These simulations are examples of the classic stick-slip oscillatory phenomenon that are often observed during petroleum drillstring operations. A standard drillstring model is first simulated, then compared to several configurations of the IMDU platform as a proof of concept research platform. Link
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.
View the video: https://youtu.be/LX2xm2vQndw. Run the Simulink model with QUARC and try to balance the ball along the beam manually by controlling the position of the servo angle with your mouse! You can switch between the automated PID-based control that balance the ball and the manual mouse control to compare the difference and see how challenging it really is. The servo command from the mouse is done using the QUARC Host blocks, which allows you to use a number of computer peripherals (e.g. keyboard, mouse).
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.
Qbot 2 - Saving and replaying K'Nect Video in Matlab
by Murtaza Borha
Replays the image recorded by the K'Nect camera on the Qbot 2. The Qbot 2 is rotated and the image data is saved to the host PC. The video can then be replayed using the supplied Matlab script that uses Vision Toolbox commands.
Quanser AERO SimMechanics Multibody and QUARC Demo
by Kevin Oshiro, Shusen Zhang, Steve Miller, and Michel Lévis
Simulates a PID-based flight controller for the Quanser AERO system 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. The control design is done using Matlab LIve Script.
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