USER MANUAL Ball and Beam Experiment Set Up and Configuration CAPTIVATE. MOTIVATE. GRADUATE.
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CONTENTS 1 Presentation 1.1 Description 1.2 Remote Sensor Option 4 4 4 2 Components 2.1 Component Nomenclature 2.2 Component Description 5 5 6 3 Specifications 7 4 System Setup 8 5 Wiring Procedure 5.1 Cable Nomenclature 5.2 Typical Connections 10 11 11 6 Testing and Troubleshooting 6.1 SRV02 Motor and Encoder 6.2 Ball Position Sensor 14 14 14 7 Technical Support 16 BB01 User Manual v 1.
1 PRESENTATION 1.1 Description The Quanser Ball and Beam module, pictured in Figure 1.1, consists a track on which the metal ball is free to roll. The track is fitted with a linear transducer to measure the position of the ball, i.e., it outputs a voltage signal proportional to the position of the ball. One side of the beam is attached to a lever arm that can be coupled to the load gear of the Quanser SRV02 unit.
2 COMPONENTS The Ball and Beam components are identified in Section 2.1. Some of the those components are then described in Section 2.2. 2.1 Component Nomenclature The components of the Ball and Beam module, i.e., the BB01 device, and the Remote Sensor system, i.e., SS01, are listed in Table 2.1 and labeled in Figure 2.1 and Figure 2.2.
2.2 Component Description 2.2.1 Ball Position Sensor The track of the BB01 linear transducer module on which the metal ball is free to roll consists of a steel rod in parallel with a nickel-chromium wire-wound resistor forming the track. The resistive wire is the black strip that is stuck on the plastic which is fastened onto the metal frame. The position of the ball is obtained by measuring the voltage at the steel rod.
3 SPECIFICATIONS Table 3.1 lists and characterizes the main parameters associated with the BB01. See Figure 3.1 for an illustration of the Ball and Beam dimensions and the variables α, θ, and x that are associated with the system. Some of the parameters listed in Table 3.1 are used in the mathematical model.
4 SYSTEM SETUP This section describes how to setup the Quanser Ball and Beam (BB01) system for experimental use. Caution: If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. Caution: Exposed moving parts. Follow this procedure to setup the Ball and Beam system: 1. Before beginning, ensure the SRV02 is setup in the high-gear configuration as detailed in SRV02 User Manual [2]. 2.
Figure 4.3: Attach BB01 to SRV02 and rotate the gear to 0 degrees. 6. As illustrated in Figure 4.3, manually rotate the servo load gear to the 0 degree position. The coupling screw should be aligned with the 0 degree position on the servo. 7. See Figure 4.4. While holding the load gear at 0 degrees, place the ball in the center of the beam and vary the height of the support arm such that the beam is approximately horizontal and the ball does not move. Figure 4.
5 WIRING PROCEDURE The following is a listing of the hardware components used in this experiment: • Power Amplifier: Quanser VoltPAQ-X1, or equivalent. • Data Acquisition Board: Quanser QPID, QPIDe, Q8-USB, Q2-USB, or equivalent. • Rotary Servo Plant: Quanser SRV02-ET, SRV02-ETS, or equivalent. • Ball and Beam: Quanser BB01 Module • Remote Sensor: Quanser SS01 Module See the corresponding documentation for more information on these components. The cables supplied with the SRV02 are described in Section 5.
5.1 Cable Nomenclature The cables used to connect the Quanser SRV02 system with a power amplifier and data-acquisition device is shown in Table 5.1. Depending on your configuration, not all these cables may be necessary. Cable Type 2xRCA to 2xRCA Description This cable connects an analog output channel on the data acquisition board to the power amplifier for amplification. 4-pin-DIN to 6-pin-DIN This cable connects the output of the power amplifier to the dc motor on the servo.
Cable # 1 2 3 4 From Terminal DAC #0 Board: Amplifier: To Load connector Terminal Board: Encoder Input #0 Amplifier: To ADC connector To Amplifier Amplifier Command connector SRV02 Motor connector SRV02 Encoder connector Terminal Board: • S3 to ADC #0 • S4 to ADC #1 5 6 Amplifier S3 connector Amplifier S4 connector BB01 Ball Position Sensor connector SS01 Ball Position Sensor connector Signal Connects control signal from Analog Output #0 on DAQ device to the power amplifier.
2. Make sure everything is powered off before making any of these connections. This includes turning off your PC and the amplifier. 3. Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel #0 on the terminal board to the Amplifier Command connector on the amplifier, i.e. use both white or both red RCA connectors. See cable #1 shown in Figure 5.1. This carries the attenuated motor voltage control signal, Vm /Ka , where Ka is the amplifier gain. 4.
6 TESTING AND TROUBLESHOOTING This section describes some functional tests to determine if the Ball and Beam system is operating properly. It is assumed that the system is connected as described in the Section 5, above. To carry out these tests, it is preferable if the user uses a software such as QUARCr or LabVIEWTM to read sensor measurements and ouput voltages to the motor. See Reference [1] to learn how to interface the SRV02 with QUARC.
Figure 6.1: Typical voltage signal measured by the BB01 ball position sensor • Using a voltmeter, connect one probe to the middle-left pin and the other to the bottom GND pins. The voltage should vary between about ±4.5 V as the ball position is changed. Please see Section 7 for information on contacting Quanser for technical support. BB01 User Manual v 1.
7 TECHNICAL SUPPORT To obtain support from Quanser, go to http://www.quanser.com/ and click on the Tech Support link. Fill in the form with all the requested software and hardware information as well as a description of the problem encountered. Also, make sure your e-mail address and telephone number are included. Submit the form and a technical support person will contact you.
REFERENCES [1] Quanser Inc. SRV02 QUARC Integration, 2008. [2] Quanser Inc. SRV02 User Manual, 2009. [3] Quanser Inc. Q2-USB Data-Acquisition System User's Guide, 2010. BB01 User Manual v 1.
Over ten rotary experiments for teaching fundamental and advanced controls concepts Rotary Servo Base Unit Flexible Joint 2 DOF Inverted Pendulum Ball and Beam Double Inverted Pendulum 2 DOF Gantry Inverted Pendulum Gyro/Stable Platform Multi-DOF Torsion Flexible Link 2 DOF Robot 2 DOF Ball Balancer Quanser’s rotary collection allows you to create experiments of varying complexity – from basic to advanced.
