Quanser 3 DOF Laboratory Manual
Also see for 3 DOF: User manualQuick start guideQuick start guide
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3 LAB EXPERIMENTS3.1 SimulationIn this section we will use the LabVIEW VI shown in Figure 3.1 to simulate the closed-loop control of the 3 DOFGyroscope system. The VI uses the state-feedback control described in Section 2.2.4. The feedback gain K isfound using the LQR VI from the LabVIEW Simulation and Control Design Module (LQR is described briefly inSection 2.2.3).Figure 3.1: VI used to simulate the 3 DOF Gyroscope.IMPORTANT: Before you can conduct these experiments, you need to make sure that the lab files are configuredaccording to your setup. If they have not been configured already, then you need to go to Section 4 to configure thelab files first.3.1.1 ProcedureFollow these steps to simulate the 3 DOF Gyroscope:1. Open and run the 3D_GYRO_LQR_SIM.vi as described in Section 4.2. By default, the Q matrix is sent to identity matrix. Set the LQR weighting matrices in toQ =2 0 0 00 16 0 00 0 0.01 00 0 0 0.0001and R = 5.3. This automatically generates the gainK = [ 0.65 1.79 0.12 0.004 ] .3D GYRO Laboratory Guide v 1.1 |
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