MME/ECE436

NAMES:

Quanser Cart Position Control Lab

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OBJECTIVES
The objectives of this laboratory session are to become familiar with the Quanser servo cart components, its
operation, and simulation of the system using MATLAB Simulink.
In Experiment #0, students will:
Become familiar with the IP02 cart, the PC operation and cart position encoder readout.
In Experiment #1, students will:
mathematically model the system
calculate the required controller gains (Kv and Kp) for the system controller to meet performance
requirements
o Peak time
o Percent overshoot.
Obtain specified values of n, frequency, and , damping ratio.
Test your results on the servo cart and computer simulation.

REFERENCES
[1]
[2]
[3]

IP01 and IP02: User Manual; GREEN DOT

Linear Experiment #0: Integration with WinCon; IP01 and IP02: Student Handout; BLUE DOT
Linear Experiment #1: PV Position Control; IP01 and IP02: Student Handout; RED DOT

EQUIPMENTORIENTATION
1) KnowledgeTest[2],pg.17.AllanswersinReference[1]unlessotherwisestated.
a) HowmanyactuatorsdoestheIP02have?
b) HowmanysensorsdoestheIP02have?
c) WhichD/AchanneldrivestheUPM?
d) WhichD/AchanneldrivestheDCmotor?
e) WhichencoderchannelmeasurestheIP02cartencodercounts?
f) Whichencoderchannelmeasuresthependulumencodercounts?
g) Whyisthesignofthecalibrationconstantimportant?

h) Whydoesthecablegainhavetobecompensatedforinthemotormodel?Refs.[1]and[2].

LAB ACTIVITIES
1) Follow the procedure on Page14,Ref.[2]BLUEDOT.
a) CalibrationfactorasstatedinRef.[2]:________________________________mm/count.
b) RecordthecartPositionandDisplacement.

MME/ECE436
NAMES:

Quanser Cart Position Control Lab

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_______________________________

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Start
Measured(tapemeasure)
DisplayedMeasure

Stop
mm
mm

Displacement
mm
mm
%error:

mm
mm
%

DESIGN ACTIVITY
Objective: Design a Proportional-Velocity position controller from given time domain specifications.
i) The Percent Overshoot should be equal to 10 %: PO = 10 %.
ii) The time to first peak should be 150 ms: tp = 0.15 s.
MODELLING AND PARAMETER ESTIMATION
Using Ref. [3] RED DOT, appendix B, derive the Open-loop transfer function of our IP02 system from
mechanical and electrical first principles. Parameter values are given in Ref. [1] GREEN DOT.

G(s) = x(s)/Vm(s) =

Evaluate the open-loop transfer function to determine the plants poles, zeros and DC gain (velocity error
constant).
G(s) = A / (S + B) S
Poles ~ _______, _______

A = _______ B = _______
zeros ~ _______, _______

DC gain = ________

1) Given the basic diagram for the PV controller. Perform block diagram reduction and obtain the overall
closed-loop transfer function. NOTE: Kv and Kp in the following diagram are gain values not error
constants.

MME/ECE436
NAMES:

Quanser Cart Position Control Lab

______________________________

_______________________________

______________________________

_______________________________

2) Identify the closed loop characteristic equation.

3) Solve for parameters n and

as a function of Kp and Kv.

4) How will the response change with respect to Kp and Kv?

5) Solve for parameters n and

as a function of Tp and PO.

FINAL VALUE OF KP AND KV; REF. [3], PAGE 9.

What if?
Kp=275 Kv=5.5
Tp _________ PO_________
Ref. [3] Page 10
i) Does the system response look like what you had expected?
ii) What are the calculated values of Time-to-Peak, Tp and Percent Overshoot, PO?
iii) Do the measured values match the design requirements?
RUN SIMULATION EXPERIMENT
What are the 2 parallel and independent control loops?
1)

MME/ECE436
NAMES:

Quanser Cart Position Control Lab

______________________________

_______________________________

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2)
What if?

Kp=408 Kv=10.4

PO ________ Tp _________

Ref [3] p.12

i) How does your IP02 cart actual position compare to the simulated response?

ii) Is there a discrepancy in the results? If so, find some possible reasons.

iii) How did you actually measure your system Tp and PO?

ANSWER THE POST LAB QUESTIONS IN REF. 3

1) During the course of this lab, were there any problems or limitations encountered?

If so, what were they and how were you able to overcome

them.

2) After completion of this lab, you should be confident in tuning this type of controller to achieve a desired response.

Do you feel this controller

can meet any arbitrary system requirement? Explain.

3) Most controllers of this form also introduce an integral action into the system (PID).
this experiment?

Do you see any benefits to introducing an integral gain into