@@ -11,8 +11,30 @@ See the video demonstration by clicking on the screenshot below – the subseque
## Control Systems Challenge
[tbd]
See the video and the documentation.
## Instructions
[tbd]
\ No newline at end of file
1. Make sure that the the RED BUTTON for stopping the platform by deactivating the amplifiers will be within your reach during the experiments. You will press it if anything goes wrong with the platform to protect it.
3. Switch on the [AMPAQ-L2 Amplifier](https://www.quanser.com/products/ampaq-l2-amplifier/) – the switch is on the back side just above the power cable.
4. Check that the green LEDs on the terminal for the [QPID Data Acquisition Device](https://docs.quanser.com/quarc/documentation/qpid.html) should be set on. If not, check that the terminal is connected to the PC (through 3 PCI connectors on the back of the PC that interface to the internal PCI card). Since the PC is also used for controlling some other experiment, somebody mae have disconnected it from our experiment. Other that this connection to the PC, the terminal does not have to be particularly switched on or off. Should you need some more info on this particular DAQ, note that Quanser has already deprecedated it – currently they offer a newer PCIe version – [QPIDe](https://www.quanser.com/products/qpide-data-acquisition-device/).
5. Click on the [Simulink Courseware](https://quanserinc.box.com/shared/static/65tv2urk3h0w4a7maoh550e9ucmamuj2.zip) link at the [Active Suspension ](https://www.quanser.com/products/active-suspension/) web page. It will dowload a zip archive. After unzipping there are two subdirectories: `Software` and `Documentation`. Alternatively, you can get these directly at this Gitlab repo.
9. Within the `Software` subdirectory there is a single m-file. It is named `setup_as.m`. Run it in Matlab. It will set all the parameters needed later.
10. Open any of the two simulink models whose names start with `q_`. These are "Hello World!" basic examples for this experiment. One is open-loop, the other contains a controller. The remaining Simulink model starting with `s_` is just for numerical simulation.
11. Note that if you want to record the measured data for later analysis (which you will certainly do), the routes that you are familiar with from purely simulation projects may not work here. The reason is that while using the Quanser QUARC system, you are running the Simulink model in [External Mode](https://www.mathworks.com/help/sldrt/ug/simulink-external-mode.html), which prevents from using some Simulink functionality. In particular, if you [use Simulink scope block(s) for logging the data](https://www.mathworks.com/help/sldrt/ug/set-scope-parameters-for-logging-to-file.html), which is a common route, increasing the parameter called `Limit data points to last` will have no impact on how long the sequence of measurements will be stored in Matlab workspace (but do not forget to tick off the `Log data workspace` option and insert the variable name). If you ignore this issue, you may easily leave the lab assured that you stored a minute or two of experimental data only to discover at home that only the last few seconds have been saved. In order to prevent this, the `Duration` parameter needs to be changed somewhere else. Namely, go to manu `Code`, submenu `External Mode Control Panel`. Click on `Signal & Triggering` and change the `Duration` parameter there. If you need more on this, have a look at [the secion on Data Collection in QUARC manual](https://docs.quanser.com/quarc/documentation/quarc_data_collection.html) but if you are happy with logging to the variables in Matlab workspace through the Simulink scope blocks, you should be fine now.
12. In the Hardware tab in Simulink, click the green triangle accompanied by "Monitor & Tune" text. This may take a few seconds and then the experiments starts.
15. In case the experiment fails compiling and running, check that the Quanser block in the diagram is correctly configured to the QPID board (if you downloaded the files from the Quanser website, most probably it will be set to some Q8 board by default). Also, the target should be set (use `Ctrl+E` to get the the menu) to `quanser_win64.tlc` (again, by default after downloading from the web this will probably be `quanser_windows.tlc`, which is a 32-bit version).
16. After the experiment starts running, the green triangle should turn into an icon (black square) for stopping the experiment. But if this does not happen (for whatever reason), the fallback solution for stopping the experiment is the "Stop all" option offered through the small Quanser icon at the bottom right panel in Windows.
17. If the experiment seems to be running (sensors are being read) but the actuators seem to be blocked, there is a `Limit switch` button at the back of the experiment. Push it. You may also have to do it after some "wilder" responses during the experiment after the limit switch is engaged.
18. For more, follow the instructions in the documentation.
