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Give your senior engineering students unique hands-on learning, relevant to the automotive industry with Quanser's Active Suspension. This experimental platform teaches active control challenges for a quarter-car model, as well as mass, spring and damper systems.

The Active Suspension system consists of two masses, each supported by a spring. The upper mass represents the vehicle body supported above the suspension, while the lower mass corresponds to one of the vehicle’s wheels. The middle mass corresponds to one of the vehicle’s wheels. You actuate the upper mass through a programmable motor. Conduct different experiments by positioning the device vertically or horizontally.

• Double mass, spring, damper system analysis
• Industry-relevant control requirements (ride comfort, suspension travel, road handling)
• Derivation of dynamic model
• State space representation
• System transfer functions
• Open-loop system analysis
• Time domain and frequency-domain open-loop and close-loop system identification
• Full-state/two-state feedback LQR control design (with real-time control parameter tuning)
• Full-state/two-state feedback LQG controller (with real-time control/observer parameter tuning)
• Observer design

See the Active Suspension from another perspective. Use visualization tools within QuaRC® to run a real-time virtual environment simulation of the device in parallel to the actual controller commanding the plant. The Virtual Plant Simulation (VPS) may be used independently to examine the designed controller on a graphical and accurate simulation. This enables you to implement the real-time control algorithm without any need for hardware-in-the-loop components. The result? This simulation module addresses the traditional “theory to practice” control design cycle - modeling, design, simulation and implementation. The Virtual Plant Simulation is included in the Active Suspension Hardware-in-the-Loop solution or can be purchased separately.

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The Industrial Mechatronic Drives Base Unit (IMDU) offers a practical and economical way to teach and research basic and advanced servo control. Its expandable base unit comes with two modules. Teaching can include backlash and friction compensation, haptics and teleoperation, web winding control, minimization of torsional vibration, and coupled high-order implementations of complex industrial processes. The IMDU and its modules are also excellent tools for industrial R&D applications, allowing for the practical implementation of applied control.
 

• Position Control
• Speed Control
• Rate Control with Disturbance Rejection
• Haptic Dial 

• Web Transport control (requires web transport module)
• Torsion modeling and control

• Lead/Lag Compensation
• State-Feedback
• Frequency Analysis (e.g. Gain and Phase Stability Margins)
• Root Locus Design
• Backlash Compensation
• Friction Identification and Compensation
• Robustness (e.g. Sensitivity)
• Teleoperation
• Force Control
• Haptic Knob Interaction
• Advanced Modeling
• System Identification
• Multivariable Control
• Adaptive Control
• Vibration Control

*Please note these possible curriculum topics may not be included in the manual supplied with this experiment.

This robust Multiple-Degree-Of-Freedom (Multi-DOF) Module addresses torsion dynamics challenges. Building on the same base unit, you can explore the torsional vibration effects and regulate the position of the shaft. The module mounts on the IMDU base unit and consists of a sturdy torsion frame and two flexible steel shafts. Two flexible steel members are supplied and can be assembled into the unit to introduce flexible coupling between shafts

• Variable inertial load
• Adjustable friction and backlash units are supplied for base unit
• Many possible configurations using external gears and belts

See the IMDU from another perspective. Use visualization tools within QuaRC® to run a real-time virtual environment simulation of the device in parallel to the actual controller commanding the plant. The Virtual Plant Simulation (VPS) may be used independently to examine the designed controller on a graphical and accurate simulation. This enables you to implement the real-time control algorithm without any need for hardware-in-the-loop components. The result? This simulation module addresses the traditional “theory to practice” control design cycle - modeling, design, simulation and implementation. The Virtual Plant Simulation is included in the IMDU Hardware-in-the-Loop solution or can be purchased separately.

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The Hexapod is a parallel robotic device with six degrees of freedom (DOF). It’s capable of moving heavy loads at high accelerations within a small workspace. The Hexapod offers a wide range of applications: earthquake and flight simulation, vibration studies and more. This stewart platform is easily controllable, seamlessly integrated by QuaRC®, Matlab® and Simulink®. Unlike most commercially available stewart platforms, the Hexapod is driven by superior electrical motors. They make this 6 DOF motion platform accurate and responsive yet low-maintenance –– ideal for advanced research.

This motion platform carries heavy loads up to 100Kg. Comprised of a six linear ball-screw actuators, it is driven by six DC motors. The ball-screw is based on a high-quality, low backlash linear guide with a total travel of 30 cm (i.e. ± 15 cm) and is driven by a high torque direct drive motor. All six arms of the platform meet at a flat rectangular base, the end-effector of the robot. A revoult joint fastens the arms to each motor. For maximum safety, a motor brake control employs the Hexapod’s brakes when the joints reach their limit. This ensures the powerful motors do not damage the device or the load it carries. Motor position feedback for all six motors is provided by optical encoders that measure the angular position of the motor shaft. An optional six axes ATI force/torque sensor can be installed on the end-effector to capture measurements of forces and torques along all degrees of freedom.

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The 3 Degrees of Freedom (DOF) Gyroscope is a dynamically diverse experimental platform to teach rotational dynamic challenges. Real-world applications of 3 DOF Gyroscope experiment include space vehicle attitude control and ship gyrocompass systems. The device comes with pedagogical curriculum and QuaRC®’s control design environment. So you get a comprehensive plug-and-play solution for teaching and research. The best of both worlds – and space.

• System open-loop and closed-loop transfer functions
• State space representation
• Stability analysis using Routh-Hurwitz method
• Stability analysis in the MATLAB 'SISOTOOL' environment
• Compensator design and tuning using Root Locus
• LEAD compensator design for gyroscope precession angle with on-the-fly real-time control parameter tuning
• Full state feedback LQR controller design with on-the-fly real-time control parameter tuning
• Non-minimum phase control design
• Time-domain and Frequency-domain control design and analysis

See the 3 DOF Gyroscope from another perspective. Use visualization tools within QuaRC® to run a real-time virtual environment simulation of the device in parallel to the actual controller commanding the plant. The Virtual Plant Simulation (VPS) may be used independently to examine the designed controller on a graphical and accurate simulation. This enables you to implement the real-time control algorithm without any need for hardware-in-the-loop components. The result? This simulation module addresses the traditional “theory to practice” control design cycle - modeling, design, simulation and implementation. The Virtual Plant Simulation is included in the Active Suspension Hardware-in-the-Loop solution or can be purchased separately.

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Introducing the 2 DOF Planar Robot. Use this parallel robotic manipulator to teach various robotics concepts to senior undergraduate and graduate students. The pedagogical curriculum provided with the device, along with QuaRC® control design environment represents a comprehensive plug-and-play solution for teaching and research. So you get a methodical approach for teaching robotics.

The robot’s robust design and its harmonic drive actuators also make this manipulator suitable for advanced research in robotics.

The 2 DOF Planar Robot is comprised of a five-bar parallel mechanism driven by two DC motors with harmonic drive gearboxes. These harmonic drives provide gearing with zero backlash. Motor position feedback for both motors is provided by optical encoders. They measure the angular position of the motor shaft. The five-bar mechanism has a unique end-effector which allows the robot to hold a pen. By actuating the end-effector linked solenoid, the pen can be deployed. The result? Robot motions are traced on paper below

• I/O Checkout      
• Joint Calibration      
• Forward Kinematics
• Inverse Kinematics
• Misalignment Compensation
• Optimized Pallet Filling Algorithm
• Planar Haptic

See the 2 DOF Planar Robot from another perspective. Use visualization tools within QuaRC® to run a real-time virtual environment simulation of the device in parallel to the actual controller commanding the plant. The Virtual Plant Simulation (VPS) may be used independently to examine the designed controller on a graphical and accurate simulation. This enables you to implement the real-time control algorithm without any need for hardware-in-the-loop components. The result? This simulation module addresses the traditional “theory to practice” control design cycle - modeling, design, simulation and implementation. The Virtual Plant Simulation is included in the 2 DOF Planar Robot Hardware-in-the-Loop solution or can be purchased separately.
 

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