Equilibrium Current and Natural

Frequency

This Workbook and the VIs provided are designed for the second generation black Quanser
QNET 2.0 VTOL Board for NI ELVIS II(+) . Second generation VIs can be identified by the small
black symbol in the upper right corner of the VI. These VIs will not work for blue first generation
boards.

Topics Covered
System Identification.
Finding the natural frequency.

Prerequisits
The QNET VTOL has been setup and tested. See the QNET VTOL Quick Start Guide for details.
You have access to the QNET VTOL User Manual.
You are familiar with the basics of LabVIEW.

QNET VTOL Workbook - Student

v 2.0

Background

Unlike a DC motor, this system has to be characterized with at least a second-order model. The equation of motion
is derived from first principles and then used to obtain the transfer function representing the current to position QNET
VTOL dynamics.

1.1 Torques Acting on the QNET VTOL

The free-body diagram of a 1-DOF Quanser QNET 2.0 VTOL Board for NI ELVIS II(+) device that pivots about the
pitch axis is shown in Figure 1.1.

Figure 1.1: Free-body diagram of 1-DOF QNET VTOL

As shown in Figure 1.1, the torques acting on the rigid body system can be described by the equation
t + m2 gl2 cos (t) m1 gl1 cos (t) m3 hgl3 cos (t) = 0.

(1.1)

The thrust force Ft is generated by the propeller and acts perpendicular to the fan assembly. The thrust torque is
given by
t = Ft l1 ,
(1.2)
where l1 is the length between the pivot and center of the propeller, as depicted in Figure 1.1. In terms of the current,
the thrust torque equals
t = Kt Im ,
(1.3)
where Kt is the thrust current-torque constant. With respect to current, the torque equation becomes
Kt Im + m2 gl2 cos (t) m1 gl1 cos (t) m3 gl3 cos (t) = 0.

(1.4)

The torque generated the propeller and the gravitational torque acting of the counter-weight act in the same direction
and oppose the gravitational torques on the helicopter body and propeller assembly.
We define the QNET VTOL as being in equilibrium when the thrust is adjusted until the QNET VTOL is horizontal
and parallel to the ground. At equilibrium, the torques acting on the system are described by the equation
Kt Ieq + m2 gl2 m1 gl1 m3 gl3 = 0,

(1.5)

where Ieq is the current required to reach equilibrium.

QNET VTOL Workbook - Student

1.2 QNET VTOL Virtual Instrument

The virtual instrument used to determine the system parameters of the QNET VTOL shown in Figure 1.2.

Figure 1.2: VI used to find QNET VTOL model parameters

QNET VTOL Workbook - Student

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In-Lab Exercise

2.1 Measure the Equilibrium Current

1. Open the QNET VTOL Current Control.vi. Make sure the correct Device is chosen.
2. Set the Current Control ON? switch to ON.
3. Run the VI.
4. In the Current Control Parameters section, set the PI current gains to kp = 10 V/A and ki = 800 V/(A.s).
5. In the Current Setpoint section set:
Amplitude (A) = 0.00
Frequency (Hz) = 0.20
Offset (A) = 0.13
6. Gradually increase the offset current until the QNET VTOL is horizontal.
7. The current required to bring the QNET VTOL to a horizontal position is called the equilibrium current Ieq .
Capture the pitch and current response and record this current.
8. Click on Stop button to stop the VI.

2.2 Find Natural Frequency

1. Open the QNET VTOL Current Control.vi. Make sure the correct Device is chosen.
2. Set the Current Control ON? switch to ON.
3. In the Current Control Parameters section, set the PI current gains to kp = 10 V/A and ki = 800 V/A.s.
4. In the Current Setpoint section set:
Amplitude (A) = 0.00
Frequency (Hz) = 0.20
Offset (A) = Ieq (equilibrium current found in the laboratory experiment above)
5. Run the VI.
6. When the VI starts and the equilibrium current step is applied, the QNET VTOL will shoot upwards quickly and
then oscillate about its horizontal. Capture this response and measure the natural frequency.
7. Click on Stop button to stop the VI.

QNET VTOL Workbook - Student

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QNET VTOL Workbook - Student

v 2.0