Вы находитесь на странице: 1из 4

Quick Start Guide: 2 DOF Helicopter

STEP 1 Check Components and Details


Make sure your 2 DOF Helicopter experiment includes the following components:

1. 2 DOF Helicopter body


2. 2 DOF Helicopter pedestal
1 2 3. Set of two 5-pin DIN to 5-pin DIN
encoder cables
4. L ogitech USB joystick
5. Set of four 8-32 brass thumb screws
6. Quanser Workstation Resources*
(includes controllers; User Manual,
Quick Start Guide and courseware;
3 4 5 6 uSer MaNuaL
and other files)
laboratory
2 doF Helicopter experimentguide
2 doFSet
Helicopter experiment for labVieW ™ users
Up and Configuration
Developed by:
Jacob Apkarian, Ph.D., Quanser
Michel Lévis, M.A.SC., Quanser
Cameron Fulford, M.A.SC., Quanser

*Download the Student version of the Work-


Quanser educational solutions
are powered by:

station Resources from the Resources tab


at www.ni.com/labviewtools/rcp. For the full
Quanser educational solutions
are powered by:

Instructor version, contact quanser@ni.com


Captivate. Motivate. Graduate.
Solutions for teaching and research. Made in Canada.
CaptiVate. MotiVate. graduate.

STEP 2 Additional Components Required for Set Up


To complete the 2 DOF Helicopter set up, you will also need the following:

1 2 1. Quanser Rapid Control Prototyping Toolkit


for NI LabVIEW™. Visit www.ni.com/labviewtools/rcp
RCP Toolkit
ni.com/labviewtools/rcp 2. Power Amplifier (VoltPAQ-X2 pictured)
3. One of the following data acquisition devices:
a. NI CompactRIO with two Quanser Q1-cRIO modules, or
b. Quanser Q2-USB, or
3a 3b 3c c. NI PCI/PCIe with NI M and X Series Terminal Board, or
d. Quanser Terminal Board for NI myRIO
4. Set of two RCA to RCA cables
5. Set of two 4-pin DIN to 6-pin DIN motor cables
6. E-Stop switch (optional)
3d 4 5 6 Note: These components must be purchased separately.

To set up your 2 DOF Helicopter experiment, please read the following instructions carefully.

STEP 3 Install NI LabVIEW™ and Add-ons


Make sure LabVIEW™ and required add-ons are installed.

1. LabVIEW™ 5. Quanser Rapid Control Prototyping Toolkit®


2. NI-DAQmx Note: The Quanser Rapid Control Prototyping (RCP) Toolkit must
3. LabVIEW™ Control Design and Simulation Module be installed after LabVIEW. See the RCP Toolkit Installation Guide for
4. LabVIEW™ MathScript RT Module (only used in certain VIs) more information (www.quanser.com/products/rcptk/documentation).
STEP 4 Set Up the Hardware

A Secure the pedestal to a solid surface. Failing to do this step, the 2 DOF Helicopter might tip over when running.

B Using the supplied 8-32 brass


C Using the four colour cables in the
thumb screws, attach the 2 pedestal, connect the pitch encoder
DOF Helicopter body to the on the 2 DOF Helicopter body to the
pedestal. Make sure the two pedestal. Make sure that the ground
alignment arrows are facing pin on the encoder matches the
the same side. ground terminal of the connector
(the black wire).

D Connect the motor cable from


E
B
+5
E1
the 2 DOF Helicopter to the Your 2 DOF Helicopter
6-pin rectangular connector
A

should now be assembled


GND
R1
J6

labeled MOTORS on the LEDI


MOTOR

pedestal circuit board.


and ready to connect.
HELI HOVER
IDI–N/C IDI–1&2
1D2–2&3 1D2–1&2

STEP 5 Wiring
To set up your 2 DOF Helicopter experiment, please read the following instructions carefully. The connections shown below are illustrated using a generic data acquisition (DAQ)
device and a VoltPAQ-x2 amplifier (e.g., you may have a different DAQ or amplifier). For detailed instructions, see the 2 DOF Helicopter User Manual.

A Before proceeding, set up and test your DAQ device (e.g., Q1-cRIO, B Make sure everything is powered OFF before making any
Q2-USB) as described in its corresponding Quick Start Guide. connections. This includes turning off your PC and the amplifier.

C Analog
Output
Analog Sensors

S1
Enabled
Amplifier 0 Amplifier 1 Using one of the connectors on the RCA
±1.5A Max
±12V Power
Gain 1X 3X
to RCA cable, connect Analog Output
(AO) S2
Amplifier Command
VoltPAQ-X2

S3 Current Sense (1V=1A)


2 CHANNEL LINEAR VOLTAGE AMPLIFIER
WWW.QUANSER.COM
MADE IN CANADA
Channel #0 (AI #0) on the data acquisition
S4 To Load
E-Stop

(DAQ) device to the Amplifier Command


0 0 socket on the amplifier.
Data Acquisition Device Amplifier

D Analog Analog Sensors Amplifier 0 Amplifier 1


Using the other line of the RCA to RCA
Output
Enabled
S1

cable, connect Analog Output Channel


±1.5A Max Gain 1X 3X
±12V Power

(AO) S2
Amplifier Command
VoltPAQ-X2

S3 Current Sense (1V=1A)


2 CHANNEL LINEAR VOLTAGE AMPLIFIER
WWW.QUANSER.COM
MADE IN CANADA
#1 (AI #0) on the data-acquisition (DAQ)
device to the Amplifier Command 1
E-Stop

S4 To Load

1 socket on the amplifier.


Data Acquisition Device Amplifier

E Analog Sensors

S1
Enabled
Amplifier 0 Amplifier 1

Using the 4-pin DIN to 6-pin DIN


±1.5A Max Gain 1X 3X
±12V Power

S2
Amplifier Command
VoltPAQ-X2
2 CHANNEL LINEAR VOLTAGE AMPLIFIER
motor cable, connect the To Load from
Amplifier 0 to the Pitch Motor (D/A 0)
WWW.QUANSER.COM
MADE IN CANADA
S3 Current Sense (1V=1A)

E-Stop

S4 To Load
connector on the 2 DOF Helicopter.
2 DOF Helicopter (D/A 0) Amplifier

F Analog Sensors

S1
Enabled
Amplifier 0 Amplifier 1
Using another 4-pin DIN to 6-pin DIN
±1.5A Max Gain 1X 3X

motor cable, connect the To Load from


±12V Power

S2
Amplifier Command
VoltPAQ-X2
2 CHANNEL LINEAR VOLTAGE AMPLIFIER

Amplifier 1 to the Yaw Motor (D/A 1)


WWW.QUANSER.COM
MADE IN CANADA
S3 Current Sense (1V=1A)

E-Stop

S4 To Load
connector on the 2 DOF Helicopter.
2 DOF Helicopter (D/A 1) Amplifier
G Using the 5-pin DIN to 5-pin DIN cable, connect the Pitch Encoder
(ENC 0) socket on the 2 DOF Helicopter to the Encoder Input #0
H Using another 5-pin DIN to 5-pin DIN cable, connect the Yaw Encoder
(ENC 1) socket on the 2 DOF Helicopter plant to the Encoder Input
socket on the DAQ board. #1 socket on the DAQ board.

Encoders Encoders
(EI) (EI)

0 1

Data Acquisition Device 2 DOF Helicopter (ENC 0) Data Acquisition Device 2 DOF Helicopter (ENC1)

I Connect the Emergency Stop switch to the J Connect the USB cable from the joystick to a
USB port on the PC. The system should detect
E-Stop socket on the amplifier (Optional).
Switch
the joystick and automatically install the driver
Ind

(you will be prompted). See the Logitech


Open

Analog Sensors

S1
Enabled
Amplifier 0 Amplifier 1
Installation Manual for more information on
±1.5A Max EMERGENCY

the set up procedure. See the 2 DOF Helicopter


Gain 1X 3X
±12V Power
STOP
S2
Amplifier Command
VoltPAQ-X2

User Manual for more information on system


2 CHANNEL LINEAR VOLTAGE AMPLIFIER
WWW.QUANSER.COM
MADE IN CANADA
S3 Current Sense (1V=1A)

E-Stop

requirements of the Logitech joystick and how


Ind
18V DC
S4 To Load
Power Input

Amplifier E-Stop Switch to use the Rate Command knob.

K Analog Sensors

S1
±1.5A Max Gain
Enabled

1X 3X
Amplifier 0 Amplifier 1

If your amplifier has a GAIN


L Turn ON the power switch on
±12V Power

S2 setting switch, make sure Fuse: 3.0A, 3AG, E E E


the VoltPAQ-X2. It is located

FUS
FUS

FUS
FUS
FUS
Slow-Blow

FUS
Amplifier Command
VoltPAQ-X2
This device complies with Part 15 of the FCC
E E E
Rules. Operation is subject to the following two

you set the amplifier GAIN 2 CHANNEL LINEAR VOLTAGE AMPLIFIER


conditions: (1) this device may not cause harmful

S3 Current Sense (1V=1A)


interference, and (2) this device must accept any
interference received, including interference thatWWW.QUANSER.COM
may cause undesired operation. MADE IN CANADA
100 - 120 V~ or on the rear of the device.
200 - 240 V~
to 3 when using the 2 DOF
This Class A digital apparatus complies with
Canadian ICES-003.

Cet appareil numérique de la classe A est E-Stop 4.3 A


conforme à la norme NMB-003 du Canada.

50Hz - 60Hz, Class 1


S4 To Load
Helicopter.

Amplifier Amplifier (rear)

STEP 6 Testing the 2 DOF Helicopter


Follow the procedure below to test your 2 DOF Helicopter experiment.

A Make sure your PC and B Download the Quanser Workstation Resources (www.ni.com/labviewtools/rcp) and locate the Quick Start
amplifier are powered ON. folder: Aerospace\2 DOF Helicopter\Quick Start. Copy the Quick Start folder to your local hard drive.

C D In the LabVIEW™ Project, open E Go to the block


the file Virtual Instrument (.vi) diagram (CTRL-E)
Open the LabVIEW™ Project file 2 DOF Helicopter Quick and double click on
file 2 DOF Helicopter Quick Start - PID.vi from the the HIL Initialize
Start.Ivproj. LabVIEW™ project explorer. Express VI.
LabVIEW™ VI Front Panel

F G H I
Under the Main tab, select Go to the Front Click on the white
the data acquisition device Panel (CTRL-E) of arrow button to
Click on the
that is installed on your the VI (pictured run the VI.
OK button.
system in the Board type in Step 6D).
section (e.g., Q2-USB).
Configure HIL Initialize window

J The 2 DOF Helicopter should take off and hover. K


The scopes should look similar to those shown here.
The measured pitch (in red) should be tracking the
Click on the STOP button
desired pitch angle (in blue). The pitch angle should to stop running the VI.
measure 0 degrees when the helicopter is horizontal.
Similarly, the measured yaw angle (in red) should be
tracking the desired yaw angle (in blue). If not, go to
Scope view of the VI Front Panel
the troubleshooting section of this guide.
TROUBLESHOOTING Please review the following recommendations before contacting technical support engineers.

1. Make sure cables are firmly connected.


2. Check the connections outlined in Step 4 and 5 of this Guide.

A. Make sure you installed all the LabVIEW™ add-ons listed in Step 3.
You are getting B. Verify that the correct LabVIEW™ version is installed for your Quanser Rapid Control Prototyping Toolkit®.
‘VI Missing’ Refer to the RCP Toolkit Installation Guide for complete details.
messages. C. Additional add-ons may be required depending on your data acquisition (DAQ) device. Make sure your DAQ device
(e.g., Q1-cRIO, Q2-USB) has been configured and tested according to the instructions in its Quick Start Guide.

A. Review connections in Step 4D, Steps 5C to 5F, and Step 5I.


B.Ensure the power amplifier is powered on and operational, i.e., when using VoltPAQ-X2, verify that the
The Motor is green LED is lit.
not responding. C. Verify the data acquisition device is functional.
D. Ensure the voltage is actually reaching the motor terminals. See the 2 DOF Helicopter User Manual for details.
E. Ensure that the E-Stop switch is connected and that it is not engaged (i.e., the switch should be in the released position).

The Encoder is A. Review connection in Steps 4C, 5G and 5H.


not reading. B. Verify that the data acquisition (DAQ) board is functional. Go through the DAQ User Manual for
troubleshooting guidelines.

STILL NEED HELP? For further assistance visit ni.com/support or contact NI Support at 866-275-6964.

Full range of aerospace and unmanned systems experiments for teaching and research.

3 DOF Helicopter 3 DOF Hover QBot 2 Mobile Ground Robot QBall 2 Unmanned Aerial Vehicle

LEARN MORE To find out about the full range of Quanser control experiments, visit www.quanser.com

©2016 Quanser Inc. All rights reserved. LabVIEW™ is a trademark of National Instruments. v.2.5