QuanserQBall-X4-UserManual英文.pdfVIP

Specialty Plants User Manual Quanser Qball-X4 Quanser Qball-X4: User Manual Table of Contents 1. Introduction1 2. Operator Warnings1 3. Prerequisites3 4. References4 5. System Hardware and Software Description4 5.1. Main Components4 5.2. X4 Diagram4 5.3. Qball-X4 Components5 5.3.1. Qball-X4 frame8 5.3.2. HiQ DAQ9 5.3.3. Qball-X4 Power10 5.3.4. Qball-X4 Motors and Propellers10 5.4. Qball-X4 Model10 5.4.1. Actuator Dynamics10 5.4.2. Roll/Pitch Model11 5.4.3. Height Model12 5.4.4. X-Y Position Model13 5.4.5. Yaw Model13 6. System Setup15 6.1. Establishing Wireless Connection15 6.2. Qball-X4 Vehicle Setup17 6.3. QuaRC: Quanser Real-Time Control18 6.4. Qball-X4 Sensors20 7. Troubleshooting Guide23 7.1. The model fails to build/connect or the QuaRC console does not successfully open.. . 24 7.2. The Qball-X4 sensors are not being read correctly or they are stuck at some constant value25 7.3. The Simulink model appears to run slowly (i.e., the simulation time runs slower than actual time), or the console displays the message “Sampling rate is too fast for base rate”25 7.4. Trying to start the Qball-X4 model results in the error “Unable to locate the dynamic link library or shared object.”26 7.5. Building a model fails with the error “Not enough system resources are available to perform the operation.” The hard disk is full on the Gumstix computer26 Document Number: 829 ? Revision: 12 ? Page: i Quanser Qball-X4: User Manual 1. Introduction The Quanser Qball-X4 (Figure 1) is an innovative rotary wing vehicle platform suitable for a wide variety of UAV research applications. The Qball-X4 is a quadrotor helicopter design propelled by four motors fitted with 10-inch propellers. The entire quadrotor is enclosed within a protective carbon fiber cage (Patent Pending). The Qball-X4’s proprietary design ensures safe operation as well as opens th