QUBE Servo 2 Teaching Experiment Platform

For LabVIEW users: Quanser RCP (Rapid Control prototyping) toolkit is required.

Advantage:

The rich toolboxes of Simulink or LabVIEW can be directly used for controller design, such as PID, pole placement LQR、 Adaptive control).

Provide complete ABET certification aligned course materials (in digital media format), including complete dynamic models, pre built controllers, and experimental manuals.

Real time data recording and drawing functions are powerful, suitable for classroom presentations.

Limitations:

Real time running of Simulink models on a PC is required, which has certain performance requirements (but modern mainstream PCs can meet them).

Not suitable for teaching objectives that require students to directly write bare metal C code or register level operations.

Typical application scenarios: Control engineering courses for second and third year undergraduate students, with a focus on controller design and system identification rather than underlying programming.

3.2 QUBE Servo 2 Embedded Experimental Edition

Interface: SPI (Serial Peripheral Interface), connected to external microcontrollers (such as Arduino Uno/Nano, Raspberry Pi, NI myRIO) through a 4-wire cable. The microcontroller needs to be provided by the user.

Software: No need to purchase additional specialized software. Quanser provides Arduino sample code and interface datasheet, which provides detailed explanations of SPI communication protocol, register mapping, command format, etc.

Advantage:

Enable students to experience real embedded system development, including SPI driver writing, interrupt handling, timer configuration, etc.

Very suitable for capstone projects or advanced mechatronics courses, students can complete the complete software and hardware design from sensor reading, control algorithm implementation to motor drive.

The hardware cost is relatively low (no MATLAB/Simulink license required, open source toolchain can be used).

Limitations:

Students need to have a certain foundation in microcontroller programming (C/C++).

The feedback data refresh rate is affected by SPI speed and microcontroller performance, and may be slightly lower than the USB version.

The teaching resources provided are relatively limited compared to the USB version (although there are USB version course materials as references).

Typical application scenarios: Advanced embedded system courses, robotics technology innovation competitions, graduation projects.

3.3 Interface panel interchange operation

Two types of panels are connected to the host through the QFLEX 2 module, and no special tools are required to replace the panels. Simply unscrew the bottom plate screws to complete the replacement. Engineering tip: Before replacing the panel, be sure to disconnect the power supply and release the load on the motor shaft (especially when the swing rod is installed) to avoid personal injury caused by accidental rotation of the motor during operation.

The laboratory can be equipped with a small number of spare panels, and one set of hardware can serve multiple courses simultaneously.

Software configuration and common troubleshooting

This section focuses on configuration issues and solutions for USB versions in MATLAB/Simulink environments (as this is the most common deployment scenario).

4.1 Software installation process

Install MATLAB (recommended R2019b and above) and Simulink.

Install QUARC software (requires a valid license, usually provided with a trial or academic version with the device).

Connect the USB cable of QUBE Server 2 to the PC, and the system will automatically install the driver program.

Enter quartc in the MATLAB command line to open the QUARC main interface, and run quartc_diagnostic for connection testing.

If communication is normal, you can find the "Quanser QUBE" module library in the Simulink library browser, which includes modules such as motor models, sensor reading, LED control, etc.

4.2 Common faults and solutions

Fault 1: USB device not recognized ("Unknown Device")

Possible reasons:

Poor quality or length of USB cables exceeding 2 meters can cause signal attenuation.

The power supply to the USB port of the PC is insufficient (especially when using laptop battery power).

QFLEX 2 panel firmware exception.

Exclusion steps:

Replace with original USB cable or high-quality shielded cable, with a length not exceeding 1.5 meters.

Insert the USB into the rear port of the PC (directly connect to the motherboard) to avoid using an external USB hub.

Connect a power adapter to the PC to ensure stable USB power supply.

Try another PC to troubleshoot the device hardware. If still unable to recognize, contact the supplier for firmware reset.

Fault 2: QUARC real-time model compilation failed

Possible reasons:

The MATLAB path does not include the Quanser module library.

The compiler is not configured correctly (Microsoft Windows SDK or MinGW needs to be installed in a Windows environment).

An outdated module was used in the model.

Exclusion steps:

Run quarc_setup on the MATLAB command line to automatically configure the path and compiler.

Run mex setup to confirm that the C compiler is configured.