ROTAR ROT ARY Y CONTROL CHALLEN CHALLENGE GE Solar Tracker
Innovative Light-Tracking Device
Product Information Sheet R15 - 1 - rev. D
Description Quanser's Solar Tracker is a unique light-tracking device which detects an actuated and controlled light source. This versatile servo system is designed for teaching, studying and demonstrating concepts and practice in control engineering. As an industrial product, it is also targeted on applications that track missiles, stars, solar projects, etc. The system is fully compatible with MATLAB/Simulink/QuaRC and LabVIEW. The device consists of two key components: an independently controllable light source attached to a rotary
Turnkey Experiments Provided: Exp #1: Servo Tracker System Identification
arm and a light-sensing camera mounted on a servo motor-activated motor-act ivated slip ring. The light source has its own embedded controller with an onboard power amplifier to vary the light’ light’s s intensity, position and speed. Solar Tracker's plant consists of a DC motor in a solid aluminum frame. The motor is equipped with a planetary gearbox, driving external gears. The servo unit also includes a tachometer to measure motor speed as well as an optical encoder and a continuous-turn potentiometer to measure the position of the load gear.
through Bode Plots Analysis
Notable features of Solar Tracker include its slip ring, which allows for untethered 360-degree rotation, rotation, as well as a standalone light source module can be separated from the rotary servo unit. The device can be
Exp #2a: Servo Tracker
used to perform a wide range of experiments and is provided with many turnkey laboratories, carried out
Position Control through
in both analog and digital domains. These include system identifications, servo position and speed controls,
a PV Design
and optical target tracking.
Exp #2b: Servo Tracker Speed Control through a PI Scheme
Key Features
Typical Light Sensor Camera
High Quality
Characteristics
• Solid aluminum frame
Exp #3: Photosensitive
• Durable, well-built slip ring mechanism
Camera Sensor
• Small inertia and torque ripple DC motor
Calibration and Gain
• High-resolution quadrature optical encoders to
Identification
sense position
Versatile Exp #4: Light Source
• Embedded microcontroller for closed-loop
Tracking Servo Control
control of the light module arm position and
through a PI Design
light intensity
using QuaRC (Digital)
• Automatic arm position calibration using Hall-effect sensors
Exp #5: Light Source Tracking Servo Control
• Open-architecture Open-architecture design allowing for a wide range of experiments
through a P Scheme using an Analog Circuit
Comprehensive & Compatible • Complete system documentation
Exp #6: Light Source
• Provided curriculum covers several analog
Seeking Servo Control
and digital control and system identification
through a Switching
experiments.
Mode Controller
• Fully compatible with NI LabVIEW • Fully compatible with MATLAB/Simulink/QuaRC
Camera Sensor Linear Response The differential intensity signal (Ad) between both camera light sensors (right and left) is linear to ± 10% within the the range of view. view. The graph illustrates the curve obtained from the differential error signal in the camera when the servo motor rotate rot ates s by ± 90˚ ( ) relative to a fixed light source. The camera camera signal linear linear range is ± 30˚ , while its useful range range is ± 80˚
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ROTARY CONTROL CHALLENGE Solar Tracker
System Requirements
Innovative Light-Tracking Device
Component
Product Information Sheet R15 - 2- rev. D
Quanser Recommended
Alternative
Quanser UPM 1503
Alternate Power Amplifier (Minimum requirements: +/- 12V,3A)
Control Hardware
Quanser Q4, Q8 Series
dSPACE DS1104*
Control Software
Quanser QuaRC
The Mathworks – RTWT, xPC dSPACE – ControlDesk National Instruments - LabVIEW
(Common Configuration)
Power Module
* Quanser offers interface boards for dSPACE DS1104 boards.
Differential Light Sensor (Camera) Specifications
Name
Value
Right Light Sensor Signal Range
±5V
Left Light Sensor Signal Range
±5V
Differential Light Sensor Signal Range
±5V
Camera Linear Range of View
± 30 º
Camera Usable Range of View
± 80 º
Camera Number of Output Signals
3 (left, right and differential)
Camera Servo Range of Motion*
infinite rotation (due to slip ring)
* Slip ring design facilitates full range of motion
Controllable Light Source Module Specifications
Name
Value
Light Source Range of Motion
± 90 º
Light Source Actuation
geared DC Motor
Arm Encoder Resolution
4096 counts/rev
Distance from Light Source to Camera (Perpendicular) Controllable Light Source Controller
20 cm PIC embedded micro-controller
Arm Position Command Range (Analog Signal to PIC)
± 90º (0 – 5V)
Arm Speed Command Range (Analog Signal to PIC)
0 – 120 deg/s (0 – 5V)
Light Intensity Command Signal Range to PIC
0 – 5V
Safety Considerations
Current Limit Safety Stops
Tender Specification A compact, turnkey, table-top system for teaching, studying and improving industrial control. The system includes a DC servomotor equipped with a tachometer, encoder, potentiometer and camera mounted on a slip ring. It also consists of a standalone controllable light source module with an embedded controller and a power amplifier. The system allows for a wide range of control experiments, including the tracking of its moving light source by the camera slip ring mounted atop the servomotor. Equipment is supplied with a one year parts and labor warranty.