% SETUP_IP01_2_CONFIGURATION

%

% SETUP_IP01_2_CONFIGURATION accepts the user-defined configuration 

% of the Quanser IP01 or IP02 system. SETUP_IP01_2_CONFIGURATION then sets up 

% the IP01 or IP02 configuration-dependent model variables accordingly,

% and finally returns the calculated model parameters of the IP01 or IP02 Quanser plant.

%

% IP01 and IP02 system nomenclature:

% Rm        Motor Armature Resistance                                   (Ohm)

% Kt        Motor Torque Constant                                       (N.m/A)

% Eff_m     Motor Efficiency

% Km        Motor Back-EMF Constant                                     (V.s/rad)

% Kg        Planetary Gearbox Gear Ratio

% Eff_g     Planetary Gearbox Efficiency

% Jm        Rotor Inertia                                               (kg.m^2)

% M         Total Mass of the Cart System (i.e. moving parts)           (kg)

% r_mp      Motor Pinion Radius                                         (m)

% Beq       Equivalent Viscous Damping Coefficient 

%                       as seen at the Motor Pinion                     (N.s/m)

% K_PC      if IP01: Cart Potentiometer Sensitivity                     (m/V)

% K_PP      if IP01: Pendulum Potentiometer Sensitivity                 (rad/V)

% K_EC      if IP02: Cart Encoder Resolution                            (m/count)

% K_EP      if IP02: Pendulum Encoder Resolution                        (rad/count)

% VMAX_UPM  UPM Maximum Output Voltage                                  (V)

% IMAX_UPM  UPM Maximum Output Current                                  (A)

%

% Copyright (C) 2003 Quanser Consulting Inc.

% Quanser Consulting Inc.





%% returns the model parameters accordingly to the USER-DEFINED IP01 or IP02 system configuration

function [ Rm, Jm, Kt, Eff_m, Km, Kg, Eff_g, M, r_mp, Beq ] = setup_ip01_2_configuration( CART_TYPE, IP02_LOAD_TYPE, UPM_TYPE )

% Calculate useful conversion factors

calc_conversion_constants;

% Calculate IP01 or IP02 model parameters

[ Rm, Jm, Kt, Eff_m, Km, Kg, Eff_g, M, r_mp, Beq ] = calc_IP01_2_parameters( CART_TYPE, IP02_LOAD_TYPE, UPM_TYPE );

% end of 'setup_ip01_2_configuration( )'





%% Calculate the IP01 or IP02 model parameters 

function [ Rm, Jm, Kt, Eff_m, Km, Kg, Eff_g, M, r_mp, Beq ] = calc_IP01_2_parameters( CART_TYPE, IP02_LOAD_TYPE, UPM_TYPE )

global K_IN2M K_D2R K_RDPS2RPM K_OZ2N

% Set these variables (used in Simulink Diagrams)

global VMAX_UPM IMAX_UPM ALPHA_MAX ALPHA_MIN

% Motor Armature Resistance (Ohm)

Rm = 2.6;

% Motor Armature Inductance (H)

Lm = 180e-6;

% Motor Torque Constant (N.m/A)

Kt = 1.088 * K_OZ2N * K_IN2M; % = .00767

% Motor ElectroMechanical Efficiency [ = Tm * w / ( Vm * Im ) ]

Eff_m = 1;

% Motor Back-EMF Constant (V.s/rad)

Km = 0.804e-3 * K_RDPS2RPM; % = .00767

% Rotor Inertia (kg.m^2)

Jm = 5.523e-5 * K_OZ2N * K_IN2M; % = 3.9e-7

% IP01 Cart Mass, with 2 cable connectors (kg)

Mc1 = 0.52;

% IP02 Cart Mass, with 3 cable connectors (kg)

Mc2 = 0.57;

% Cart Weight Mass (kg)

Mw = 0.37;

% Planetary Gearbox (a.k.a. Internal) Gear Ratio

Kg = 3.71;

% Planetary Gearbox Efficiency

Eff_g = 1;

% Cart Motor Pinion number of teeth

N_mp = 24;

% Motor Pinion Radius (m)

r_mp = 0.5 / 2 * K_IN2M;  %  = 6.35e-3

% Cart Position Pinion number of teeth

N_pp = 56;

% Position Pinion Radius (m)

r_pp = 1.167 /2 * K_IN2M; %  = 14.8e-3

% Rack Pitch (m/teeth)

Pr = 1e-2 / 6.01; % = 0.0017

% Cart Travel (m)

Tc = 0.814;

% Set the following calibration constants/parameters: K_EC, K_EP, K_PC, K_PP, M, Beq

% also checks the values of: ALPHA_MAX, ALPHA_MIN

if strcmp( CART_TYPE, 'IP01')

    % Inverted Pendulum Mechanical Range:

    % Pendulum Angle Maximum Mechanical Limit (deg)

    Alpha_Max_Mech_Lim = 32;

    % Pendulum Angle Minimum Mechanical Limit (deg)

    Alpha_Min_Mech_Lim = - Alpha_Max_Mech_Lim;

    % Override the "soft" Watchdog Safety Limits

    if ( ALPHA_MAX > Alpha_Max_Mech_Lim )

        ALPHA_MAX = Alpha_Max_Mech_Lim;

    end

    if ( ALPHA_MIN < Alpha_Min_Mech_Lim )

        ALPHA_MIN = Alpha_Min_Mech_Lim;

    end

    % Cart Potentiometer Sensitivity (m/V)

    global K_PC K_PP

    % the cart position potentiometer goes from -5V to +5V in 10 turns

    K_PC = 2 * pi * r_pp * 10 / 10; % = 0.0931

    % Pendulum Potentiometer Sensitivity (rad/V)

    % the pendulum potentiometer has a range of 4.5V over (2*Alpha_Max_Mech_Lim) degrees

    % K_PP is negative, since CCW is the positive sense of rotation

    K_PP = - 2 * Alpha_Max_Mech_Lim * K_D2R / 4.5; % = - 0.2482

    % the IP01 has no encoders

    K_EC = 0; K_EP = 0;

    M = Mc1;

    Beq = 0.9;

elseif strcmp ( CART_TYPE, 'IP02')

    % the IP02 has 2 quadrature encoders

    global K_EC K_EP

    % Cart Encoder Resolution (m/count)

    K_EC = Pr * N_pp / ( 4 * 1024 ); % = 22.7485 um/count

    % Pendulum Encoder Resolution (rad/count)

    % K_EP is positive, since CCW is the positive sense of rotation

    K_EP = 2 * pi / ( 4 * 1024 ); % = 0.0015

    % the IP02 has no potentiometers

    K_PC = 0; K_PP = 0;

    if strcmp( IP02_LOAD_TYPE, 'NO_LOAD')

        M = Mc2;

        Beq = 4.3;

    elseif strcmp ( IP02_LOAD_TYPE, 'WEIGHT')

        M = Mc2 + Mw;

        Beq = 5.4;

    else 

        error( 'Error: Set the IP02 load configuration.' )

    end

else 

    error( 'Error: Set the type of motorized cart.' )

end

% Set the UPM Maximum Output Voltage (V) and Output Current (A)

% rm: for low values of K_CABLE, VMAX_UPM is limited by VMAX_DAC

if  strcmp( UPM_TYPE, 'UPM_2405' )

    VMAX_UPM = 22;

    IMAX_UPM = 5;

elseif ( strcmp( UPM_TYPE, 'UPM_1503' ) | strcmp( UPM_TYPE, 'UPM_1503x2' ) ) 

    VMAX_UPM = 13;

    IMAX_UPM = 3;

else

    error( 'Error: Set the UPM type.' )

end

% end of 'calc_IP01_2_parameters( )'





%% Calculate Useful Conversion Factors w.r.t. Units

function calc_conversion_constants ()

global K_D2R K_IN2M K_RDPS2RPM K_OZ2N

% from radians to degrees

K_R2D = 180 / pi;

% from degrees to radians

K_D2R = 1 / K_R2D;

% from Inch to Meter

K_IN2M = 0.0254;

% from Meter to Inch

K_M2IN = 1 / K_IN2M;

% from rad/s to RPM

K_RDPS2RPM = 60 / ( 2 * pi );

% from RPM to rad/s

K_RPM2RDPS = 1 / K_RDPS2RPM;

% from oz-force to N

K_OZ2N = 0.2780139;

% from N to oz-force

K_N2OZ = 1 / K_OZ2N;

% end of 'calc_conversion_constants( )'