Specifications

Figure 4: Simulink diagram to run 2DOF Helicopter in open-loop with QUARC
3. 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.
4. Execute the setup_lab_heli_2d.m Matlab script to setup the workspace before compiling the diagram and
running it in real-time with QUARC.
5. Open the 2DOF HELI subsystem. Its contents are shown in Figure 5.16. This subsystem contains the
QUARC blocks that interface with the hardware of the actual plant. The Analog Output block sends the
voltage computed by the controller to the DAQ device which drives the actuators and the Encoder Input
block reads the encoder measurements.
6. Configure DAQ: Double-click on the HIL Initialize block in the Simulink diagram and ensure it is configured
for the DAQdevice that is installed in your system. By default the block shown in Figure 5 is setup for the
Quanser Q8 hardware-in-the-loop board.