System Parameters - Quanser Qube-Servo 3 User Manual

2.4 System Parameters

Table 2.2 lists and characterizes the main parameters associated with the Qube-Servo 3.
Symbol Description
Nominal input voltage
V
nom
Nominal torque
τ
nom
Nominal speed
ω
nom
Nominal current
I
nom
Terminal resistance
R
m
Torque constant
k
t
Motor back-EMF constant
k
m
Rotor Inertia
J
m
Rotor inductance
L
m
Module attachment hub mass
m
h
Module attachment hub radius
r
h
Module attachment moment of Inertia
J
h
Inertia Disc Module
m Disc mass
d
r Disc radius
d
Rotary Pendulum Module
m Rotary arm mass
r
L Rotary arm length (pivot to end of metal rod)
r
m Pendulum link mass
p
L Pendulum link length
p
Motor and Pendulum Encoders
Encoder line count
Encoder line count in quadrature
Encoder resolution (in quadrature, deg)
Encoder resolution (in quadrature, rad)
Amplifier
Amplifier type
Peak Stall Current
Continuous Sustainable Current
Output voltage range (recommended)
Output voltage range (maximum)
Default deadband
Table 2.2: Qube-Servo 3 System Parameters
Value
24.0 V
20.4 mN-m
5400 RPM
0.5 A
7.5 Ω
0.0422 N-m/A
0.0422 V/(rad/s)
1.4×10 kg-m
−6 2
1.15 mH
0.0106 kg
0.0111 m
0.6×10 −6 kg-m 2
0.053 kg
0.0248 m
0.095 kg
0.085 m
0.024 kg
0.129 m
512 lines/rev
2048 lines/rev
0.176 deg/count
0.00307 rad/count
PWM
1.8A @ 15V
0.58A @ 5V
±10 V
±15 V
0.65V
9