These are the LabVIEW VIs for the Rotary Servo Base Unit. The VIs are separated into the four lab section including integration, modeling techniques, PID position control, and lead compensator speed control.
Linear Servo Base Unit Integration Lab Controllers
by Quanser Inc.
These are the Simulink models for the Linear Servo Base Unit. The models are separated into the four lab section including integration, modeling, PID position control, and lead compensator speed control.
QUBE-Servo Inverted Pendulum Model (Furuta Pendulum)
by Mitch Levis
This worksheet derives the linear differential equations, state-space model, and transfer function models from the nonlinear equations of motion of a generic rotary inverted pendulum. The Quanser QUBE-Servo parameters are then used to run some basic stability analysis, perform LQR, and simulate a closed-loop step response. The transfer function model is can then be exported to a Matlab m-file (*.m) to be used in the MathWorks Matlab/Simulink environment.
Inverted Pendulum Control with SimMechanics Multibody and QUARC
by Michel Levis and Steve Miller (MathWorks)
Video available at http://tinyurl.com/SimMechanics-and-QUARC. Simulates a state-feedback balance controller for the Quanser Rotary Inverted Pendulum that was designed based on a SimMechanics Multibody™ model imported from CAD. Within the same model, QUARC Rapid Controls Prototyping software can be used to generated the real-time code and implement the controller on the actual Quanser hardware system.
QUBE-Servo Inverted Pendulum Network Control Latency Demo
by Paul Karam
Demonstrates the effect of network lag using inverted pendulum stabilization between two PCs. The client PC implements the balance controller and the server PC is connected to the QUBE-Servo hardware. The user can adjust the network latency between the two PCs and see the affect it has on pendulum balancing.
Use the LabVIEW Web Publishing Tool to create a remote panel that can be connected to by a remote PC. The LabVIEW VI uses QRCP to interface to the QUBE-Servo and implements the swing-up and balance pendulum controller.
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