the appropriate control algorithm from within a Visual Basic plug in called RTDXPROJ This means that in order to run this example code you will need Visual Basic Version 6 0 installed on your PC Actually it is not required but we highly 20 recommended that you purchase VB V6 0 The VB programming language is very easy to learn and can be used to build very impressive and powerful graphical user interface programs Students pick up the VB programming language very quickly If you choose not to install Visual Basic V6 0 on your PC you can use the setup exe file located in the DISPBIOSINRTDXPRONVBISETUP directory on the Mechatronics Control Kit CD to install the needed dll and ocx files to run the plug in The main documentation for this example is
12. excess of this cable is not in the path of link 1 45 6 Cable Pin outs and Part List a PWM cable Quanser Interface 5 Pin PWM AMP 5 Pin Pin Pinl GND Pin2 Pin2 5V Pin5 Pin5 PWM signal Part List Any standard 28 AWG 0 05 in spacing stranded ribbon cable Crimp Pins DigiKey part number WM2557 ND Crimp Tool DigiKey part WM9999 ND 5 pin housings DigiKey part number WM2803 ND 2 US Digital encoder cable Quanser Interface 5 Pin Encoder Pin Pin 1 GND Pin 3 Pin 3 CH A Pin 4 Pin 4 5V Pin 5 Pin 5 CH B Part List Any standard 28 AWG 0 05 in spacing stranded ribbon cable Crimp Pins DigiKey part number WM2557 ND Crimp Tool DigiKey part WM9999 ND 5 pin housings DigiKey part number WM2803 ND 3 Motor Encoder cable Quanser Interface 5 Pin Motor Wires Pin 1 Black GND Pin 3 Yellow CH A Pin 4 Red 5V Pin 5 Blue CH B Part List Any standard 28 AWG 0 05 in spacing stranded ribbon cable Crimp Pins DigiKey part number WM2557 ND Crimp Tool DigiKey part WM9999 ND 5 pin housings DigiKey part number WM2803 ND 4 Motor and Leads Solder 22 AWG wire onto ribbon cable wire for screw terminal ends Part List Any standard 28 AWG 0 05 in spacing stranded ribbon cable 22 AWG Red and Black stranded wire 5 LCD cable Daughter Card 16 Pin H
13. how each measurement was arrived at Then use the linpendu m and linIwhl m files to find the linear models for the Pendubot and reaction wheel experiments at the enter equilibrium value Type help linpendu or help linIwhl at the Matlab prompt for information on using these functions See the dynamic modeling and control sections for more information on the models of these plants and the definition of the parameter values spoke of here 6 Simulink Simulation files We have supplied you with a number of Simulink simulation files There are also animation M files that are used to animate single and double pendulum systems The files swfurutasim mdl swIwhlsim mdl swpendmidsim mdl swpendmidsimobs mdl swpendtopsim mdl and swpendtopsimobs mdl all use standard Simulink blocks to simulate the non linear equations of motion of the linkages and the controller algorithm The mdl files with obs in their name implement a linear observer to estimate the velocities of the links when in the balancing position The remaining mdl file pend sfunc exmpl mdl demonstrates how to use Simulink S functions to simulate both the non linear equations of motion and control algorithm The file howto mak describes how to compile the S functions 23 7 Real Time Workshop The Mechatronics Kit comes equipped to support the Real Time Workshop toolbox using both the WinCon from Quanser www quanser com and the Windows Target Toolbox from Mathworks www
14. motion 43 Routing the cables for the Furuta Pendulum Experiment You will want to read this section along with the section that discusses assembling the Furuta Pendulum experiment Before routing the swinging cable you should first have most of the Furuta Pendulum experiment built The motor should be mounted and its leads screwed into the terminal block of the PWM AMP board The encoder should be attached to link 1 of the Furuta and the link 2 coupler piece should be tightened on the shaft of the encoder Do not attach Link 2 until after the cable has been routed 1 Connect the US Digital encoder cable to the connector on the US Digital encoder Match Pin 1 of the connector to Pin 1 on the encoder body 2 Tape the encoder cable to the upright aluminum piece as shown in Figures 5 21 5 23 Make sure to arch the cable as in the figure so link one can turn 180 degrees in each direction without being disrupted by the cable Shape the cable and make sure there are no twists in it Figure 5 21 Furuta Pendulum Cable Routing 44 Figure 5 23 Furuta Pendulum Cable Routing 3 Connect the ribbon cable from the US Digital Encoder which is now routed to the ENC2 connector on the Quanser Interface board Make sure Pin 1 on the connector matches with Pin 1 on the board 4 Connect the Motor Encoder cable to ENCI on the Ouanser Interface Board Match Pin 1 on the connector to Pin 1 on the board Also make sure that the
15. of the encoder DO NOT force the coupler on the encoder shaft Take your time lining up the hole so that it slides easily on the shaft See the reaction wheel assembly instructions if you have trouble sliding the link on Tighten the link coupler socket head cap screw with a 5 64 inch Allen wrench Now use the cable routing section for the reaction wheel to guide you through the routing of the motor and encoder cable Again using the cable routing section as a guide plug the motor encoder cable into ENC2 on the Quanser interface board Plug the US Digital encoder cable into ENC1 on the Quanser interface board Note that Pin 1 is ground on the encoder connectors Screw the M red and M black leads into the PWM Amplifier screw terminals Make sure that the power to both power supplies is off and plug the two power COAX cables into both the C6713DSK and the Quanser interface board The 5VDC power supply is the larger of the two power supplies The 5VDC power supply powers the C6713DSK The 24VDC power supply is the small power supply The 24VDC power supply powers the Quanser Interface and PWM AMP board Verify that the three USER SWITCHES on the C6713 DSK are in the UP position Now you should be ready to turn on power Check the PC boards making sure no metal objects or obstacles are laying on them Then plug the two power cords into a dedicated power strip and turn on power The LCD should print out a message indicating that it is ready to s
16. software needs to be installed a Matlab 6 0 b Simulink c Real Time Workshop toolbox d Microsoft Visual C 6 0 or Microsoft Visual Studio NET 2002 2003 10 Chapter 3 Software Installation The Mechatronics Control Kit is supplied with source code of all programs including example controllers Matlab Simulink programs and a Visual Basic GUI plug in In addition the Code Composer Studio software CCS from Texas Instruments is included for developing and running your own application programs on the DSK CCS v3 00 requires that you have a Windows 2000 XP PC with 500MB of hard disk space and 128 MB of RAM 1 Installing CCS under Windows 2000 XP Before installing Code Composer Studio make sure that you have assembled your Mechatronics Control Kit and run the flash memory demo program according to the instructions in the Getting Started Section of this manual This will ensure that the DSK is functioning properly and is ready to be connected to the PC Locate the Code Composer Studio for C6713 DSK Quick Start Installation Guide supplied with the TI CCS and follow the instructions to connecting the PC to the DSK and install the CCS software Make sure you run the C6713 DSK Diagnostic Utility to verify that the connection between the PC and the DSP can be made 2 Installing the Mechatronics Kit Software The Mechatronics Kit software is supplied on a single CD Locate the CD labeled Quanser Mechatronics Kit Software and insert it in you
17. wrapped up cable or some other obstacle If the motor stalls with maximum torque being applied the motor could get very hot and become damaged Always take care to power off you system when it is unattended so that an issue like this can be avoided Also very high gain controllers can cause the motor to heat up When attempting new control algorithms monitor the motor s temperature from time to time and power off if the motor gets hot Perform tuning either by using the VB plugin supplied with the DSP BIOS II code example or by using CCS watch windows with the use of the bootcode example source files See the readme txt files in those respective directories for instructions 3 REACTION WHEEL Follow these instructions to tune the reaction wheel swing up controller l To design a linear full state feedback controller for the reaction wheel at the Top equilibrium point pi 0 0 we have supplied two Matlab M files to perform the parameter identification and the linearization of the non linear equations about the equilibrium point a Run the script file id reaction wheel This produces a P parameter vector b Run the linpendu function as follows A B linpendu P pi This will produce the linearized A and B matrices c Now with this linear model you can design a linear controller to stabilize the system As an example find a full state feedback controller using the Igdr function ie K Igrd A B 0 1 005 whe
18. 5V 5V DSP Daughter Power DGND DSP Daughter Digital Gnd Parallel Interface Expansion Header J6 4 Jumper J7 Used in conjunction with the second 82C54 chip which is also not installed See schematics for more details 5 DAC output connector J9 The Burr Brown Now TI DAC2815AP chip can be added to the C x DSK DigIO daughter card to add two channels of 10V DAC output to the DSP system Add this connector after installing the DAC2815AP chip Pinf Signal Name Description AGND Daughter Card Analog Ground DACOUTI Digital to Analog Output 1 AGND Daughter Card Analog Ground DACOUT2 Digital to Analog Output 2 AGND Daughter Card Analog Ground DAC Output Connector J9 See Schematics to add the appropriate ICs to the daughter card for the DAC portion 6 Digital I O header J10 This connector brings out the 2 digital inputs and 2 digital outputs supplied by the C6713DSK DB CNTLO 1 and DB STATO 1 It also brings out External Interrupt 5 and the three additional digital outputs not used by the parallel port interface J12 53 Pin Signal Name Description Pin Signal Name Description DGND DSP Daughter Digital Gnd 2 DB EINT5 DSP External Interrupt 5 DB CNTLO DSP Extra Digital OutO 4 DB TINPI DSP Timerl Input Pin DB CNTLI DSP Extra Digital Outl 6 DIGOUTS Daughter Digital Output 5 DB STATO DSP Extra Digital InO 8 DIGOUT6 Daughter Digital Output 6 DB STATI DSP Extra Digital Inl 10 DIGOUT7 Daughter Digital Output 7 Digital I O Ex
19. A18 A21 respectively Pins 2 4 6 8 are connected to ground When a jumper is installed i e between 1 amp 2 3 amp 4 5 amp 6 7 amp 8 the address pin is being compared with a LOW logic level When the jumper is not installed a HI logic level is being compared In this way you can set the address of the board The default board address is set to all the jumpers installed or 0x000000 The C6xDSK DigIO daughter card uses CE2 space therefore the base address of the daughter card is 0xA0000000 The only reason you would ever need to change these jumper settings is if would have the need to install another daughter card in between the C6713DSK and the C6xDSK DigIO daughter card In that case you may find that you need to change the address so that it does not conflict with the new daughter card s memory space Optical encoder connector for encoder 1 and 2 J2 Use this connector to plug the US Digital encoder and the motor encoder into the DSP system 49 Pinf Signal Name Description Pinf Signal Name Description DGND DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd NC No Connect 4 NC No Connect ENCICHA Encoder 1 Channel A ENC2CHA Encoder 2 Channel A 5V DSP Daughter Power 8 5V DSP Daughter Power ENCICHB Encoder 1 Channel B 10 ENC2CHB Encoder 2 Channel B Connector for Optical Encoder Inputs 1 and 2 J2 3 PWM connector for PWM outputs 1 and 2 J4 Use this connector to connect the PWM output signal to the PWM amplifier board Pinf Signal
20. Figure 5 14 Completed Furuta Pendulum Setup 37 5 Routing the Cables The Mechatronics Kit includes the following cables US Digital Encoder Cable Four wire ribbon cable approximately 22 inches long One end to mate at the Quanser interface board and the other end to mate at the US Digital Encoder connector 2 Motor and cable attached to the motor RED M BLACK M 3 Motor Encoder cable attached to the motor Free end is to mate at the Quanser interface board Notice the labels that have been placed on the encoder connectors Pin 1 is marked as ground Pin 1 of the encoder headers on the Quanser interface board are denoted by a notch in the silk screened box surrounding the header So when connecting the cables for the different experiments make sure to match Pin 1 Note that the US Digital encoder is also labeled with Pin 1 as ground The two 2 5mm power cables are also marked with colored tape BLUE is the 5VDC supply connector to be connected to the C6713DSK ORANGE is the 24VDC supply to be connected to the Quanser interface board DO NOT plug the 24VDC supply into the C6713DSK ALWAYS first connect the power connectors to the boards and turn on AC power to the DC supply Plugging the DC supplies into a dedicated power strip is recommended This way you have an On Off switch for the Kit You will find that you will spend most of the building time of constructing either the Pendubot or Reaction Wheel experiment in getting the
21. I three of the swing up modes require that the linkage be at rest to start This allows the program to initialize the optical encoders to a zero position or home before starting the control algorithm Once the user switched the PWM Amps ENABLE switch to ON and taps DIP 3 the control algorithm starts and attempts to swing the linkage to an equilibrium position and catch and balance it there The LCD will also be displaying status information on the control variables for encoder position 1 2 and the control effort being applied to the motor See Figure 4 4 for a description of the LCD displayed information 19 Figure 4 4 1 LCD Display Panel If the swing up algorithm was not able to swing the unactuated link to the balancing position you can manually move the link to the balancing position and the control will switch and balance the link there See the tuning section for more information on getting the system to swing up correctly If you would like to re run the same controller simply move the PWM Amp ENABLE switch to OFF and depress the hardware RESET button and the program will start over Wait for the links to be at rest and then ENABLE the Amp and tap on DIP 2 To switch to a different mode again DISABLE the Amp switch DIP 0 and DIP 1 to the desired mode and then press the hardware reset button The new mode will then run and you can enable the amp and tap DIP 2 to start this controller The bootflsh out file does not only have to
22. K DigIO daughter board and are detailed below PWMI PWM2 Pinf Signal Name Description Pinf Signal Name Description DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd DSP Daughter Power 4 5V DSP Daughter Power No Connect 6 No Connect No Connect 8 NC No Connect PWM Output 1 10 PWM2 PWM Output 2 Connections for PWM Outputs 1 and 2 BI LI ZX PN ES ES F3 INNOVATE EDU CATE 56
23. Run the script file id furuta This produces a par parameter vector b The id furuta also outputs the linearized A and B matrices for both the inverted up equilibrium point and the hanging down down equilibrium c Using the linear model a linear controller can be designed to stabilize the system For example find a full state feedback controller using the place i e K place Aup Bup 8 9 10 11 You will find that the encoder cable for link 2 and the friction of the motor can cause a large limit cycle for different control designs We have supplied a friction compensation algorithm to get ride of some of this limit cycle You may want to adjust these friction gains to achieve the best performance Our swing up controller for the Furuta pendulum implements an energy based swing up control found in the paper Energy Based Control of Pendulum by IWASHIRO FURUTA and Astrom We have supplied this paper in the directory docs papers furuta There are three gain values that you can tune to get the second link to swing to the inverted equilibrium point slowly enough so that the balancing controller can catch and stabilize the system e Energy proportional gain Ke e Proportional gain used for initial trajectory Kp e Saturation value Sat 28 4 Typically the controller does not need much tuning but if required try keeping Ke and Kp constant and adjusting the Saturation Value Sat Increasing this value will al
24. a e Position and Speed Control The Kit can be configured to control a DC motor with attached load inertia Position and speed control of this second order system is the natural first laboratory exercise for beginning students e Balancing A more challenging laboratory exercise is to configure the Kit for either a Reaction Wheel Pendulum or a Pendubot These systems are fourth order and can be used to investigate stabilization of either the lower equilibrium configuration or the inverted equilibrium configuration We have supplied controllers designed using Linear Quadratic Optimal Control theory to balance the three inverted pendulum experiments at various equilibrium configurations You may design additional such controllers using other methods such as fuzzy control pseudo linearization robust control variable structure control etc e Swing up The problem of swinging the Reaction Wheel Pendulum the Pendubot or the Furuta Pendulum from the open loop stable configuration to the inverted equilibrium is an interesting problem because of the strong nonlinearity and dynamic coupling between the degrees of freedom We have supplied controllers that are based on the notion of partial feedback linearization and nonlinear zero dynamics that can be used for swing up control You may design additional controllers using heuristic fuzzy logic or machine learning methods or a host of other available techniques e Swing up and Balance Combining the operatio
25. a bit large memory footprint so we chose to go with a classical no operating system program for our flash routine so it had more room to expand if needed in the future On reset the bootflsh is run Bootflsh first reads the state of the three DIP switches 0 2 on SW1 of the DSK board Depending on the state of the switches five possible modes can be run Below are the modes corresponding to the state of the switches DIP 0 DIP 1 DIP 2 UP UP UP Swing Reaction Wheel Experiment to Balancing point DOWN UP UP Swing Pendubot experiment to TOP position UP DOWN UP Swing Pendubot experiment to MID position DOWN DOWN UP Swing Furuta Pendulum to the inverted position UP UP DOWN Presently NO function DOWN UP DOWN Presently NO function UP DOWN DOWN Presently NO function DOWN DOWN DOWN Puts the system into dummy data acquisition mode After reading the USER SWITCHES the program prints a message to the LCD screen indicating which mode itis in NOTE The boot code will actually hang here at the print to the LCD if jumper J8 is not installed on the C6xDSK_DigIO daughter card That jumper is required for any LCD print function If the mode is the dummy data acquisition mode the DSP immediately starts monitoring the parallel port connector on the daughter board for commands from the HOST PC see the RTW section for more details If the mode is one of the three swing up and balance modes the program sits and waits for the user to tap on DIP 3 AI
26. aging environment that enabled engineering students to explore a range of control concepts as well as develop implement and test ideas of their own Since that time Quanser has evolved considerably and employs a diverse team of professional engineers and support staff who have been charged with the mandate to continually create build and deliver a dynamic range of control theory challenges and solutions to the educational and industrial marketplaces Today Quanser is recognized as the world leader in the development and manufacture of real time control design and implementation used in education and research Although our systems are utilized in a range of organizations and applications they continue to enrich the learning experience and enable researches to realize greater and more exciting advancements in the field of control theory 1 How to Contact Quanser FOR SALES AND SERVICE Quanser Consulting Inc 80 Esna Park Drive Unit 1 3 Markham ON L3R 2R6 Canada Tel 1 905 940 3575 Fax 1 905 940 3576 E mail info quanser com FOR TECHNICAL SUPPORT World Wide Web http www guanser com english html support fs support html E mail tech quanser com 2 What Can You Do With the Mechatronics Control Kit The Mechatronics Control Kit possesses many attractive features for control research and education Using this kit one can investigate system identification linear control nonlinear control optimal control learning contr
27. be tightened on the shaft of the encoder Do not attach Link 2 until after the cable has been routed 1 Connect the US Digital Encoder cable to the connector on the US Digital encoder Match Pin 1 of the 5 pin female connector with Pin 1 on the encoder housing NOTE The bent angle of the encoder connector pins is correct They are angle toward the link in order to keep the connector a little more out of the way when the cable wraps up with multiple revolutions of link 1 2 With the ribbon cable laying flat on link 1 use a piece of Scotch tape to tape the cable to the link just above the connection as illustrated in Figure 5 15 lapo au p pe ned penda SN Figure 5 15 Taping the Encoder Cable to Pendubot Link 1 3 Now slide the link1 coupler over the motor shaft and tighten in proper position 4 Using the figures below as a guide create a 3 inch loop to the left when facing the linkage of link 1 and tape the cable to the back side of the motor mount There should be no twists in the cable and you may have to shape the cable slightly after it has been taped to the motor mount You may have to try the routing a couple of times to get it the way you want it Rotate link 1 up 180 degrees and watch that the cable does not touch any obstacles along the way 39 Figure 5 16 Pendubot Cable Routing aw ee SER e Ai eU z dp Figure 5 17 Pendubot Cable Routing Figure 5 18 Pendubot Cable Routing 5 C
28. brium position These offset errors are more pronounced with lower gain controllers We have added an open loop offset voltage parameter to our control algorithm to adjust for this problem somewhat but with low gain controllers it does not always solve the problem Routing the cable with minimum disturbance to link 2 is a key factor in reducing this offset also While the controller is balancing the Pendubot play around with the cable to see how it affects the control Our swing up controller implements a partial feedback linearization controller See the controller section and given references for more details on this control algorithm There are four gain values that you can tune to get the second link to swing to the MID equilibrium point slowly enough so that the balancing controller can catch and stabilize the system They are e Outer loop proportional gain Kp e Outer loop derivative gain Kd e Swing up trajectory amplitude ampl e Swing up trajectory frequency w The amplitude and frequency determine the initial pump trajectory for the swing up control If your goal is to experiment with the non linear partial feedback linearization controller then feel free to adjust all four of the gain values and observe how the control reacts However if your main goal is to just get the Pendubot to swing up to the equilibrium value then we recommend that you fix three of the gain values and just adjust the ampl gain of the swing up trajectory as follows
29. ch of the experiments Some of the parts are used in more than one experiment and some are used in only one experiment For example the flywheel and 5 inch link are not used in the Pendubot experiment In the same fashion the Pendubot link1 piece and the Pendubot link2 and link2 coupler and not used in the reaction wheel experiment To store these parts when using the other experiment some tapped holes and screws have been supplied to allow you to mount the extra parts on the bottom plate This way they will stay with the kit and not get lost Figure 5 2 shows the locations given to store the different parts Figure 5 2 Base Plate showing link and flywheel stowage area 30 1 Building the DC Motor Load Inertia Experiment 1 First mount the motor to the motor mount on the base plate using three 2 56 screws orientated so that the encoder connector faces straight up If the motor mount is not already attached to the base plate do so now You will want to have the M cable and the encoder cable loosely wrapped around the motor body This will keep these cables somewhat out of the way Do not wrap the cables too tightly which creates unneeded stress on the cable wires Screw the M red and M black leads into the screw terminal of the PWM AMP board Plug the motor encoder cable into the encoder connector Make sure to align ground with pin 1 Attach the flywheel using a 5 64 Allen wrench Slide the flywheel until the motor shaft protrudes s
30. connector points up towards the link coupler Rotate and center the encoder by eye and then tighten the nut with the 1 2 inch socket NOT too tight but tight enough so that the encoder housing cannot rotate easily against link 1 Assemble the coupler for link 2 on the encoder shaft Slide the coupler on the shaft so that the end of shaft is flush with the surface of the coupler Now JUST holding the coupler try not to hold onto the encoder use a 7 64 Allen wrench to tighten the coupler s socket head cap screw The coupler should not be able to slide on the shaft when tightened Figure 5 12 Furuta Link Encoder Assembly Plug the US Digital Encoder cable into the encoder connector Make sure to match up pin 1 to ground See the cable routing section for more detail Slide the link 1 coupler onto the motor shaft Slide the coupler so that about an eighth inch of the motor shaft protrudes out from the coupler 36 9 Route and tape the US Digital Encoder cable as instructed in the cable routing section Plug the US Digital encoder cable into the ENC 2 connector on the Quanser Interface board and the Motor Encoder cable into the ENC 1 connector on the Quanser Interface board CGE 85 j i A Figure 5 13 Encoder and PWM Amp Connections for the Furuta Pendulum 10 Finally screw 4 inch threaded end of link 2 into the link 2 coupler piece The 1 2 inch threaded end of link 2 should have four 8 32 nuts on it
31. ded end of link 2 into the link 2 coupler The 2 inch threaded end of link 2 should have four 8 32 nuts on it Figure 5 7 Completed Pendubot Setup 35 4 Building the Furuta Pendulum As with the Reaction Wheel experiment it is very important not to put too much stress on the US Digital encoder when performing the assembly steps Work gently with the different pieces and NEVER force any thing into position Also when the experiment is complete take steps to not allow the linkage to be bumped into by yourself or other objects Also avoid unneeded stress on the link1 one coupler ALWAYS assemble the link1 US Digital encoder link2 coupler assembly first before sliding the coupling onto the motor shaft l First assemble the Furuta upright assembly as shown in Figure 5 14 Use the two quarter inch aluminum pieces along with the motor mount to assemble the kit in this configuration There are 4 V7 6 32 screws that you will use to assemble the furuta s stand Mount the motor to the motor mount using three 2 56 screws orientated so that the encoder connector faces away from the base Tape the cables to the upright assembly so they are out of the way of the linkage Screw the M red and M black leads into the screw terminal of the PWM AMP board Now assemble the linkage Use a inch socket to mount the S1 US Digital encoder to the flat side of link 1 using the nut and washer supplied with the encoder Orientate the encoder so that the
32. e extension feet raise the Reaction Wheel experiment high enough so that the motor does not hit the table when swinging 3 Mount the motor with three 2 56 screws to the reaction wheel link as shown in the diagram The flanges on the link should point toward the motor 4 Attach the flywheel using a 5 64 Allen wrench Slide the flywheel until the motor shaft protrudes slightly from the back end of the flywheel See figure 32 10 11 Figure 5 5 Reaction Wheel Showing Cable Routing Tape the cables encoder and motor to the link as described in the cable routing section Slide the completed link assembly onto the encoder shaft as far as possible to minimize the moment arm created by the hanging motor but leaving a slight gap between the coupler and the stationary bearing housing NOTE Sliding the link assembly too far onto the encoder shaft will cause the link to rub against the stationary part of the encoder Be VERY careful not to force the coupling over the shaft Doing so may damage the encoder bearings Tighten the coupler socket head cap screw so that the link cannot move on the encoder shaft Tape the motor and encoder cables to the encoder mount leaving enough slack to permit the link to rotate freely approximate 2 3 inches See Cable Routing Section Attach the motor leads to the screw terminal on the PWM Amplifier Board The red lead goes to M and the black lead goes to M Plug the encoder connector from the motor into
33. er to the flat side of link 1 using the nut and washer supplied with the encoder Orientate the encoder so that the connector points up towards the link coupler Rotate and center the encoder by eye and then tighten the nut with the 1 2 inch socket NOT too tight but tight enough so that the encoder housing cannot rotate easily against link 1 Assemble the coupler for link 2 on the encoder shaft Slide the coupler on the shaft so that the end of shaft is flush with the surface of the coupler Now JUST holding the coupler try not to hold onto the encoder use a 7 64 Allen wrench to tighten the coupler s socket head cap screw The coupler should not be able to slide on the shaft when tightened Figure 5 6 Pendubot Link Encoder Assembly Plug the US digital encoder cable into the encoder connector Make sure to match up pin 1 to ground Tape the cable flat to link 1 just above the connector See the cable routing section for more detail Slide the link 1 coupler onto the motor shaft Slide the coupler just far enough so that the motor shaft barely protrudes out the back of the coupler The link should sit pretty far out on the shaft so that the swinging cable has room to wrap a time or two 34 9 Route and tape the US Digital encoder cable as instructed in the cable routing section Plug the US Digital encoder cable into ENC2 on the Quanser interface board and the motor encoder cable into ENCI 10 Finally screw 4 inch threa
34. found in the source files for both the DSP TARGET program along with the Visual Basic plug in source files Please read the source files for all the details that this section does not cover Steps for Running the RTDX DSP BIOS II example 1 2 Make sure the USB on the DSK is connected to the PC Power On the DSK system and Press the Hardware Reset button The power on code should be running and a message should have been printed to the LCD screen If you have just finished building one of the experiments you may want to use the power on code to test that the experiment has been built properly See the bootcode section above and the bootcode c source file for information on operating the power on code Now launch CCS and connect to the DSK by selecting Connect in the Debug menu The LEDs on the DSK should stop blinking when CCS has finished loading Run the GEL file QuickTest by selecting the menu GEL clicking on Check DSK and choosing OuickTest Verify the Target OK message Open the project file balrtdx pjt in the folder dspbiosINrtdxprojdspV Software Reset the DSP by selecting Debug gt Reset CPU from the menu When running Reset CPU you should wait for the reset to complete before running any other commands So after running the Reset CPU command watch the LEDS on DSK board When they finish cycling the DSP has finished the Reset function Load the out file balrtdx out in the fo
35. g Interface API Reference Guide SPRUA03 d TMS320C6000 Peripherals Reference Guide SPRU190 4 Tutorials under the Help gt Tutorials menu in CCS are excellent for getting you started in CCS We recommend at least going through the Code Composer Studio Tutorial before working with our examples and developing your own projects Dope Tips when using CCS 1 To keep the USB port interface and C6713 DSK synchronized there are two good practices to get into the habit of performing when running CCS connected to the DSK 12 a Never press the hardware reset button on the DSK board when running CCS Doing so can interrupt communication with CCS and you will probably need to exit CCS and restart it to regain communication b Periodically before loading or re loading an out file first run the Reset CPU command Debug gt Reset CPU 2 If you lose communication with the DSK you will need to EXIT CCS and before re launching CCS you will probably need to power ON and OFF the DSK system 3 Note that when CCS is loaded the hardware RESET button on the DSK board is disabled Pressing the RESET button still does perform some reset functions but does NOT cause the DSK to boot from its flash memory You should not use the hardware RESET button when CCS is connected to the DSK 4 Note also that when you exit CCS the hardware reset button is still deactivated You will need to power ON and OFF the DSK to re enable the RESET button After insta
36. ghter Power 5V DSP Daughter Power RS Routl RS 232 Receive Output DB DRI DSP Seriall Data Receive RS Rinl RS 232 Reveive Input DB FSRI DSP Seriall FSR RS Toutl RS 232 Transmit Output DB DXI DSP Seriall Data Transmit RS Tinl RS 232 Transmit Input DB FSXI DSP Seriall FSX DB CLKX DSP Seriall CLKXI DB CLKR1 DSP Seriall CLKRI No Connect 5V DSP Daughter Power DSP Daughter Digital Gnd Serial Interface Expansion Header J11 6 Parallel Port Interface General Purpose Digital I O J12 This connector is used for two purposes If you would like to use the Matlab Real Time Workshop interface that we have developed for the mechatronics kit then you would plug your parallel port cable into this connector instead of the DSK s parallel port connector and run your Simulink code using either WinCon or Windows Target See section on RTW Otherwise this connector can be used to access 8 digital inputs and 5 digital outputs connector J10 has the additional 3 digital outputs generated by the daughter card External interrupt 4 is also brought out to this connector if J13 is installed Pin Parallel Port Signal Name amp Description General Purpose Signal Name amp Description No Connect No Connect Parallel Port Data Pin 0 Digital Input Pin 0 Parallel Port Data Pin 1 Digital Input Pin 1 Parallel Port Data Pin 2 Digital Input Pin 2 Parallel Port Data Pin 3 Digital Input Pin 3 Parallel Port Data Pin 4 Digital Input Pin 4 Parallel Port Data Pin 5 D
37. h the POST source code programmed on its flash This POST software checks the different peripherals available on the DSK i e SDRAM CODEC Internal RAM LEDs We reprogram the flash with our bootcode program before we send the system to you Therefore if you would like to change the system to power on with the POST program you will have to re flash the DSK See the CCStudio_v3 1 examples dsk6713 bs directory for more details 14 2 Quanser Source Code and Documentation This section gives an overview of the source code supplied on the Mechatronics Control Kit CD This CD contains the software that we have developed specifically for the Kit Our main documentation for these examples is in the source files c and h We have commented this code quite extensively so after reading through this manual you should also read the source files for greater detail ROOT Source code supplied with the Mechatronics Kit DSPBIOSII DSP BOIS II example for controlling the five experiments readme txt RTDXPROJ Example RTDX project with Visual Basic PlugIn l readme txt DSP Source code for the DSP portion of the project balboth c cc_build_Custom log balrtdx cdb balrtdxcfg s62 balrtdxcfg cmd balrtdxcfg h62 balboth obj c6xdskdigio obj balrtdxcfg obj balrtdx pjt balrtdx map balrtdx out balrtdx paf balrtdxcfg c c balrtdxcfg c h VB Visual Basic Plugin Source Code RTDXfrm frm RTDXproj vbp
38. ients EMU64XX Examples for DSK EMU 64XX hardware EVM6201 Examples for EVM 6201 6701 hardware EVMDM642 Examples for DM642 Evaluation Module EVM HOSTAPPS RTDX Host examples SIMS5XX C55XX simulation examples that do not require the DSP SIM62XX C62XX simulation examples that do not require the DSP SIM64XX C64XX simulation examples that do not require the DSP TEB6416 Examples for DSK 6416 hardware MYPROJECTS Default directory for projects in CCS PLUGINS All DSP BIOS IT plugins SDKv3 0 Software development kit SPECDIG Contains the Spectrum Digital driver files for the C6713 DSK TUTORIAL All project and source for the CCS Tutorials Code in DSK6713 directory UNINSTALL CCS uninstall information files With the RTDX communication your program must be written using DSP BIOS II Data is sent and received from the DSP by the use of DSP BIOS II idle tasks This way large data arrays can be sent too and from the DSP without halting the processor for long periods Take a little time to browse through the different directories installed with CCS Read the readme txt files in many of the directories to give you an idea of what the files located in those directories perform Power On Self Test POST If you had purchased a C6713DSK directly from TI it would have come to you installed wit
39. igital Input Pin 5 Parallel Port Data Pin 6 Digital Input Pin 6 Parallel Port Data Pin 7 Digital Input Pin 7 Parallel Port Status Pin 6 Digital Output Pin 3 Parallel Port Status Pin 7 Digital Output Pin 4 Parallel Port Status Pin 5 Digital Output Pin 2 Parallel Port Status Pin 4 Digital Output Pin 1 No Connect No Connect PS3 Parallel Port Status Pin 3 Digital Output Pin 0 No Connect No Connect PC3 Parallel Port Control Pin 3 DSP External Interrupt 4 Jumper J13 Must be installed SO ppAIA tnde u utb DGND DSP Daughter Digital Ground Parallel Port General Purpose Digital I O Connector J12 51 Connectors not required for Mechatronics Kit 1 Optical encoder connector for encoder 3 and 4 J3 Install this connector after installing the second encoder interface chip LS7266R 1 Pinf Signal Name Description Pin Signal Name Description DGND DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd NC No Connect 4 NC No Connect ENC3CHA Encoder3 Channel A ENCACHA Encoder 4 Channel A 5V DSP Daughter Power 8 5V DSP Daughter Power ENC3CHB Encoder 3 Channel B 10 ENCACHB Encoder 4 Channel B Connector for Optical Encoder Inputs 3 and 4 J3 See Schematics to add the appropriate ICs to the daughter card for the additional Encoder Inputs 2 PWM connector for PWM outputs 3 and 4 J5 Install this connect after installing the second 82C54 timer chip With the use of DSP Timerl and jumper J7 to connect Timer
40. ile You have to be in the Halt state for this button to become active Simply click this button and it will ask you for a file to save the data in When the data upload is complete the other buttons will become active again This data had been stored on the DSP during the swing up run See the source code for modifying the data to be saved and uploaded 15 To quit the application first make sure you are in the Halt state Then click on Quit and the VB plug in should quit Then go back to CCS and halt the DSP program by selecting Debug gt Halt in the menu RTDX transfer rates will vary depending on the speed of the PC you are running CCS on The DSP program is presently programmed to send data to the RTDX upload channel data see balboth c at a rate of 10Hz On slower PCs this may be too fast and the data displayed on the VB program will lag the actual data In this case you may need to adjust the upload rate The comments in both the VB project file and the source file balboth c explain how to adjust the upload rate 5 Matlab M files We have supplied you with five M files to generate the linear and non linear models for the Pendubot Furuta and reaction wheel experiments Run the id furuta m id pendubot m and id reaction wheel m files to calculate the parameter values of the respective experiments These values are found by using mass and length measurements of the different parts There are comments in the files that state
41. indowsTarget directory chosen corresponds to the WinRT version in your Matlab The readme txt does not go into the details of the WinCon and Windows Target software You will need to use the help files from those software packages to get yourself up to speed on RTW One thing to note about RTW is that usually the hardest thing to get setup on your PC is the correct compiler variable settings because WinCon and Windows Target call the C compiler using command line calls For RTW and WinCon or Windows Target to build your projects properly you need to have all the environment variables set correctly for your compiler Both WinCon and Windows Target do a good job of automating the setup process but errors can still occur So if you have problems compiling your real time models investigate your environment variable settings to see if there are any errors Tuning the controller gains We supply you with non linear controllers to swing the linkages to the equilibrium points but you will find that swing up gains will need to be adjusted when working with the systems The goal of each control algorithm is to use a non linear controller to swing the linkage to an equilibrium position and when if the linkage arrives at the equilibrium position switch to a linear balancing controller to stabilize the linkage at that unstable equilibrium The following sections will describe how to design an example linear controller for the experiment and discuss tuning the give
42. ition and balance it there 5 PIspeed controller for the DC Motor with attached fly wheel These example files are found in the dspbiosii rtdxproj directory MathWorks Real Time Workshop examples Along with DSP C source code examples we have also supplied Real Time Workshop examples that run with either WinCon from Quanser or Windows Target from MathWorks To run the examples using Wincon you will need the software Matlab Simulink 6 or higher Real Time Workshop toolbox Microsoft Visual C 6 0 or Microsoft Visual Studio NET 2002 2003 and Wincon 3 0 or higher To run the examples using Windows Target you will need the software Matlab Simulink 6 0 or higher Real Time Workshop toolbox Microsoft Visual C 6 0 or Microsoft Visual Studio NET 2002 2003 and Real Time Windows Target 2 0 or higher The following controller files are supplied 1 swpendmid mdl Swing the Pendubot from its hanging down position to the MID equilibrium point and balance it there 2 swpendtop mdl Swing the Pendubot from its hanging down position to the TOP equilibrium point and balance it there 3 swpendtopobs mdl Swing the Pendubot from its hanging down position to the TOP equilibrium point and balance it there The balancing controller implements a linear observer to estimate the link velocities 4 swIwhlE mdl Swing the Reaction Wheel from its hanging down position to the inverted position and balance it there 5 swlIwhlEobs mdl Swing the Reaction Wheel from it
43. l cable built by Quanser 11 Aluminum pieces all built by Quanser Bottom Plate Eight 2 75 inch standoff posts Base Plate Plastic Top Two LCD mount pieces Motor or Optical Encoder Mount Pendubot Link 1 piece Pendubot Link 2 piece with 4 8 32 nuts Pendubot Link 2 coupler piece Reaction wheel Link piece Reaction wheel Fly Wheel Four extension post for the Reaction wheel setup Furuta base piece Furuta upright piece Furuta Link 1 OP yeee An 12 Installation CD for Kit example code 4 Additional Items REQUIRED ITEMS 1 Pentium II or higher PC with free USB port running Windows 2000 XP Optional If using the DSP board for data acquisition then also need a free parallel port on the PC 2 Clean sturdy table that allows the rubber feet to get a good grip on the table 3 Following tools a V5 inch socket b 7 64 3 32 and 5 64 inch Allen wrenches c Small Phillips screw driver d Small Standard Flat screw driver i e 3mm precision screw driver 4 Scotch Tape for taping the routed cables in place 5 Dedicated Power Strip for the 24V and 5V power supplies RECOMMENDED ITEMS Microsoft Visual Basic 6 0 to use the Visual Basic Interface 2 Matlab with Simulink and Real Time Workshop RTW and either the Quanser WinCon real time software preferred or Mathworks Real Time Windows Target 3 To use either the Quanser Wincon 3 0 or higher software or Mathworks Real Time Windows Target 2 0 or higher the following
44. lder dspbiosINdsp balrtdxV The download takes a few seconds Run the DSP program by clicking on Debug gt Run in the menu All three LEDs should start blinking on and off and the LCD Screen should print a message indicating that the DSP is waiting for a command from the VB plugin Launch the VB application rtdxproj exe found in dspbiosII rtdxproj vb The GUI interface similar to Figure 4 2 should appear 21 w RTDX Demo Download Gains K2 13 1133 F1 K3 152 2921 F2 0 0122 K4 19 8846 F3 0 95 Kp 150 F4 Kd 21 unused w 555 unused ampl 1 75 unused o Aa unused 0 3 141592E 02 6 291039 M D Encoder 1 Encoder 2 Setup Setup Pendubot Pendubot Quit MEC i H ave Data To File E Setup PI Si Speed Setup Reaction ree Wheel alas Figure 4 2 Visual Basic GUI 10 Enable the PWM Amp to ON the LED should be bright red a If you want to run the Mid swing up controller for the Pendubot experiment you can simply click the Start button in the VB plug in This will however use the default gains that are hard coded in the balboth c source file If you would like to use the gain values found in the edit boxes of the VB application click on the Download Gains button to use those gains Then press the Start button to start the control b To run the Top controller for the Pendubot experiment first click on the Pendubot Top Gains button Then to d
45. ler There are three gains that can be tuned to adjust the swing up Always ensure the link is at rest before starting the controller Zero reference for the optical encoders is found when the controller is started You will also find that as the motor and amplifier chip heat up in use the motor torque constant will start to drop a bit CAUTION Do not let the motor get stuck in a position or run at its maximum speed while rubbing against an obstacle If the motor stalls with maximum torque it could get very hot and become damaged Always take care to power off you system when it is unattended so that an issue like this is avoided Also very high gain controllers can cause the motor to heat up When attempting new control algorithms monitor the motor s temperature from time to time and power off if the motor gets hot Perform tuning either by using the VB plugin supplied with the DSP BIOS II code example or by using CCS watch windows with the use of the bootcode example source files See the readme txt files in those respective directories for instructions FURUTA PENDULUM Follow these instructions to tune the controller that swings up the Furuta pendulum l To design a linear full state feedback controller for the Furuta at the inverted equilibrium point 0 0 0 0 we have supplied a Matlab M file to perform the parameter identification and the linearization of the non linear equations about the up and down equilibrium points a
46. lightly from the back end of the flywheel See Figure 5 3 pops Figure 5 3 DC Motor Control Setup 5 Plug the motor encoder cable into ENCI on the Quanser interface board 3l 2 Building the Reaction Wheel Pendulum With this experiment you have the highest chance of damaging the US Digital optical encoder unit This is due to the large moment arm that is created by hanging the motor at the end of the 5 inch link Just be careful when assembling this experiment and always try to be careful not to allow the motor and link to be bumped into when resting in the experiment configuration Also avoid unneeded stress on the encoder and link coupling ALWAYS assemble the link motor flywheel assembly first before sliding the coupling onto the encoder shaft 1 Use a inch socket to mount the encoder to the encoder mount If the encoder mount is not already attached to the base plate do so now Insert the encoder shaft through the backside of the encoder mount With the encoder positioned so that the cable extends above the encoder mounting bracket attach the encoder to the bracket using the 3 8 inch washer and nut supplied with the encoder Tighten the nut using the 1 2 inch socket so that the encoder enclosure is not able to rotate but do not over tighten the nut as this may damage the encoder Figure 5 4 US Digital Encoder Attached to Front Bracket 2 Screw the four 2 5 extension feet to the bottom plate of the Mechatronics Kit Thes
47. lling CCS your PC should have a directory structure similar to the following CCStudio v3 1 BIOS Include src and lib files for DSP BIOS II code CGTOOLS C Asm Compiler binaries include files and libraries CSL Include and lib files DSK6713 Files pertaining to the C6713DSK INCLUDE Various include files for the HOST side programs that are used to communicate with the codec DIP switches LEDs and flash on the C6713DSK LIB Library file for the DSK6713 dll RTDX Include and Library files for RTDX functionality on the TARGET XDAIS eXpressDSP Algorithm Standard examples C6200 C62x DSP and Imaging Signal Processing Library C6400 C64x DSP and Imaging Signal Processing Library CC CCS executable and GEL files DOCS All documentation for CCS 2 0 DRIVERS Drivers needed for communicating over the USB to the DSK in CCS EXAMPLES A Wealth of examples for CCS and the DSK DSK6211 Examples for DSK6211 DSK6711 Examples for DSK6711 DSK_APP Illustrates how to use CODEC LED Turn on an LED using BSL LEDPRD Same as LED example but using a DSP BIOS thread POST TARGET source files for the Power on Self Test program supplied by TI 13 Some examples in using RTDX to transfer data to and from other Active X cl
48. low the control to swing up the linkage quicker Too high of a value though will cause the link to run into the cable limit and then not work correctly CAUTION Do not let the motor get stuck in a position say by a wrapped up cable or some other obstacle If the motor stalls with maximum torque being applied the motor could get very hot and become damaged Always take care to power off you system when it is unattended so that an issue like this can be avoided Also very high gain controllers can cause the motor to heat up When attempting new control algorithms monitor the motor s temperature from time to time and power off if the motor gets hot 5 Perform tuning either by using the VB plugin supplied with the DSP BIOS II code example or by using CCS watch windows with the use of the bootcode example source files See the readme txt files in those respective directories for instructions 29 Chapter 5 Hardware Installation The Mechatronics Control Kit supplies you with the pieces to assemble a DC motor with load inertia experiment a Reaction Wheel Pendulum or a Pendubot The dynamic equations and control design techniques for these experiments and be found in the Control Tutorial Manual Figure 5 1 gives an overview of many of the different parts of the Kit Please refer to this figure when reading the procedures below Figure 5 1 Overview of the Mechatronics Control Kit There are a number of small parts needed to build ea
49. m the desired equilibrium position These offset errors are more pronounced with lower gain controllers We have added an open loop offset voltage parameter to our control algorithm to adjust for this problem somewhat but with low gain controllers it does not always solve the problem Routing the cable with minimum disturbance to link 2 is a key factor in reducing this offset also While the controller is balancing the Pendubot play around with the cable to see how it affects the control Our swing up controller implements a partial feedback linearization controller See the controller section and given references for more details on this control algorithm There are three gain values that you can tune to get the second link to swing to the TOP equilibrium point slowly enough so that the balancing controller can catch and stabilize the system e Outer loop proportional gain Kp e Outer loop derivative gain Kd e Back pump open loop excitation value hard coded to a value of 0 475 seconds before swinging the linkage up to the TOP equilibrium As with the MID position if your goal is to experiment with the non linear partial feedback linearization controller then feel free to adjust the three gain values and observe how the control reacts However if your main goal is to just get the Pendubot to swing up to the equilibrium value then we recommend that you fix the Kp and Kd gain values and only adjust the open loop amplitude gain This open loop ampli
50. mathworks com The way Real Time Workshop is supported is by turning the DSP system into a simple data acquisition board or as we also call it a dummy data acquisition board What we mean by this is the DSP is not doing any control calculations Its only purpose is to monitor commands from the host PC and receive or send data to the PC That means that all the control calculations are done on the host PC So what we are supplying you with in this mode is a data acquisition card that plugs into your PC s parallel port To activate this mode on the DSP system you will need to have the bootcode program flashed on the DSKs flash chip Power off the DSK and connect the parallel port connector on the C6xDSK_DigIO daughter card into the PC s parallel port Then switch all the USER SWITCHES to the DOWN position and power on the DSK On reset the LCD screen should print a message indicating that the system is in dummy data acquisition mode Now in this mode you are ready to run your RTW controller files Four example mdl files have been supplied to get you started Two dos device driver blocks are needed to communicate to the DSK system an encoder block and a PWM block These two blocks can be found in the model library file c xlib mdl Read the readme txt files in both the Wincon directory and either the WindowsTarget 2 0 2 2 or WindowsTarget 2 5 directory for detailed instructions on how to setup Matlab and RTW to work with the given drivers Ensure the W
51. n non linear controller to swing the linkage to the equilibrium Also note in your controller designs that the sample rate of the given example controllers is run at 200 Hz 5ms period You can design your controllers assuming that the system is continuous but to be a bit more precise you will want to perform your designs in the discrete domain 1 PENDUBOT MID Follow these instructions to tune the controller that swings up link 2 of the pendubot into the mid position 24 l To design a linear full state feedback controller for the Pendubot at the Mid equilibrium point pi 2 0 pi 0 we have supplied two Matlab M files to perform the parameter identification and the linearization of the non linear equations about the equilibrium point a Run the script file id pendubot This produces a Theta parameter vector b Run the linpendu function as follows A B ur linpendu Theta pi 2 pi This will produce the linearized A and B matrices c Now with this linear model you can design a linear controller to stabilize the system As an example find a full state feedback controller using the place i e K place A B 13 6 7 21 13 6 7 21 8 75 1 451 8 75 1 451 You will find that the encoder cable for link 2 and the friction of the motor can cause some offset problems for different control designs The offset problem is that the controller tends to balance the unactuated link offset from the desired equili
52. nd 5 17 as a guide create a 3 inch loop to the right when facing the linkage of the link and bring them behind the link and tape the cables to the front side of the encoder mount There should be no twists in the cables and you may have to shape the cables slightly after they have been taped to the encoder mount You may have to try the routing a couple of times to get it the way 42 you want it Rotate the link up 180 and 180 degrees and watch that the cables do not touch any obstacles along the way NOTE The link will hit the loop portion of the cable when you rotate the link positive Counter Clock Wise Figure 5 20 Reaction Wheel Cable Routing 4 With the ribbon cables routed connect the end of the Motor Encoder cable to the ENC2 connector on the Quanser interface board Match Pin 1 of the connector to Pin 1 on the board NOTE This connection is different from all the other experiments Only in this experiment the Reaction Wheel is the Motor Encoder connected to the ENC 2 connector usually always wired to ENC 1 5 Also screw the M red and M black leads into the terminal of the PWM Amp Board 6 Connect the US digital Encoder cable to the ENC 1 connector on the Quanser Interface board Match Pin 1 on the connector to Pin 1 on the board Also ensure the cable is also plugged into the US Digital encoder match Pin 1 on the connector to Pin 1 on the encoder and that the excess of this cable is not in the path of the link s
53. ns of swing up and balance is an ideal problem to investigate so called hybrid and switching controllers So called Logic Based Switching control is a relatively new approach to designing robust controllers for complex systems Chapter 2 Getting Started We have supplied you with most of the reaction wheel experiment assembled We are going to first have you assemble this experiment and control it with the program flashed on the C6713DSK board First step is to unpack all the pieces Second step is to read the rest of this manual to get a better feel for the experiment you will be building 1 Running Your First Controller l D R 10 11 12 13 14 After familiarizing yourself with the manual and the various components of the Kit you are ready to assemble the reaction wheel experiment and run the demo control program residing in flash memory The next few steps will help you assemble the reaction wheel experiment The encoder is shipped already attached to the encoder mount You will need to attach the encoder mount and encoder to the base plate using the two 6 32 screws supplied These screws are located in mounting holes at the front end of the base plate Remove them and use them to attach the encoder mount to the base plate Now slide the reaction wheel link coupler over the encoder shaft Slide it almost to the gap in the encoder shaft but leave a little space so that the coupler is not rubbing on the stationary portion
54. o 15 9 BOO DOUE SA an RR ae ta al Rd ue enm Destra ane 18 4 DSP BIOS II code and Visual Basic Interface Plugin BALRTDX and RTDXPROJ 20 Sv Matlab ME IBS suse pice nep odit pueden un BN d sak ooo te tas piri cuf 23 6 Sim link Sim l tion Ale en Miam Eod Spe apu dtd anu taka mn paca D 23 J Cinca fusci EET 24 8 Tumne the controller gars aku oi e XO eri EN REA Vedi es ridi eon EEE VE 24 Chapter 5 Hardware Install flON ciceseeisesss erai nro aen sena Ye eee dcus op ha nenas nan 30 1 Building the DC Motor Load Inertia Experiment eseeseeeeeeseeeeeeeeeneen rennen nennen nennen 31 2 Building the Reaction Wheel Pendulum ob men ee tete kn ema beens 32 SAM Uline the PENI Dob net Ia RN e 34 4 Building the Faruta Pendulitt senine nm aan EN NA BNN 36 Dc Route the Cabe ea ena an sn an ea ena an n E 38 6 Cable Pin outs and Part iStone tunangan ama aan 46 7 C6713DSK C6xDSK DigIO and Quanser Standard Interface PWM Amplifier boards 47 Chapter 1 Introduction dp you for purchasing the Mechatronics Control Kit from Quanser Consulting Inc The Mechatronics Control Kit is developed for instruction and research in real time control and identification The Mechatronics Control Kit comes with four ready to assemble plants a DC motor a Pendubot a Reaction Wheel Pendulum and a Furuta Pendulum The digital electronics are fully integrated and include a Texas Instrumen
55. ol robust and adaptive control fuzzy logic control intelligent control hybrid and switching control gain scheduling and other control paradigms One can program the plants supplied with the kit for position and speed control friction compensation swing up control balancing regulation and tracking identification gain scheduling and disturbance rejection to name just a few of the applications Below is a description of several interesting problems that you can use to develop control projects and to design and implementing your own algorithms e Identification The first step in any control system design is to develop a mathematical model of the system to be controlled The Mechatronics Control Kit comes with parts to assemble four distinct plants A DC motor with load inertia a Reaction Wheel Pendulum a Pendubot and a Furuta Pendulum The dynamic equations for these plants are given in terms of certain parameters such as the link masses moments of inertia torque constants etc Identification methods can be applied to determine the numerical values of these parameters for later use in controller design e Friction Compensation The effect of friction in the motor brushes and bearings generally results in limit cycle behavior unless actively compensated by the controller Friction modeling and control is of current research interest and Mechatronics Control Kit is a good vehicle for experimental verification of theoretical results in this are
56. onics Control Kit is also sophisticated enough to be used as a research tool to investigate Geometric nonlinear control Robust and adaptive control and identification Intelligent control including neural networks fuzzy logic and genetic algorithms Hybrid and switching control Modeling identification and control of friction Analysis and control of chaotic dynamics Before attempting to install and operate the system it is important that you familiarize yourself with all hardware and software supplied Read all sections of this manual completely In addition you should read the manuals included from the third party vendors 1 About Quanser Consulting Inc Q is the world leader in the design and manufacture of advanced systems for real time control design and implementation used in education and research Our control challenges and solutions are ideal for implementing and evaluating feedback strategies such as PID LOG H infinity fuzzy neural nets adaptive and nonlinear controllers Quanser control challenges and solutions are operational in over 500 institutions worldwide including universities research laboratories and commercial organizations Quanser offers a variety of control challenges that are appropriate for all levels of university education and research Our control experiments are distinctively modular which enable you to cost effectively employ the same power plant to perform experiments of varying complexity By c
57. onnect the US Digital Encoder cable which is now routed to the ENC 2 connector on the Quanser Interface board Ensure that Pin 1 of the connector to Pin 1 on the board are matched 6 Connect the Motor Encoder cable to the ENC 1 connector on the Quanser Interface board Again match Pinl of the connector to Pin 1 on the board Make sure that the excess of this cable is not in the path of link 1 41 Routing the cables for the Reaction Wheel Experiment You will want to read this section along with the section that discusses assembling the reaction wheel experiment Before routing the motor power and encoder cables you should first have most of the reaction wheel experiment built The US Digital encoder should be mounted to the encoder mount Wait to plug in its cable until after you have the motor encoder cable connected The motor and flywheel should be assembled as discussed in the assembly instructions 1 Lay both ribbon cables from the motor flat along the inside of the link Use a piece of Scotch tape to tape the cables side by side about an inch below the link coupler See Figure 5 16 Make sure there are no twists in the cables Figure 5 19 Reaction Wheel Cable Routing 2 Now slide the link coupler over the encoder shaft position in the correct location and tighten As stated in the assembly instructions be very gentle when performing this assembly Forcing the link on could damage the US Digital encoder 3 Using Figures 5 16 a
58. ot gone into detail though on the CCS software We recommend that you take some time to read and perform the different manuals and tutorials supplied by TI with this development kit Also use TI s web page www ti com as a resource for application notes and updated documentation Quanser Consulting Inc CGxDSK DigIO daughter card for the C6713 DSK This is a board that we fabricate for the Mechatronics Kit This board adds optical encoder feedback and PWM output capabilities to the C6713 DSK system It also implements a parallel port interface used to communicate with Matlab s Real Time Workshop software See the RTW section for more details We have supplied you with the full schematics of this board docs schematics board_schematics pdf so the details of how the board operates can be found there along with programming details found in the source file include c6xdskdigio c In this section we will give a brief overview of the board and a description and pin locations of each connector unirse 1 7 1777777 dc ga aie S ino Tali AU mots 1 L eo L ea ta si L L L J m T Figure 5 25 C6xDSK_DigIO Daughter Card As you can see in Figure 5 19 the C6xDSK_DigIO daughter card has not been fully populated The board has more functionality than the mechatronics kit requires You may find in the future that you would like to use this DSP for other purposes then j
59. oupling the appropriate module to the plant you achieve configurations ranging from simple position servo control to advanced MIMO systems such as the Seesaw Pendulum When all is said and done you receive a greater variety of experiments to explore and save money in the process See the Quanser Difference for more information on how we stack up in the marketplace All our control challenges can be managed via our complete line of control solution software and data acquisition hardware so you can create fully self contained control workstations Our solutions can be used to deploy an embedded system explore hardware in the loop applications as well as control a number of alternative hardware systems Our systems are fully compatible with MATLAB Simulink and Real Time Workshop and operate in a variety of computing environments including Windows 95 98 Me NT 2000 and RTLinux For more information on Quanser or a free video detailing our complete line of control challenges and solutions please contact us directly at info quanser com Quanser was launched in 1990 by Dr Jacob Apkarian for the purpose of enhancing and advancing control theory education While teaching at a Canadian University Jacob discovered that control theory was often a difficult concept for engineering students to grasp and many courses lacked the tools and means to translate control into tangible concepts In light of this gap Jacob set to work and began to envisage a highly eng
60. ource files into a downloadable COFF out file download programs to the DSK target and debug your programs with breakpoints watch windows and RTDX real time monitoring plug ins Code Composer Studio is a very powerful software package and this manual will not go into all the details of this package The Code Composer Studio IDE CD already contains an extensive amount of documentation and tutorials to get you up to speed quickly with the software However we will try to pass some of our experience with CCS onto you in this section and give a brief introduction to some well deserving examples that are supplied with CCS Recommended Reading and Tutorials for CCS 1 Before starting with CCS read the General Help topics found under the Help menu There is a lot of information here so initially skim through the material mainly just to know the location of the different help topics so that you can come back to that section as you get increasingly familiar with the software The TMS320C6713 DSK discusses the DSK board which is the motherboard for the mechatronics kit DSP system The C6713DSK Tutorial found in the C6713 DSK Help files i e c6713dsk hlp Manuals found in the Help gt User Manuals menu in CCS These are the manuals that are the most useful when developing on the DSK a Code Composer Studio IDE Getting Started Guide SPRU509 b TMS320C6000 DSP BIOS User s Guide SPRU423 c TMS320C6000 DSP BIOS Application Programmin
61. ousing If a pin is not listed in is a No Connect Pin 1 is connected to Pin 4 Gnd of LCD Power Connector Pin 3 is connected to Pin 1 5V of LCD Power Connector Pin 8 is connected to Pin 3 Serial Receive of LCD 9pin Dsub Pin 9 is jumpered to Pin 10 of this connector Pin 10 is jumpered to Pin 9 of this connector Part List 4 pin LCD Power Connector DigiKey part number WM2002 ND Crimp pins for LCD Power Connector DigiKey part number WM2200 ND 9 pin Dsub DigiKey part number 209M ND 16 pin Housing DigiKey part number WM2525 ND Crimp pins for 16 pin Housing DigiKey part number WM2557 ND Crimp tool for all pins DigiKey part number WM9999 ND 46 7 C6713DSK C6xDSK DigIO and Ouanser Standard Interface PWM Amplifier boards The Mech Kit includes three different printed circuit boards The Texas Instruments TMS320C6713DSP Starter Kit the C6XDSK_DigIO daughter card and the Quanser Standard Interface PWM Amplifier board This section gives a brief overview of these boards and where to find other resources to better understand how each of these boards work 1 Texas Instruments TMS320C6713 DSP Starter Kit Board C6713 DSK We purchase this board from Texas Instruments and supply it with the kit You can read the details of this board in the Hardware section of the C6713 DSK Help i e c6713dsk hlp that is supplied with the Code Composer Studio software In brief this board includes the following 225MHz TMS320C6713
62. ownload those gains click on Download Gains Click Start to start the controller c To run the reaction wheel experiment s swing up algorithm first click on the Reaction Wheel Gains button Then to download those gains click on Download Gains Click Start to start the controller d To run the Furuta pendulum experiment s swing up algorithm first click on the Furuta Gains button Then to download those gains click on Download Gains Click Start to start the controller Note The default control gains loaded for the various experiments in the Visual Basic Interface are not always the same as the control gains used on the flash memory or in the bootflsh c program 22 11 While the controller is running angular position or velocity data data is updated in the display edit boxes and the same data is used to update the linkage animation 12 To Halt the Controller click the Halt button 13 The Download Gains button can be clicked both when the controller is and is not running You can play around with changing gains on the fly to see how the experiment responds The offset gain is a good gain to play with on the Pendubot experiment Adjusting this gain causes the Pendubot to move to a new balancing point In this way you can compensate for offset torques created by the link cables or just move the Pendubot to equilibrium 14 After running a swing up routine you can save stored data values to a f
63. pansion Header J10 7 Jumper J13 Install to connect Pin 17 of the 25 pin Dsub connect to the DSP s External Interrupt 4 When connected to a PC s parallel port Pin 17 is the parallel port s Control Pin 3 8 Jumper W1 Connects AGND to DGND underneath the DAC2815 IC This is required when installing the DAC portion of the Daughter Card 3 Ouanser Standard Interface PWM Amplifier board This board serves three purposes 1 To amplify the PWM signal from the C6x DSK DigIO daughter card to a level capable of driving the 24 V Pittman motor 2 To route encoder signal inputs back to the C x DSK DigIO daughter card 3 To allow other Quanser experiments to be controlled by the Mechatronics Kit DSP Motor connections are made to the screw terminal block Terminal 1 is positive and is connected to the red wire of the motor Terminal 2 is negative and is connected to the black wire of the motor Encoders are connected to the polarized locking headers labeled Encoder 1 and Encoder 2 Connections to these headers vary by experiment so refer to the appropriate section of this manual for specific details The enable switch must be in the on position for the amplifier to operate The red LED indicates the amplifier is enabled when illuminated The RCA jacks and 5 Pin DIN sockets are Quanser proprietary connectors They mate to analog and encoder cables used on all Quanser control system experiments The Mechatronics Kit can be prog
64. r CD drive Directories and files may be copied from the CD as needed or all at once to a directory on your hard drive i e c mechkit 11 Chapter 4 Software Description There is quite a bit of software to digest in this mechatronics kit This section will give you an overview of the Code Composer Studio software package and the example source files supplied with the kit Two CDs come with the Mechatronics Control Kit The CD entitled Code Composer Studio IDE is supplied by Texas Instruments with the C6713 DSK and it contains the DSK development and interface software and Code Composer Studio The Getting Started section earlier in this manual discussed installing this software on your PC See this section for a discussion of installing this software The Mechatronics Control Kit CD contains all the example code for the four experiments Below you will find a breakdown of all the supplied code We make a point to supply you with all our source code in order that you have all the tools to develop your own special controllers This also allows you to expand the kit to control your own developed experiments The Software Installation section discusses the installation instructions for this CD 1 Code Composer Studio and TI example code The Code Composer Studio IDE which includes an assembler and C compiler for the C6000 DSP is a development environment that allows you to create projects create and edit source files compile s
65. rammed to control any Quanser control challenge not requiring more than two analog outputs or two encoder inputs The two RCA jacks provide 5V analog outputs from the Mechatronics PWM outputs The two 5 pin DIN sockets facilitate two encoder channel inputs Encoders for the Mechatronics Kit must be disconnected before connecting encoders from Quanser experiments to the 5 pin DIN sockets on this interface board The headers that interface with the C6xDSK_DigIO daughter card are connected by standard 10 conductor ribbon cables ie DigiKey M3AAA 1006J ND The pin outs of these headers are detailed on the next page 54 JIN3 SE ciam E C Ir ANI NM sia 1 r PEN austin YSA WOHJ H3IGOIN3 e IH3102N3 zH3d102N3 Ve Figure 5 26 Ouanser Standard Interface PWM Amplifier The connections to the encoder headers on the Quanser Standard Interface PWM Amplifier are the same as on the C6xDSK DigIO daughter board and are detailed below Encoder 1 Encoder 2 Pinf Signal Name Description Pinf Signal Name Description DGND DSP Daughter Digital Gnd 2 DGND DSP Daughter Digital Gnd NC No Connect 4 NC No Connect ENCICHA Encoder 1 Channel A ENC2CHA Encoder 2 Channel A 5V DSP Daughter Power 8 5V DSP Daughter Power ENCICHB Encoder 1 Channel B 10 ENC2CHB Encoder 2 Channel B Connections for Optical Encoder Inputs 1 and 2 The PWM connections to the Quanser Standard Interface PWM Amplifier are the same as on the C6xDS
66. re Q diag 1 0 0 0005 You will find that when the reaction wheel is balancing the inverted pendulum it normally does not spin down to zero velocity This is due to the disturbance torque applied to the link by the encoder and motor cable While the link is balancing you can change the bends in the cable to get the wheel spinning at a slower rate You do not want the motor spinning too fast because then it has a smaller region of torque to apply Torque is achieved by accelerating the flywheel and if the motor is already spinning close to its maximum speed it will not have a way to accelerate in that one direction So routing the cable with minimum disturbance is one way to minimize this problem You also though may have to tune slightly the K3 state feedback gain multiplied by the flywheel velocity state Using theVB plugin along with the DSP BIOS II example you can easily update the 27 K3 value while the balancing control is in operation Increasing the K3 gain slightly from the gain calculated by place or Igr in Matlab will help this problem Increasing K3 too much though will make your control unstable Also note that as with the Pendubot experiment low gain controllers have a harder time balancing the pendulum The swing up control for the reaction wheel experiment is an energy passivity based nonlinear controller See our controller section and references along with the given source code to understand the details of the control
67. routing of the cables correct Routing the cables so that they produce a minimum amount of drag on the experiments is very important in getting the controllers to work properly You will find that different bends and loops in the cable routing will cause your system to react in different ways In other words the cable plays a big role in the system model In this section we have supplied pictures and a description of how we recommend routing the cables for the Pendubot and reaction wheel experiments Feel free to experiment with your own routing but these have worked best for us You will need to be careful with the ribbon cables because with excessive bending and pulling the 28 AWG wires of the ribbon cable can be broken Take care when inserting the connectors that you are not pinching the cable wires in the process If you do break a cable though they are very easy to build We have supplied a section below giving the parts and pin outs for each cable 38 Routing the cables for the Pendubot Experiment You will want to read this section along with the section that discusses assembling the Pendubot experiment Before routing the swinging cable you should first have most of the Pendubot experiment built The motor should be mounted and its M cable should be loosely wrapped around the motor and its leads screwed into the terminal block of the PWM AMP board The encoder should be attached to link 1 of the Pendubot and the link 2 coupler should
68. s hanging down position to the inverted position and balance it there using a full order observer to estimate the velocities of the links 6 swfurutaEnergy mdl Swing the Furuta pendulum from its hanging down position to it inverted position and balance it there Swing up uses an energy based algorithm 7 swfuruta mdl Swing the Furuta pendulum from its hanging down position to its inverted position and balance it there Swing up uses a simple PD controller 3 Parts List ONAN 24Volt DC Motor with 1000 Cnt Rev Optical Encoder from Pittman Inc Special order part number 8222D116 See Pittman website for specifications at www pittmannet com pdf lem bulletin pdf 1000 Cnt Rev Optical Encoder from US Digital Inc Part number S1 1000 B See U S Digital website for specifications at www usdigital com products s 1s2 C6713DSK from Texas Instruments which includes DSK board 5VDC at SAMP desktop power supply USB cable and Code Composer Studio software installation CD Part number TMDS320006713 See www ti com for more information 24VDC at 2 1AMP Power Supply from ELPAC Power Systems Model W4024 You can find this part at DigiKey www digikey com 20Char X 2Row LCD Screen from Matrix Orbital Part number LK202 25 www matrixorbital com C6XDSK DigIO daughter built by Quanser Ouanser Standard Interface PWM Amplifier board built by Quanser LCD cable built by Quanser US Digital Optical Encoder Cable built by Quanser 10 PWM Amplifier signa
69. tart the Reaction Wheel controller The three LEDs should also be blinking on and off Switch the PVM AMP enable switch from OFF to ON The LED should turn ON Note The motor should not be spinning at this point and if it is there is some kind of problem possibly a wiring error The motor should not spin until you tell the controller to GO in the next step Wait for the reaction wheel link to be a rest and then tap on DIP 2 switch The reaction wheel should start to swing up to the TOP position You may need to manually displace the link to get it started If the balancing control is not able to catch the link when it passes through the equilibrium stop the link yourself and bring it to the equilibrium It should switch to the balancing controller and hold it there DO NOT let the link wrap up the cable too tightly This can damage the cable You have just performed your first control with the Mechatronics Kit 15 Now power OFF the system and go onto the Software installation 2 Sample Controllers We have supplied you with a number of different example programs to control the Mechatronics Control Kit Below is a list of these controllers and their source file names l Power On Flash Program This program runs when you power on or hardware reset the Mechatronics Control Kit Three different controllers can be run with this example and the configuration of the DIP switches of SW1 on the C6713DSK determines which controller to run DIP 0
70. ts DSP development system the TMS320C6713 DSK Board a DSP board with USB interface a PWM Optical Encoder data Acquisition Daughter Board a PWM amplifier 5 Volt and 24 Volt DC power supplies and all required cables Additional hardware includes a 24 Volt DC motor with 1000 counts rev optical encoder A second 1000 counts rev optical encoder and aluminum links and mounts to construct the above experiments An interface board for running other Quanser experiments is also included The software supplied with the Mechatronics Control Kit includes the Texas Instruments Code Composer Studio supplied with the DSK Board the TI C6x Optimizing C compiler the Code Composer Development Debug IDE integrated development environment as well as DSP BIOS RTDX realtime debugging plotting capabilities Example source files of different controllers for the plants and Visual Basic Interface software examples are also included as is all source code The Mechatronics Control Kit can be used at all levels of instruction e In freshman level courses as a demonstration tool to motivate important concepts in dynamics and control and the systems approach to engineering design e Injunior level courses in frequency domain and state space control system analysis and design e In senior level courses in digital control mechatronics and real time programming and e In graduate level courses in linear and nonlinear control intelligent control and robotics The Mechatr
71. tude gain causes the linkage to pump backwards adding enough energy to the system so that link 2 can be swung up over link 1 a Set Kp 350 0 and Kd 24 3 b Start with a backopenloop value of around 5 5 26 c Ensure the links are at rest before running the control i e the encoders are reset when the controller begins running d Run the swing up control and see if the controller is able to catch the linkage at the TOP position If the swing up control did not add enough energy to link 2 i e the link did not make it up to the equilibrium point then increase backopenloop by about 0 1 or so and try the run again e Continue the process until the backopenloop gain brings link 2 to the equilibrium f Ifthe swing up control adds too much energy to link 2 causing it to swing quickly through the equilibrium reduce backopenloop by about 0 1 and try the run again When you are getting close to the link being able to be caught you will want to adjust the gain by smaller amounts then O 1 6 There are many gain values that can be used to swing up the Pendubot but the gains used above are values that were found to work well Note also that throughout theses tests the motor and amplifier chip will heat up and cause the motor torque constant to drop a bit This may require some additional tuning to the backopenloop gain again to get the link to swing to the equilibrium CAUTION Do not let the motor get stuck in a position say by a
72. up When attempting new control algorithms monitor the motor s temperature from time to time and power off if the motor gets hot Perform tuning either by using the VB plugin supplied with the DSP BIOS II code example or by using CCS watch windows with the use of the bootcode example source files See the readme txt files in those respective directories for instructions 2 PENDUBOT TOP Follow these instructions to tune the controller that swings up link 2 of the pendubot into the top position 1 To design a linear full state feedback controller for the Pendubot at the Top equilibrium point pi 2 0 0 0 we have supplied two Matlab M files to perform the parameter identification and the linearization of the non linear equations about the equilibrium point a Run the script file id_pendubot This produces a Theta parameter vector b Run the linpendu function as follows A B ur linpendu Theta pi 2 0 This will produce the linearized A and B matrices c Now with this linear model you can design a linear controller to stabilize the system As an example find a full state feedback controller using the Igdr function ie K Igrd A B 0 100 005 where Q diag 05 850 10000 0 You will find that the encoder cable for link 2 and the friction of the motor can cause some offset problems for different control designs The offset problem is that the controller tends to balance the unactuated link offset fro
73. ust the mechatronics kit experiments In that case you will want to study the supplied schematics and add the needed components to add additional capabilities to your daughter card Below we have listed the capabilities of the daughter card and list as upgradeable the capabilities not populated on the daughter card Presently we do not perform the upgrades here at Quanser but will give you the part numbers and suggested distributors for purchasing the need parts Please contact us for this information 48 The C6xDSK DigIO daughter card adds the following I O to the C6713 DSK see the source file c6xdskdigio c for details on the supplied functions used to communicate with the daughter card 1 2 3 8 9 Two Channels of Quadrature Encoder Input LS7266R1 chip upgradeable to 4 Channels Brought in at connector J2 Two PWM Output channels CTS82C54 chip upgradeable to 4 Channels Brought out at connector J4 When the DSK system is not being used in the dummy data acquisition mode the Matlab RTW interface there are 8 digital input pins and 8 digital output pins brought to the J10 and J12 connectors Can be upgraded to add 2 channels of 10V 12bit DAC output A MAX232 chip for converting TTL serial in out voltages 0 to 5V to RS 232 standard in out voltages 12 to 12V See schematics and J11 pin out for more details A 32 Pin expansion header to allow for additional expansion granddaughter cards to add other
74. xt file in this directory for more information DOCS Mech Kit documentation and Board Schematics kitmanual pdf PDF version of the Mechatronics Control Kit manual kitmanual doc Microsoft Word version of the Mechatronics Control Kit manual DATASHEETS Datasheets for different components and chips of the Mechkit pittmanmotor pdf LCD LK202 25 pdf S1 amp S2 Data Sheet pdf LS7266R1 Data Sheet pdf LS7266R1 Manufacturer s Data Sheet pdf CTS8254 pdf 3952 pdf SCHEMATICS Schematics of C6xDSK_DigIO daughter card board schematics pdf PAPERS This folder contains several tutorials and papers describing the Mechatronics Control Kit 3 Bootcode The code that runs when the DSK system is first power ON is the source code found in the bootcode directory There are four source files that make up this project bootflsh c myvectors asm boot asm and c6xdskdigio c found in the mechkit include directory Bootflsh c is a more classical DSP program that does not use the DSP BIOS II operating system Myvectors asm sets up the interrupt vector memory locations for the program and boot asm is the initial boot code that copies the code from flash to SDRAM on reset C xdskdigio c has all the functions for communicating to the C6xDSK DigIO daughter card A NOTE 18 DSP BIOS II programs can also use boot asm to allow them to be programmed on the flash DSP BIOS II programs do take

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