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Lab Hardware
Objective
This exercise will introduce you to the Quanser DC Motor Control Trainer (DCMCT)
and the QICii software used to control it.
Introduction
A systems dynamic equations may be determined in several ways. They may
be found by deriving the equations knowing the parameters such as mass,
spring constants, resistor values, etc. They may also be found by a technique
similar to the process used in linearization, in which all parameters except one
are held constant and that parameter is varied. Then the output is observed,
and the equation relating the two is determined. This lab focuses on the first
technique (called first principles modeling), but it requires knowledge of the
mass, spring constants, resistor values, etc. Therefore, it will be necessary to
determine these parameters for the DCMCT in order to develop its transfer
function.
1-1
ELC 4332/5
Lab Hardware
USB
Connector
Other
Connectors
White
Reset
button
DC Motor
Black User
Switch
Disc
Load
LEDs
QICii Software
Figure 2 shows what the QICii software screen looks like. The black boxes at top
left and the graphs on the right are updated in real time. The white boxes on the
left are the inputs. Table 1 lists and describes the numbered items.
Menu
for
choosin
g
exercise
Start/stop
experime
Connectnt
to
hardware
Stop
graphs
(experimen
t
continues)
1-2
Autoscale
both axes
ELC 4332/5
Lab Hardware
ID
#
1
Label
Speed
Paramet
er
m
Current
Im
3
4
Voltage
Signal
Generato
r
Amplitud
e
Frequenc
Vm
5
6
Description
Unit
rad/s
Hz
1-3
A
V
ELC 4332/5
Lab Hardware
7
8
y
Offset
Speed
Voltage
Vm
10
11
12
Tf
Tf
V
rad/s
V
rad/
(V*s)
S
s
Module Startup
1. Connect the DCMCT to both power and USB. LED2 should light up, while
LED3 should flash on and off repeatedly.
2. Press the Reset (white) button (LEDs shouldnt change), then the black
User Switch. LED2 and LED3 should turn off.
3. Launch the QICii software (if you havent already), and select Modeling in
the drop-down menu.
4. Click the Connect to data source (hardware) button next to the dropdown menu. The controller should start running, LED2 should light up,
and LED3 should stay off.
5. The following default parameters should be loaded when you start the
module:
Signal
Type
Amplitu
de (V)
Frequen
cy (Hz)
Offset
(V)
Square
2.0
0.4
0.0
K
(rad/V.s
)
10.0
(s)
Tf
(s)
0.2
0.01
1-4
ELC 4332/5
Lab Hardware
6. Set the Amplitude to 0 and vary the Offset over its full range. What do
you observe about the steady-state speed and current?
The current remains almost constant at 0 amp, but the speed
increases and decreases with the increase or decrease in the offset
voltage input, the signs also change accordingly
7. What is the maximum allowed voltage (Offset) input? What is the speed
at this input?
Max offset +5 V
Speed = 73 rad/sec
1-5