Specifications

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. Connect one of the connectors on the 2x RCA to 2x RCA cable from the Analog Output Channel #0 on the

terminal board to the Ampliﬁer Command Connector on the Quanser ampliﬁer. See cable #1 shown in Figure

3.7.

4. Connect the other line of the 2XRCA to 2XRCA cable from the Analog Output #1 connector on the terminal

board to the Ampliﬁer 1 Ampliﬁer Command connector. This is illustrated by connection #2 in Figure 3.7.

5. Connect a 4-pin-DIN to 6-pin-DIN cable from Ampliﬁer 0 To Load (3x Ampliﬁer Command) connector, to the

M0 (Pitch) connector on the 2DOF Helicopter plant. This is illustrated by connection #3 in Figure 3.7.

6. Connect another 4-pin-DIN to 6-pin-DIN cable from the Ampliﬁer 1 To Load (3x Ampliﬁer Command)

connector, to the M1 (Yaw) connector on the 2DOF Helicopter plant. This is illustrated by connection #4 in

Figure 3.7.

7. Connect a 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder 0 connector on the terminal board,

to the Enc 0 (Pitch) connector on the 2DOF Helicopter plant. This is illustrated by connection #5 in Figure 3.7.

8. Connect another 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder 1 connector on the terminal

board to the Enc1 (Yaw) connector on the 2DOF Helicopter plant. This is illustrated by connection #6 in

Figure 3.7.

9. Caution: CAUTION: Any encoder should be directly connected to the Quanser terminal board (or equivalent)

using a standard 5-pin DIN cable. DO NOT connect the encoder cable to the ampliﬁers!

10. Connect the 16-pin ribbon cable from the DIO 0 connector on the terminal board to the 16pin connector

(Enable/Fault) on the ampliﬁer. This is illustrated by connection #7 in Figure

11. Connect the emergency stop switch to the E-Stop connector on the ampliﬁer. This is illustrated by

connection #8 in Figure 3.7.

12. If you are using are using the Logitech Attack 3 USB joystick shown in Figure 3.8, then connect the USB cable

from the joystick to a USB port on the PC while it is running. The system should detect the joystick and

automatically install the driver (you will be prompted). See the Logitech Installation Manual for more

information on the setup procedure. See 3.2 for more information on system requirements of the Logitech

joystick and how to use the Rate Command knob.

4. Testing and Troubleshooting

This section describes some functional tests to determine if 2DOF system is operating normally. It is assumed that

the 2DOF Helicopter is connected as described in Section 3.1. To carry out these tests, it is preferable if the user

can use software such as QUARC

to read sensor measurements and feed voltages to the motor. Alternatively, these

tests can be performed with signal generator and an oscilloscope.

4.1 Motor

4.1.1 Testing

Ensure the pitch and yaw motors are operating correctly by going through this procedure:

 Apply approximately 4V to Analog Output Channel #0 of the terminal board to test the pitch motor and

verify that the front propeller rotates.

 Similarly, apply 4V to Analog Output Channel #1 to drive the yaw motor and verify that the rear propeller

rotates.