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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
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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.
Courseware Material Sample
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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 2 of 11
COURSEMATERIALSSAMPLETABLEOFCONTENTSPREFACE......................................................................................................................PAGE1INTRODUCTIONTOQUANSERROTARYSERVOCOURSEMATERIALSSAMPLE.........PAGE3INSTRUCTORSMANUALTABLEOFCONTENTS..........................................................PAGE4BACKGROUNDSECTIONSAMPLE............................................................................PAGE7PRELABQUESTIONSSECTIONSAMPLE...................................................................PAGE9LABEXPERIMENTSSECTIONSAMPLE....................................................................PAGE10SYSTEMREQUIREMENTSSECTIONSAMPLE.......................................................PAGE11
Courseware Material Sample
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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 3 of 11
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.
Courseware Material Sample
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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 4 of 11
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
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COURSE MATERIALS
SAMPLE SRV02 ROTARY SERVO PLANT
2011 Intellectual property of Quanser. Do not reproduce without written permission.
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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
Courseware Material Sample
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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 6 of 11
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
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COURSE MATERIALS
SAMPLE SRV02 ROTARY SERVO PLANT
2011 Intellectual property of Quanser. Do not reproduce without written permission.
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( )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.
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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 8 of 11
Thebackemf(electromotive)voltageeb(t)dependsonthespeedofthemotorshaftmandthebackemfconstantofthemotor,km.Itopposesthecurrentflow.Thebackemfvoltageisgivenby:
UsingKirchoff'sVoltageLaw,wecanwritethefollowingequation:
SincetheimotorinductanceLmismuchlessthanitsresistance,itcanbeignored.Then,theequationbecomes:
SolvingforIm(t),themotorcurrentcanbefoundas:
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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 9 of 11
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
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COURSE MATERIALS
SAMPLE SRV02 ROTARY SERVO PLANT
2011 Intellectual property of Quanser. Do not reproduce without written permission.
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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.
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COURSE MATERIALS
SAMPLE SRV02 ROTARY SERVO PLANT
2011 Intellectual property of Quanser. Do not reproduce without written permission.
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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
Courseware Material Sample
-
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