In this lab, we will develop a Simulink® model using QUARC® blocks to drive the

Question

In this lab, we will develop a Simulink® model using QUARC® blocks to drive the DC motor and measure its corresponding relative shaft angle as shown in Figure 3. The QUARC block that reads the encoder outputs the motor's shaft angle as the number of quadrature counts. What is the constant conversion factor to convert from counts to degrees? K = ??? (deg/count) What is the maximum voltage that should be applied to the DC motor (via the QUARC write Analog block)? V_max =??? Volts For this motor, what is the starting current at nominal voltage (also known as the stall current - see motor datasheet in Section 2.ii.b)? i_stall = ??? amps

Explanation / Answer

1) Simple and flexible hardware interfacing

The QUARC HIL API provide a whole new way of accessing hardware, creating a flexible and extensible framework supporting DAQ and external devices These blocks let you change the data acquisition card used by an entire diagram by changing a single parameter.

2)   Flexible and protocol-independent communication framework

The QUARC Stream API allows to conduct standard communication between QUARC models; a QUARC model and external third-party applications (e.g., graphical user interface); or even between two external third-party applications. The Stream API is independent of the development environment and can be used in C/C++, .NET, MATLAB®, or LabVIEW™.

3) Support of multi-threaded, multi-rate and asynchronous models

QUARC supports multithreading in a variety of contexts, the most transparent being the handling of multi-rate models, where Simulink diagram contains blocks with differing sample times. QUARC can be configured to automatically create two separate threads - one for each sample rate.

4) Extensive third-party devices support

Researchers incorporating off-the-shelf devices in their projects further benefit from QUARC's extensive suite of third-party device blocks. These blocks not only allow a Simulink model to communicate with external devices, such as Denso and MICO robots, PGR cameras and Geomagic haptic devices, but also to implement the mathematical framework for controlling them.

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