User manual

System Experiment Description
SRV02 SRV02 QUARC Inte-
gration
Describes how to use
SRV02 Modeling Model the speed of the SRV02 using a first-order transfer
function.
SRV02 Position Control Regulate position of the SRV02 load gear to a desired an-
gle using PID.
SRV02 Speed Control Control the angular rate of the SRV02 load gears using a
PI and a lead compensator.
Ball and beam Balance Control Model the system and develop a cascade PD controller to
stabilize the ball to a position along the beam.
Flexible Joint Vibration Control Derive the plant dynamics and design a controller that com-
pensates for the flexibilities in the joint while regulating the
position of the arm tip to desired location.
Flexible Link Vibration Control Model the plant and identify the natural frequency of the
beam. Then, develop a system that controls the tip of beam
to a desired position.
Single Pendulum Self-Erecting Single
Inverted Pendulum
Control
Design a nonlinear energy-based swing-up controller and
a linear balance compensator to swing-up the pendulum
from the resting downward position to the upright vertical
position.
Double Pendulum Double-Inverted Pen-
dulum Balance Control
Model the system and then design a controller that bal-
ances the pendulum while the servo is tracking a reference
position.
Gyroscope Heading Control Design a feedback loop that can maintains the position of
the SRV02 load gear, i.e. the heading, while the rotary
base underneath is manually perturbed.
1-DOF Torsion Vibration Control Control the position of the output shaft to desired setpoint
by rejecting the vibrations introduced by the torsional mem-
ber.
2 DOF Torsion Vibration Control Control the position of the output shaft to desired setpoint
by rejecting the vibrations introduced by both torsional
members.
2 DOF Robot 2D Task-Based Posi-
tion Control
Control the position of the end-effector given a desired pla-
nar (x,y) position. This involves servo position control as
well as developing the forward and inverse kinematics of
the plant.
2 DOF Pendulum 2 DOF Gantry Control Control the position of the pendulum tip to a desired (x,y)
position while dampening the motions of the pendulum.
2 DOF Pendulum 2 DOF Inverted Pen-
dulum Balance Control
Develop a balance controller that keeps the 2 DOF pendu-
lum in the upright vertical position.
2D Ball Balancer Ball Position Control Control the position of a ball that is free to move on a swivel-
ing 2 DOF plate. The plate angles are controlled by at-
tached servo units and the ball position is measured us-
ing an overhead digital camera with image processing soft-
ware.
Table 1.1: SRV02-based Experiments
SRV02 User Manual
v 1.0