Specifications

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 3.7 or have two single-channel amplifiers that do not require any enabling and E-Stop (in
which case, you would omit connections #7 and #8).
Table 5: 2DOF Helicopter system wiring summary
Cable #
From
To
Signal
1
Terminal Board: Analog
Output #0
Amplifier 0:
Command
Control signal to the pitch
amplifier.
2
Terminal Board: Analog
Output #1
Amplifier 1:
Command
Control signal to the yaw
amplifier.
3
Amplifier 0: To Load
2DOF Helicopter: M0
(Pitch)
Power leads to the 2DOF
Helicopter’s front DC motor
(i.e., pitch propeller)
4
Amplifier 1: To Load
2DOF Helicopter: M1
(Yaw)
Power leads to the 2DOF
Helicopter’s back DC motor
(i.e., yaw propeller)
5
2DOF Helicopter: Pitch
Encoder ENC 0 connector
Terminal Board:
Encoder Channel #0
2DOF Helicopter’s pitch angle
feedback signal to the data
acquisition card
6
2DOF Helicopter: Yaw
Encoder ENC 1 connector
Terminal Board:
Encoder Channel #1
2DOF Helicopter’s yaw angle
feedback signal to the data
acquisition card
7
Amplifier 16-pin
connector (Enable/Fault)
Terminal Board: DIO
0 connector
Enable signal for the
amplifier channels
8
Emergency Stop Switch
Amplifier E-Stop
connector
Emergency stop signal