srv02 courseware sample for matlab users

INSTRUCTOR WORKBOOKSRV02 Base Unit Experiment For MATLAB/Simulink Users

Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserMichel Lvis, M.A.Sc., Quanser

Hakan Gurocak, Ph.D., Washington State University

Instructor Workbook: S

RV

02

Base U

nit Exp

eriment for M

ATLA

B/

Sim

ulink U

sers

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB/Simulink.

To request a demonstration or a quote, please email [email protected].

2012 Quanser Inc. All rights reserved. MATLAB and Simulink are registered trademarks of The MathWorks Inc.

SRV02 Base Unit Flexible Link Inverted Pendulum Ball and Beam

Multi-DOF Torsion2 DOF Inverted Pendulum2 DOF Robot

Flexible Joint Gyro/Stable Platform Double Inverted Pendulum 2 DOF Ball Balancer

Ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

CAPTIVATE. MOTIVATE. GRADUATE. Solutions for teaching and research. Made in Canada.

[email protected] +1-905-940-3575 QUANSER.COM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.

Courseware Material Sample

COURSE MATERIALS

SAMPLE SRV02 ROTARY SERVO PLANT

2011 Intellectual property of Quanser. Do not reproduce without written permission.

QUANSER.COM +1-905-940-3575 [email protected] Page 1 of 11

PREFACEPreparinglaboratoryexperimentscanbetimeconsuming.Quanserunderstandstimeconstraintsofteachingand research professors. Thats why Quansers control laboratory solutions come with proven practicalexercises.Thecoursematerialsaredesignedtosaveyoutime,givestudentsasolidunderstandingofvariouscontrolconceptsandprovidemaximumvalueforyourinvestment.Quansercoursematerialsaresuppliedintwoformats:

1. InstructorWorkbook provides solutions for the prelab assignments and contains typicalexperimental results from the laboratory procedure. This version is not intended for thestudents.

2. StudentWorkbookcontainsprelabassignmentsandinlabproceduresforstudents.ThiscoursematerialispreparedforusersofTheMathWorkssMatlab/Simulinksoftwarein conjunctionwithQuansersQUARC realtime control software.Aversionof the coursematerialsforNationalInstrumentsLabVIEWusersisalsoavailable.

This course material is aligned with the requirements of the Accreditation Board forEngineeringandTechnology (ABET),oneofthemostrespectedorganizationsspecializing inaccreditationofeducationalprogramsinappliedscience,computing,scienceandtechnology.TheInstructorWorkbookprovidesprofessorswithasimpleframeworkandsetoftemplatestomeasure and document students achievements of various performance criteria and theirabilityto: Applyknowledgeofmath,scienceandengineering Designandconductexperiments,andanalyzeandinterpretdata Communicateeffectively Usetechniques,skillsandmodernengineeringtoolsnecessaryforengineeringpractice

Quanser,Inc.wouldliketothankDr.HakanGurocak,fromtheWashingtonStateUniversityVancouver,forrewritingtheoriginalmaterialtoincludeembeddedoutcomesassessment.

ThefollowingmaterialprovidesanabbreviatedexampleofprelabassignmentsandinlabproceduresfortheSRV02RotaryMotionServoPlant.Pleasenotethattheexamplesarenotcompleteastheyareintendedtogiveyouabriefoverviewofthestructureandcontentofthecoursematerialsyouwillreceivewiththeplant.


COURSE MATERIALS




COURSEMATERIALSSAMPLETABLEOFCONTENTSPREFACE......................................................................................................................PAGE1INTRODUCTIONTOQUANSERROTARYSERVOCOURSEMATERIALSSAMPLE.........PAGE3INSTRUCTORSMANUALTABLEOFCONTENTS..........................................................PAGE4BACKGROUNDSECTIONSAMPLE............................................................................PAGE7PRELABQUESTIONSSECTIONSAMPLE...................................................................PAGE9LABEXPERIMENTSSECTIONSAMPLE....................................................................PAGE10SYSTEMREQUIREMENTSSECTIONSAMPLE.......................................................PAGE11


COURSE MATERIALS




1. INTRODUCTIONTOQUANSERROTARYSERVOCOURSEMATERIALSAMPLEQuansercoursematerialsprovidestepbysteppedagogyforawiderangeofcontrolchallenges.Startingwiththebasicprinciples,studentscanprogresstomoreadvancedapplicationsandcultivateadeepunderstandingofcontroltheories.TheQuanserRotaryServocoursematerialscoverstopics,suchas:

HowtodesignQUARCcontrollersforQuansersSRV02system HowtofindatransferfunctionthatdescribestherotarymotionsoftheSRV02loadshaft Howtodevelopafeedbacksystemthatcontrolsthepositionoftherotaryservoloadshaft Howtodevelopafeedbacksystemthatcontrolsthespeedoftherotaryservoloadshaft

EverylaboratorychapterintheInstructorsManualisorganizedintofoursections:

Background section provides all the necessary theoretical background for the experiments.StudentsshouldreadthissectionfirsttoprepareforthePreLabquestionsandfortheactuallabexperiments.

PreLabQuestions section is notmeant to be a comprehensive list of questions to examineunderstanding of the entire backgroundmaterial. Rather, it provides targeted questions forpreliminarycalculations thatneed tobedoneprior to the labexperiments.Allorsomeof thequestionsinthePreLabsectioncanbeassignedtothestudentsashomework.

LabExperimentssectionprovidesstepbystep instructionstoconductthe labexperimentsandtorecordthecollecteddata.

SystemRequirements sectiondescribes all thedetailsofhow to configure thehardware andsoftware to conduct the experiments. It is assumed that the hardware and softwareconfigurationhavebeencompletedby the instructoror the teachingassistantprior to the labsessions.However, ifthe instructorchoosesto,thestudentscanalsoconfigurethesystemsbyfollowingtheinstructionsgiveninthissection.

AssessmentofABEToutcomesisincorporatedintotheInstructorsManuallookforindicatorssuchasA1,A2Theseindicatorscorrespondtospecificperformancecriteriaforanoutcome.AppendixBoftheInstructorsManualincludes: detailsofthetargetedABEToutcomes, listofperformancecriteriaforeachoutcome, scoringrubricsandinstructionsonhowtousetheminassessment.

The outcomes targeted by the PreLab questions can be assessed using the studentwork. The outcomestargeted by the lab experiments can be assessed from the lab reports submitted by the students. Thesereportsshouldfollowthespecifictemplateforcontentgivenattheendofeach laboratorychapter.Thiswillprovideabasistoassesstheoutcomeseasily.


COURSE MATERIALS




2. INSTRUCTORSMANUALTABLEOFCONTENTSThefullTableofContentsoftheQuanserRotaryServoInstructorsManualisshownhere:

PREFACE1. LABORATORY1SRV02MODELING

1.1. BACKGROUND1.1.1. MODELINGUSINGFIRSTPRINCIPLES

1.1.1.1. ELECTRICALEQUATIONS1.1.1.2. MECHANICALEQUATIONS1.1.1.3. COMBININGTHEELECTRICALANDMECHANICALEQUATIONS

1.1.2. MODELINGUSINGEXPERIMENTS1.1.2.1. FREQUENCYRESPONSE1.1.2.2. BUMPTEST

1.2. PRELABQUESTIONS1.3. LABEXPERIMENTS

1.3.1. FREQUENCYRESPONSEEXPERIMENT1.3.1.1. STEADYSTATEGAIN1.3.1.2. GAINATVARYINGFREQUENCIES

1.3.2. BUMPTESTEXPERIMENT1.3.3. MODELVALIDATIONEXPERIMENT1.3.4. RESULTS

1.4. SYSTEMREQUIREMENTS1.4.1. OVERVIEWOFFILES1.4.2. CONFIGURINGTHESRV02ANDTHELABFILES

1.5. LABREPORT1.5.1. TEMPLATEFORCONTENT1.5.2. TIPSFORREPORTFORMAT

1.6. SCORINGSHEETFORPRELABQUESTIONS1.7. SCORINGSHEETFORLABREPORT(MODELING)

2. LABORATORY2SRV02POSITIONCONTROL

2.1. BACKGROUND2.1.1. DESIREDPOSITIONCONTROLRESPONSE

2.1.1.1. PEAKTIMEANDOVERSHOOT2.1.1.2. STEADYSTATEERROR2.1.1.3. SRV02POSITIONCONTROLSPECIFICATIONS

2.1.2. PVCONTROLLERDESIGN2.1.2.1. CLOSEDLOOPTRANSFERFUNCTION2.1.2.2. CONTROLLERGAINLIMITS2.1.2.3. RAMPSTEADYSTATEERRORUSINGPV

2.1.3. PIVCONTROLLER2.1.3.1. RAMPSTEADYSTATEERRORUSINGPIV2.1.3.2. INTEGRALGAINDESIGN


COURSE MATERIALS




2.2. PRELABQUESTIONS2.3. LABEXPERIMENTS

2.3.1. STEPRESPONSEUSINGPVCONTROLLER2.3.1.1. SIMULATION2.3.1.2. IMPLEMENTINGSTEPRESPONSEUSINGPVCONTROLLER

2.3.2. RAMPRESPONSEUSINGPVCONTROLLER2.3.2.1. SIMULATION2.3.2.2. IMPLEMENTINGRAMPRESPONSEUSINGPVCONTROLLER

2.3.3. RAMPRESPONSEWITHNOSTEADYSTATEERROR2.3.4. RESULTS

2.4. SYSTEMREQUIREMENTS2.4.1. OVERVIEWOFFILES2.4.2. SETUPFORPOSITIONCONTROLSIMULATION2.4.3. SETUPFORPOSITIONCONTROLIMPLEMENTATION

2.5. LABREPORT2.5.1. TEMPLATEFORCONTENT(STEPRESPONSEEXPERIMENT)2.5.2. TEMPLATEFORCONTENT(RAMPRESPONSEWITHPV)2.5.3. TEMPLATEFORCONTENT(RAMPRESPONSEWITHNOSTEADYSTATEERROR)2.5.4. TIPSFORREPORTFORMAT

2.6. SCORINGSHEETFORPRELABQUESTIONS2.7. SCORINGSHEETFORPRELABREPORT(STEP)2.8. SCORINGSHEETFORPRELABREPORT(RAMPPV)2.9. SCORINGSHEETFORPRELABREPORT(RAMPRESPONSEWITHNOSTEADYSTATEERROR)

3. LABORATORY3SRV02SPEEDCONTROL

3.1. BACKGROUND3.1.1. DESIREDRESPONSE

3.1.1.1. SRV02SPEEDCONTROLSPECIFICATIONS3.1.1.2. OVERSHOOT3.1.1.3. STEADYSTATEERROR

3.1.2. PIDCONTROLDESIGN3.1.2.1. CLOSEDLOOPTRANSFERFUNCTION3.1.2.2. FINDINGPIGAINSTOSATISFYSPECIFICATIONS

3.1.3. LEADCONTROLDESIGN3.1.3.1. FINDINGLEADCOMPENSATORPARAMETERS3.1.3.2. LEADCOMPENSATORDESIGNUSINGMATLAB

3.1.4. SENSORNOISE3.2. PRELABQUESTIONS3.3. LABEXPERIMENTS

3.3.1. STEPRESPONSEWITHPICONTROL3.3.1.1. SIMULATION3.3.1.2. IMPLEMENTINGPISPEEDCONTROL

3.3.2. STEPRESPONSEWITHLEADCONTROL3.3.2.1. SIMULATION3.3.2.2. IMPLEMENTINGLEADSPEEDCONTROL


COURSE MATERIALS




3.3.3. RESULTS3.4. SYSTEMREQUIREMENTS

3.4.1. OVERVIEWOFFILES3.4.2. SETUPFORSPEEDCONTROLSIMULATION3.4.3. SETUPFORSPEEDCONTROLIMPLEMENTATION

3.5. LABREPORT3.5.1. TEMPLATEFORCONTENT(PICONTROLEXPERIMENT)3.5.2. TEMPLATEFORCONTENT(LEADCONTROLEXPERIMENTS)3.5.3. TIPSFORREPORTFORMAT

3.6. SCORINGSHEETFORPRELABQUESTIONS3.7. SCORINGSHEETFORPRELABREPORT(PI)3.8. SCORINGSHEETFORPRELABREPORT(LEAD)

A. SRV02QUARCINTEGRATION

A.1. APPLYINGVOLTAGETOSRV02MOTORA.1.1 MAKINGTHESIMULINKMODELA.1.2 COMPILINGTHEMODELA.1.3 RUNNINGQUARCCODE

A.2. READINGPOSITIONUSINGPOTENTIOMETERA.2.1 READINGTHEPOTENTIOMETERVOLTAGEA.2.2 MEASURINGPOSITION

A.3. MEASURINGSPEEDUSINGTACHOMETERA.4. MEASURINGPOSITIONUSINGENCODERA.5. SAVINGDATA

B. SRV02INSTRUCTORSGUIDE

B.1. PRELABQUESTIONSANDLABEXPERIMENTSB.1.1 HOWTOUSEPRELABQUESTIONSB.1.2 HOWTOUSETHELABORATORYEXPERIMENTS

B.2. ASSESSMENTFORABETACCREDITATIONB.2.1 ASSESSMENTINYOURCOURSEB.2.2 HOWTOSCORETHEPRELABQUESTIONSB.2.3 HOWTOSCORETHELABREPORTSB.2.4 ASSESSMENTOFTHEOUTCOMESFORTHECOURSE

B.2.4.1. COURSESCOREFOROUTCOMEAB.2.4.2. COURSESCORESFOROUTCOMEB,KANDG

B.2.5 ASSESSMENTWORKBOOKB.3. RUBRICS


COURSE MATERIALS




( )l s( )Vm s

K s 1

3.BACKGROUNDSECTIONSAMPLESRV02ModelingTheangularrateoftheSRV02loadshaftwithrespecttotheinputmotorvoltagecanbedescribedbythefollowingfirstordertransferfunction

[1.1]

wherethel(s)istheLaplacetransformoftheloadshaftratel(t),Vm(s)istheLaplacetransformofmotorinputvoltagevm(t),Kisthesteadystategain,isthetimeconstant,andsistheLaplaceoperator.TheSRV02transferfunctionmodelisderivedanalyticallyinSection1.1.1anditsKandparametersareevaluated.Theseareknownasthenominalmodelparametervalues.Themodelparameterscanalsobefoundexperimentally.Section1.1.2.1and1.1.2.2describehowtousethefrequencyresponseandbumptestmethodstofindKand.Thesemethodsareusefulwhenthedynamicsofasystemarenotknown,forexampleinamorecomplexsystem.Afterthelabexperiments,theexperimentalmodelparametersarecomparedwiththenominalvalues.

ModelingUsingFirstPrinciples:ElectricalEquationsTheDCmotorarmaturecircuitschematicandgeartrainisillustratedinFigure1.1.Asspecifiedin[6],recallthatRmisthemotorresistance,Lmistheinductance,andkmisthebackemfconstant.


COURSE MATERIALS




Thebackemf(electromotive)voltageeb(t)dependsonthespeedofthemotorshaftmandthebackemfconstantofthemotor,km.Itopposesthecurrentflow.Thebackemfvoltageisgivenby:

UsingKirchoff'sVoltageLaw,wecanwritethefollowingequation:

SincetheimotorinductanceLmismuchlessthanitsresistance,itcanbeignored.Then,theequationbecomes:

SolvingforIm(t),themotorcurrentcanbefoundas:


COURSE MATERIALS




4. PRELABQUESTIONSSECTIONSAMPLESRV02PositionControlBeforeyoustartthelabexperimentsgiveninSection2.3,youshouldstudythebackgroundmaterialsprovidedinSection2.1andworkthroughthequestionsinthisSection.1. A2Calculatethemaximumovershootoftheresponse(inradians)givenastepsetpointof45degrees.

Hint:Bysubstitutingymax=(tp)andstepsetpointR0=d(t)intoequation2.6,wecanobtainRecallthatthedesiredresponsespecificationsinclude20%overshoot.

Answer2.1Outcome SolutionA2 Substitutingastepreferenceofd(t)=0.785[rad]andPO=20[%]intothisequationgives

themaximumovershootas(tp)=0.823[rad].

2. A1,A2TheSRV02closedlooptransferfunctionwasderivedinequation2.23inSection2.1.2.1.Findthecontrolgainskpand kvintermsofnand.Hint:Rememberthestandardsecondordersystemequation.Answer2.1Outcome SolutionA1 ThecharacteristicequationoftheSRV02closedlooptransferfunctionin2.7is

and can be re-structured into the form

Equating this with the standard second order system equation gives the expressions

andA2 Solveforkpand kvtoobtainthecontrolgainsequations

andthevelocitygainis


COURSE MATERIALS




5.LABEXPERIMENTSSECTIONSAMPLESRV02SpeedControlStepResponsewithLEADControl,SimulationYouwillsimulatetheclosedloopspeedresponseoftheSRV02withaLeadcontrollertostepinput.Ourgoalsaretoconfirmthatthedesiredresponsespecificationsinanidealsituationaresatisfiedandtoverifythatthemotorisnotsaturated.AsinthestepresponsewithPIcontrolexperimentinSection3.3.1.1,inthisexperimentyouneedtousetheq_srv02_spdSIMULINKdiagramshowninFigure3.13again.1. EntertheKc,a,andTleadcontrolparametersfoundinSection3.1.3.2.2. IntheSRV02SignalGeneratorblock,settheSignalTypetosquareandtheFrequencyto0.4Hz.3. IntheSpeedControlSIMULINKmodel,settheAmplitude(rad/s)gainblockto2.5rad/sandtheOffset

(rad/s)constantblockto5.0rad/s.4. Toengagetheleadcontrol,settheManualSwitchtothedownwardposition.5. Opentheloadshaftpositionscope,w_l(rad),andthemotorinputvoltagescope,Vm(V).6. B5Startthesimulation.Bydefault,thesimulationrunsfor5seconds.Thescopesshouldbedisplaying

responsessimilartoFigures3.10and3.11.7. K1,B9VerifyifthetimedomainspecificationsinSection3.1.1.1aresatisfiedandthatthemotoris

notbeingsaturated.Tocalculatethesteadystateerror,peaktime,andpercentovershoot,usethesimulatedresponsedatastoredinthedata_spdvariable.Answer3.12Outcome SolutionK1 The steady-state error, peak time, and percent overshoot measured fromthesimulated

leadspeedresponseare

and

B9 Notealsothatthesteadystateerror,peaktime,andpercentovershootarefoundautomaticallyinthesample_meas_tp_os.mscriptusingtheresponsesavedinthedata_spdvariable(afterrunnings_srv02_spd).Eventhoughthephasemarginrequirementwasnotmetwiththedesignedleadparameters,theresponsewiththeleadcompensatorsatisfiesthespecificationsgiveninSection3.1.1.1whilemaintaininganinputvoltagelessthan10V,i.e.themotorisnotsaturated.


COURSE MATERIALS




6.SYSTEMREQUIREMENTSSECTIONSAMPLESRV02SpeedControlSetupforSpeedControlSimulation

FollowthesestepstoconfiguretheMATLABsetupscriptandtheSIMULINKdiagramfortheSpeedControlsimulationlaboratory:

1. LoadtheMATLABsoftware.2. BrowsethroughtheCurrentDirectorywindowinMATLABandfindthefolderthatcontainsthe

SRV02speedcontrollerfiles,e.g.s_srv02_spd.mdl.3. Doubleclickonthes_srv02_spd.mdlfiletoopentheSRV02SpeedControlSimulationSimulink

diagramshowninFigure3.9.4. Doubleclickonthesetup_srv02_exp03_spd.mfiletoopenthesetupscriptfortheposition

controlSimulinkmodels.5. Configuresetupscript:ThecontrollerswillberunontheSRV02inthehighgearconfiguration

withthediscload,asinSection1.InordertosimulateSRV02properly,makesurethescriptissetuptomatchthisconfiguration,i.e.theEXT_GEAR_CONFIGshouldbesettoHIGHandtheLOAD_TYPEshouldbesettoDISC.Also,ensuretheENCODER_TYPE,TACH_OPTION,K_CABLE,AMP_TYPE,andVMAX_DACparametersaresetaccordingtotheSRV02systemthatistobeusedinthelaboratory.Next,setCONTROL_TYPEtoMANUAL.

Answer3.17SetCONTROL_TYPE=AUTOtoloadthePIandLeadcontrolparametersthatmeetthespecifications.

6. RunthescriptbyselectingtheDebugRunitemfromthemenubarorclickingontheRun

buttoninthetoolbar.ThemessagesshownbelowshouldbegeneratedintheMATLABCommandWindow.Thecorrectmodelparametersareloaded,butthecontrolgainsandrelatedparametersloadedaredefaultvaluesthatneedtobechanged.Thatis,thePIcontrolgainsareallsettozero,theleadcompensatorparametersaandTarebothsetto1,andthecompensatorproportionalgainKcissettozero.

SRV02 model parameters:

K = 1.53 rad/s/V tau = 0.0254 s

PI control gains kp = 0 V/rad ki = 0 V/rad/s

Lead compensator parameters: Kc = 0 v/rad/s 1/(a*T) = 1 rad/s 1/T = 1 rad/s

Display message shown in Matlab Command Window after running setup \_srv02|exp03\_spd.m


INSTRUCTOR WORKBOOKSRV02 Base Unit Experiment For MATLAB/Simulink Users

Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserMichel Lvis, M.A.Sc., Quanser

Hakan Gurocak, Ph.D., Washington State University

Instructor Workbook: S

RV

02

Base U

nit Exp

eriment for M

ATLA

B/

Sim

ulink U

sers

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB/Simulink.

To request a demonstration or a quote, please email [email protected].

2012 Quanser Inc. All rights reserved. MATLAB and Simulink are registered trademarks of The MathWorks Inc.

SRV02 Base Unit Flexible Link Inverted Pendulum Ball and Beam

Multi-DOF Torsion2 DOF Inverted Pendulum2 DOF Robot

Flexible Joint Gyro/Stable Platform Double Inverted Pendulum 2 DOF Ball Balancer

Ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

CAPTIVATE. MOTIVATE. GRADUATE. Solutions for teaching and research. Made in Canada.

[email protected] +1-905-940-3575 QUANSER.COM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.


srv02 courseware sample for matlab users

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