QNET LabView Controllers - Faculty Websites LabView Controller Guide 1. Introduction The Quanser...

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  • Quanser NI-ELVIS Trainer (QNET) Series:

    QNET LabViewControllers

    QNET LabView Controllers Guide

    Controller Guide

  • QNET LabView Controller Guide

    Table of Contents1. Introduction..........................................................................................................................12. Requirements.......................................................................................................................13. References............................................................................................................................24. QNET-DCMCT LabView Controllers................................................................................2

    4.1. DC Motor Speed Control.............................................................................................34.2. DC Motor Position Control..........................................................................................4

    5. QNET-ROTPEN LabView Controllers...............................................................................55.1. Gantry Control.............................................................................................................65.2. Inverted Pendulum Control..........................................................................................7

    6. QNET-HVAC LabView Controllers...................................................................................86.1. System Identification...................................................................................................96.2. Proportional-Integral Temperature Control.................................................................96.3. ON/OFF Temperature Control...................................................................................10

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  • QNET LabView Controller Guide

    1. IntroductionThe Quanser National Instruments Engineering Trainer (QNET) is a versatile and powerfultraining tool. Amongst its many capabilities, the QNET series of trainers allows for PCbased control using the LABVIEW programming language, a National Instruments E-Seriesor M-Series data acquisition card, and an ELVIS workstation. The QNET allows for ascalable laboratory setup utilizing the ELVIS workstation platform.

    There are three QNET modules available to be used on the ELVIS unit:Quanser QNET-010 DC Motor Control Trainer (DCMCT)Quanser QNET-011 Rotary Pendulum (ROTPEN) TrainerQuanser QNET-012 Heating, Ventilation, and Air Conditioning Trainer(HVACT)

    The QNET modules are supplied with Quanser LabView virtual instruments for running thein-lab sessions. Further, each Quanser LabView Virtual Instrument (VI) has a supportinglaboratory manual. The laboratory manual includes pre-laboratory assignments as well asan in-lab procedure that guides the student through the virtual instrument. Sections 4, 5, and6 overview, respectively, the laboratories supplied with the DC Motor Control TrainerQNET module, the Rotary Pendulum Trainer system, and the Heating, Ventillation, and AirConditioning Trainer unit.

    2. RequirementsThe following system is required to complete a QNET laboratory:

    PC equipped with an NI-E Series or NI-M Series data acquisition card connectedto an NI ELVIS station.

    Quanser QNET Module ELVIS CD installed for required drivers LabView 7.1 installed with the add-ons specified in Table 1 below.

    QNET Module Experiment Name LabViewVersion

    Simula-tion

    Module

    ControlDesignToolkit

    PID Con-trol

    Toolkit010-DCMCT Speed Control 7.1 x x010-DCMCT Position Control 7.1 x x011-ROTPEN Gantry Control 7.1 x x

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  • QNET LabView Controller Guide

    QNET Module Experiment Name LabViewVersion

    Simula-tion

    Module

    ControlDesignToolkit

    PID Con-trol

    Toolkit011-ROTPEN Inverted Pendulum Con-

    trol 7.1x x x

    012-HVACT System Identification 7.1 x012-HVAC PI Control 7.1 x012-HVAC ON/OFF Control 7.1 x

    Table 1 LabView Add-on Requirement for QNET Modules

    3. References[1] NI-ELVIS User Manual[2] QNET Experiment #01: DC Motor

    Speed Control[3] QNET Experiment #02: DC Motor

    Position Control[4] QNET Experiment #03: Gantry

    Control

    [5] QNET Experiment #04: InvertedPendulum Control

    [6] QNET Experiment #05: HVAC SystemIdentification

    [7] QNET Experiment #06: PI TemperatureControl

    [8] QNET Experiment #07: ON/OFFTemperature Control

    4. QNET-DCMCT LabView ControllersThe DC Motor Control Trainer (DCMCT) module shown in Figure 1 is supplied with twolaboratories: speed control and position control. The laboratory challenges and the virtualinstrument for the speed control is explained in Section 4.1 and the same is described inSection 4.2 for the position control.

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  • QNET LabView Controller Guide

    Figure 1 DC Motor Control Trainer Module

    4.1. DC Motor Speed ControlThe objective of this experiment is to design a closed-loop control system that regulates thespeed of the DC motor. The mathematical model of a DC motor has to be developed in apre-laboratory assignment and its physical parameters are identified in the laboratorysession using the Quanser LabView VI QNET_DCMCT_Lab_01_Speed_Control.vi. Figure2 shows the LabView interface used to measure the various physical parameter of the DCmotor. Once the model is verified it is used to design a proportional-integral, or PI,controller that must meet certain given specifications.

    See Reference [2] for the manual of the DC motor speed control laboratory.

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  • QNET LabView Controller Guide

    Figure 2 QNET-DCMCT Parameter Estimation VI

    4.2. DC Motor Position ControlIn this laboratory, the goal is to design a feedback loop that controls the position of the shaftof the DC motor. The angle of the motor shaft is to track a given reference angle. Themathematical model of a DC motor is reviewed and its physical parameters, as in the speedcontrol experiment, are identified. Once the model is verified, it is used to design aproportional-velocity, or PV, controller. The Quanser LabView Virtual Instrument (VI)used in this experiment is called QNET_DCMCT_Lab_02_Position_Control.vi. shows theLabView interface used to measure the various physical parameter of the DC motor.

    See Reference [3] for the manual of the DC motor position control laboratory.

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  • QNET LabView Controller Guide

    Figure 3 QNET-DCMCT Model Fitting Tab

    5. QNET-ROTPEN LabView ControllersThe Rotary Pendulum (ROTPEN) Control Trainer module shown in Figure 4 is suppliedwith two laboratories: gantry control and inverted pendulum control. The laboratorychallenges and the virtual instrument for these gantry and inverted pendulum experimentsare overviewed in Section 5.1 and Section 5.2, respectively.

    Figure 4 Rotary Pendulum Control Trainer Module

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  • QNET LabView Controller Guide

    5.1. Gantry ControlThe gantry experiment involves developing a control system for a crane travelling on amoving platform. In this case, the crane is represented by the suspended pendulum and therotary arm behaves as the moving platform that transports the crane at different locations.The problem is to develop a controller that enables the platform, or in this case the arm ofthe rotary pendulum system, to track a commanded position while minimizing the motionsof the crane, or pendulum, as it is being transported.

    In the pre-lab assigment the mathematical model representing the motions of the rotarypendulum system is developed. The resulting nonlinear model is then linearized and used todesign a closed-loop controller using a control technique known as Linear-QuadraticRegulator, or LQR. The in-lab session is performed using the Quanser LabView VIQNET_ROTPEN_Lab_03_Gantry_Control.vi. The LQR control design step is shown ininFigure 5.

    See Reference [4] for the manual of the rotary pendulum gantry control laboratory.

    Figure 5 QNET-ROTPEN Gantry LQR Control Design

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    5.2. Inverted Pendulum ControlThe inverted pendulum is a classic control experiment that can be used to teach dynamicsand control systems. In the laboratory, there are two control challenges: designing a balancecontroller and designing a swing-up control.

    The balance controller maintains the pendulum in the vertically upright position after it hasbeen manually rotates about this point. Similarly to the gantry design, this controller isdesigned using the Linear-Quadratic Regulator technique. The Quanser VI that implementsthe balance controller is shown in Figure 6 and is calledQNET_ROTPEN_Lab_04_Inv_Pend_Control.vi.

    The swing-up controller drives the pendulum from its suspended downward position to thevertically upwards position, where the balance controller can then be used to balance thelink. In the pre-laboratory assignment, the dynamics of the pendulum have to be derivedand this model is used to design a nonlinear feedback system that swings the pendulumupwards. The swing-up controller designed previously is implemented on the QNET-ROTPEN module using the LabView VI.

    See Reference [5] for the manual of the rotary pendulum inverted pendulum controllaboratory.

    Figure 6 QNET-ROTPEN Implementing Balance Controller

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    6. QNET-HVAC LabView Controllers

    The Heating, Ventilation, and Air Conditioning Trainer (HVACT) module shown in Figure7 is supplied with three laboratories: system identification, proportional-integral (PI)temperature control, and on/off temperature control. The general laboratory objectives andthe virtual instruments used in the lab se