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ELEC483 Lab Manual

2DOF Helicopter Setups

Dan Li, 2013

2DOF HELICOPTER SETUPS ........................................................................................................................................ 1

DAN LI, 2013 .................................................................................................................................................................. 1

1. PRESENTATION .............................................................................................................................................. 2

2. SYSTEM DESCRIPTION ........................................................................................................................................... 2

2.1 COMPONENTS ............................................................................................................................................................ 2

2.2 SYSTEM SPECIﬁCATIONS ................................................................................................................................................ 4

3. SYSTEM SETUP ...................................................................................................................................................... 5

3.1 TYPICAL CONNECTIONS FOR THE 2DOF HELICOPTER .......................................................................................................... 5

4. TESTING AND TROUBLESHOOTING ........................................................................................................................ 7

4.1 MOTOR ..................................................................................................................................................................... 7

4.2 ENCODER ............................................................................................................................................................... 8

5. EXPERIMENT SAMPLE FILES .................................................................................................................................. 8

5.1 OVERVIEW ................................................................................................................................................................. 8

5.2 OPEN-LOOP IMPLEMENTATION ...................................................................................................................................... 9

REFERENCES ............................................................................................................................................................ 12

Summary of content (12 pages)

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ELEC483 Lab Manual 2DOF Helicopter Setups Dan Li, 2013 2DOF HELICOPTER SETUPS ........................................................................................................................................ 1 DAN LI, 2013 .................................................................................................................................................................. 1 1. PRESENTATION ....................................................................................................
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1. Presentation The Quanser 2DOF Helicopter, shown in Figure 2, consists of a helicopter model mounted on a ﬁxed base with two propellers that are driven by DC motors. The front propeller controls the elevation of the helicopter nose about the pitch axis and the back propeller controls the side to side motions of the helicopter about the yaw axis. The pitch and yaw angles are measured using high-resolution encoders. The pitch encoder and motor signals are transmitted via a slip ring.
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Figure 2: Components Table 1: 2DOF Components ID # 12 34 56 78 9 10 11 12 Component Back propeller Back propeller shield Yaw/back motor Pitch encoder Yoke Helicopter body Front propeller Pitch/front motor Front propeller shield Encoder/motor circuit Encoder connector on circuit (not used) Motor connector on circuit ID # 13 14 15 16 17 18 19 20 21 22 23 Component Metal shaft rotates about yaw axis Slip ring Yaw encoder Base platform Front motor connector Right motor connector (not used) Back motor connec
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2.1.3 Propellers (Components #1 and #7) The pitch and yaw propeller assemblies are composed of the actual propeller, which is directly mounted to the motor shaft, and the aluminum propeller shield. The propellers used for both the pitch and yaw motors are Graupner 20/15 cm or 8/6”. The pitch motor/propeller has an identiﬁed thrust-force constant of 0.104 N/V and the yaw motor/propeller has a thrust-force constant of 0.43 N/V. 2.1.
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KEC,LN, KEC, KEC, mode) Pitch encoder resolution (in quadrature mode) Yaw encoder calibration gain pitch encoder calibration gain 4096 counts/rev 7.67 10− 1.
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Figure 3: Typical connections of the 2DOF Helicopter Experiment Note: The connections shown in Figure 3.7 uses a two-channel DAQ and a two-channel ampliﬁer as an example. Further, it is assumed that the ampliﬁer needs to be enabled through the digital output and that an Emergency Stop has to be connected. Your conﬁguration may be diﬀerent. For instance, you may have a DAQ with more IOs than the one presented in Figure 3.
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3.1.1 Wiring Details Follow these steps to connect the 2DOF Helicopter system: 1. It is assumed that the Quanser DAQ board is already installed as discussed in [2]. If another data-acquisition device is being used, e.g. NI M-Series board, then go to its corresponding documentation and ensure it is properly installed. 2. Make sure everything is powered oﬀ before making any of these connections. This includes turning oﬀ your PC and the ampliﬁer. 3.
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4.1.2 Troubleshooting If the motor is not responding to voltage signal, go through these steps:     Verify that the power amplifier is functional. For example when using the Quanser VoltPAQ device, is the green LED lit? Check that the data-acquisition board is functional, e.g. ensure it is properly connected, that the fuse is not burnt. Make sure the voltage is actually reaching the motor terminals (use voltmeter or oscilloscope).
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2DOF Heli Equations.mws 2DOF Heli Equations.html quanser.ind and quanser.lib setup_lab_heli_2d.m setup_heli2d_configuration.m HELI2D_ABCD_eqns.m d_heli2d_lqr.m d_heli2d_lqr_i.m s_heli_2d_ff_lqr_i.mdl q_heli_2d_ff_lqr_i.mdl q_heli_2d_open_loop.mdl Maple worksheet used to analytically derive the state-space model involved in the experiment. Waterloo Maple 9, or a later release, is required to open, modify, and execute this file. HTML presentation of the Maple Worksheet.
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Figure 4: Simulink diagram to run 2DOF Helicopter in open-loop with QUARC 3. 4. 5. 6. Configure setup script: Open the design file setup_lab_heli_2d.m and ensure everything is configured properly. The K_JOYSTICK_V_X and K_JOYSTICK_V_Y parameters control the rate that a voltage command is generated. The JOYSTICK_X_DZ and JOYSTICK_Y_DZ specify the deadzone of the joystick. The deadzone is used to remove negligible joystick outputs due to noise or from small motions in the joystick handle.
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Figure 5: 2DOF HELI subsystem contains QUARC blocks that interface with hardware 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. The voltage sent to the Analog Output block is amplified by the amplifiers and applied to the power amplifier’s attached motor. Note that the control input is divided by the amplifier gain, K_AMP, before being sent to the DAQ board.
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Figure 6: Effect of pitch on yaw 17. As depicted in Figure 6, applying a negative voltage to the yaw motor causes the pitch angle to decrease, i.e. the helicopter nose goes down. Similarly to the effect the pitch motor has on the yaw motion, the voltage applied to the yaw motor generates a torque on the pitch axis 18. Gradually bring the helicopter back to starting position. 19. Click on the Stop button on the Simulink diagram tool bar (or select QUARC j Stop from themenu) to stop running the controller.