Download presentation

Presentation is loading. Please wait.

1
Qball-X4 Simulator Seang Cau February 16, 2011

2
**Introduction Simulator is run under MatLAB and rendered using Quarc.**

Simulates the behavioral properties of the Quanser Qball-X4.

3
Quanser Qball-X4 Visualization is transfer information to the 3D renderer Figure 1: Visualization Figure 2: Qball Simulator

4
**Purpose To understand the physics of the Qball**

To understand the capabilities of the Qball To utilize the simulator as a preliminary study for integration of sensors

5
**Qball-X4 Model x, y, and z axis are defined as positions in a 3D space**

Roll, pitch, and yaw are defined as the angles of rotation about the x, y, and z axis respectively. X, Y, and Z are the global workspace axes

6
Actuator Dynamics Thrust is generated by each propeller using the first-order system Where u is the PWM input, w is the actuator bandwidth and K is the positive gain A state variable, v, will be used to represent the actuator dynamics

7
**Qball-X4 3D Simulator Consists of two part for each axis**

Position Controllers Model Constants are specified in Qball_X4_parameters.m

8
**Yaw Yaw is a constant in the simulator**

It controls the orientation of the QBall Figure 3: Yaw Black Box Figure 4: Yaw Controller/Model

9
**Yaw Controller & Model Ky = 4 N*m Jy = 0.032**

Torque = Ky * u where u is the PWM input Figure 5: Yaw Controller Figure 6: Yaw Model

10
**Height K = 120 N w (omega) = 15 rad/s M = 1.4 kg**

Figure 7: Height Controller/Model

11
Height Controller Navigates the height based on previous value and target value. Figure 8: Height Controller

12
**Height Model The dynamic model of height can be written as**

Height is affected by thrust, pitch, and roll Figure 9: Height Model

13
**XY Model Thrust affects the x and y axis of the Qball**

Assuming yaw angle is zero, dynamics of motion in X and Y axes can be written as Figure 10: XY Model

14
**X axis X controller affects the pitch angle**

Figure 11: X Controller/Model

15
X Controller Figure 12: X Controller

16
**Pitch Controller/Model**

Figure 13: Pitch Controller/Model

17
**Pitch Controller & Model**

Figure 14: Pitch Controller Figure 15: Pitch Model

18
**Y axis Y Controller affects the roll angle**

Figure 16: Y Controller/Model

19
Y Controller Figure 17: Y Controller

20
**Roll Controller/Model**

Figure 18: Roll Controller/Model

21
**Roll Controller & Model**

Figure 19: Roll Controller Figure 20: Roll Model

22
Summary Qball X4 model uses absolute coordinate system in the xy and height control Converts the xy and height commands into Pitch and Roll commands Yaw is kept constant at an assumed zero

23
Conclusion Useful to understand how the integration of sensor input will occur Will be unable to mimick the Qball in actual conditions due to assumptions

Similar presentations

OK

Kinematics. The function of a robot is to manipulate objects in its workspace. To manipulate objects means to cause them to move in a desired way (as.

Kinematics. The function of a robot is to manipulate objects in its workspace. To manipulate objects means to cause them to move in a desired way (as.

© 2017 SlidePlayer.com Inc.

All rights reserved.

Ads by Google

Ppt on media in hindi Tough times never last but tough people do ppt online Ppt on digital media broadcasting korea Ppt on earth movements and major landforms in brazil Ppt on field study 2 Ppt on earthquake for class 5 Ppt on event driven programming in java Ppt on statistics in maths the ratio Asking questions while reading ppt on ipad Ppt on nature of human resource management