Qball-X4 User Manual

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Document Number: 888 Revision: 2 Page: i
Quanser Qball-X4: User Manual
...........................................................................................................................................50 8.5. Trying to start the Qball-X4 model results in the error “Unable to locate the dynamic link library or shared object.”............................................................................................50 8.6. 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 computer..........................51 8.7. Attempting to build or connect to the model results in the error message “The file could not be found”...........................................................................................................51
Specialtser Qball-X4
Quanser Qball-X4: User Manual
Table of Contents
1. Introduction..........................................................................................................................1 2. Operator Warnings...............................................................................................................1 3. Prerequisites.........................................................................................................................3 4. References............................................................................................................................4 5. System Hardware and Software Description.......................................................................4 5.1. Main Components........................................................................................................4 5.2. X4 Diagram..................................................................................................................4 5.3. Qball-X4 Components.................................................................................................5 5.3.1. Qball-X4 frame.....................................................................................................9 5.3.2. HiQ DAQ.............................................................................................................9 5.3.3. Qball-X4 Power..................................................................................................10 5.3.4. Qball-X4 Motors and Propellers........................................................................10 5.3.5. Qball Joystick.....................................................................................................11 5.4. Qball-X4 Model.........................................................................................................11 5.4.1. Actuator Dynamics.............................................................................................11 5.4.2. Roll/Pitch Model................................................................................................12 5.4.3. Height Model......................................................................................................13 5.4.4. X-Y Position Model...........................................................................................14 5.4.5. Yaw Model..........................................................................................................14 6. System Setup......................................................................................................................16 6.1. Qball-X4 Vehicle Setup..............................................................................................16 6.2. Qball-X4 Sensors.......................................................................................................17 6.3. Establishing Wireless Connection..............................................................................28 6.4. Configuring the model for the Qball target................................................................29 6.5. Simulink Files............................................................................................................31 6.6. The Qball-X4 Controller............................................................................................35 6.7. OptiTrack Localization System..................................................................................40 7. Charging Batteries.............................................................................................................45 7.1. Battery charging components.....................................................................................46 7.2. Battery charging procedure........................................................................................47 8. Troubleshooting Guide.....................................................................................................48 8.1. The Qball has crashed! What should I do?................................................................48 8.2. The model fails to build/connect or the QUARC console does not successfully open.. 48 8.3. The Qball-X4 sensors are not being read correctly or they are stuck at some constant value..................................................................................................................................49 8.4. 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”.