UNIVERSITY OF WATERLOO - NOTICE OF INTENT TO AWARD A SINGLE SOURCE CONTRACT: 18-016
Rotary Servo Motion Control Experimenter
The University of Waterloo (UW) intends to award a single source contract to Quanser Consulting Inc., of Markham, Ontario, for the purchase of a custom built Rotary Servo Base Unit with Inverted Pendulum Module used for rotary motion controlled experimentation.
This is an Advanced Notice indicating to the supplier community that UW intends to award a contract for these goods to a pre-identified supplier. If no other supplier submits, on or before the closing date of this notice, a statement of specifications that, at a minimum, equals or exceeds the stated requirements set out in this Notice, the competitive requirements of the University are considered to have been met. Following notification to any suppliers not successful in demonstrating that their statement of specifications meets the requirements set out in this Notice, the contract may then be awarded to the pre-identified supplier.
If other potential suppliers submit statements of specifications during the fifteen calendar day posting period, and meet the requirements set out in this Notice, UW will proceed to a Request for Proposal process, in order to award the contract.
Overview:
The proposed custom built Rotary Servo Base Unit with Inverted Pendulum Module, used for rotary motion controlled experimentation, will allow Biomedical Engineering students to learn both the fundamentals and nuances of analog and discrete control systems in a single lab course.
The device and curriculum notes will be used as a tool to help students understand and develop skills in system identification of several systems, position and velocity control, limitations of pulse-width-modulation power delivery, electromechanical modelling and the effects of simplification, balance control, the necessity of interrupt driven routines in computer/microcontroller feedback control systems, the difference between continuous and discrete control systems including transforming controllers from one domain to the other, the effects of discrete derivatives on sensor outputs such as encoders and tachometers, and satisfying performance requirements in simulation and practice.
The Quanser custom Rotary Servo Base Unit with Inverted Pendulum Module is a unique combination of high-precision physical systems plant mated with an Arduino microcontroller board. This unique configuration supports high precision control systems experiments using modern embedded system technology.
Uniquely, the Rotary Servo Base Unit is open-architecture in its hardware design for the amplifier, DAQ, and controller and software integration with software such as MATLAB/Simulink and LabVIEW. The proposed platform is the only configuration available that increases the real-time performance using MATLAB/Simulink with as little as three additional Simulink blocks, making this technology the easiest way to perform advanced control experiments within the academic setting. The Quanser approach still achieves an impressive 1KHz or better real-time feedback loop rate. Additional API connectivity includes C, C++, ActiveX, .NET and quite a few other microcontroller boards.
The proposed solution will enable interfacing to both stand-alone microcontrollers with SPI as well as to PC's with a USB interface. This will allow a fluid transition from the direct theoretical implementation and ease of use with Matlab/Simulink to the low-level C coding on an Arduino. The common, modular hardware allows for consistent and quantifiable validation and verification from the high-level to low-level implementations against the theoretical models.
This open-architecture, modular, expandable system also supports expansion via 10 optional modules that support a range of alternate physical dynamics and can extend applicability into additional courses or support changing requirements within the target course.
Part of the proposed configuration is the ability to change the mass load of the inverted pendulum experiment. This unique adjustment feature increases the dynamic breadth of the system under study and allows for greater flexibility for instructors to tune the complexity and depth of abstraction for students.
The proposed custom Rotary Base Servo Unit with custom accessories will be the principal lab platform for Biomedical Engineering BME 353 & 353L Control Systems in addition to Systems Design Engineering SYDE 352 & 352L Control Systems courses. These courses on Control Systems is core for all SYDE undergraduates. Additionally these courses are part of SYDE’s physical systems, biomedical, mechatronics, and robotics, specialization interests. It will replace an aging platform with a more contemporary approach that allows both the conventional study of Control theory and the more modern techniques of embedded control.
More specifically, the proposed system from Quanser is dual purpose in that its USB interface will allow SDE / UW to use MATLAB to design, analyse and control the hardware. MATLAB is a common mathematical and engineering platform used in control system studies at UW, in most other engineering schools, and in industry. Crucially, the Quanser system will allow students to run the electromechanical hardware via an SPI interface for the Arduino microcontrollers. Running the system from an Arduino adds a high dose of realism in that hardware limitations dictate how performance metrics can be hindered. One of the immediate benefits of this approach relates to programs in Biomedical Engineering (a program within Systems Design Engineering) that have three core lab courses (analogue circuits, digital circuits, control systems) that utilise Arduinos; having a system which incorporates this relatively new pedagogical approach is important to SDE/UW.
Specifications:
The custom built Rotary Servo Base Unit with Inverted Pendulum Module used for rotary motion controlled experimentation includes the following:
- Rotary Servo Base Unit
- PWM amplifier, with customized USB Data Acquisition Card & customized SPI interface
- Customized Inverted Pendulum Add-on module
- Rotary Servo Base Unit (SRV02)
Rotary base unit for rotary motion control experiments, which is modular designed to allow up to 10 different add-on modules. Equipped with potentiometer, optical encoder and tachometer for position and speed measurements. Includes ABET-aligned Instructor and Student workbooks, User Manual, Quick Start Guide and pre-designed controllers
Plant Dimensions (L x W x H) 15 x 15 x 18 cm• Plant Weight 1.2 kg
• Nominal Voltage 6 V
• Motor Maximum Continuous Current (recommended) 1 A
• Motor Maximum Speed (recommended) 6000 RPM
• Potentiometer Bias Power ±12 V
• Potentiometer Measurement Range ±5 V
• Tachometer Bias Power ±12 V
• Tachometer Measurement Range ±5 V
• Tachometer Sensitivity 0.0015 V/RPM
• Encoder Resolution 4096 counts/rev.
• Gear Ratio (high gear configuration) 70 N/A
- PWM amplifier, with customized USB Data Acquisition Card & customized SPI interface
The design allows communication with third party microprocessors like Arduino; this custom design will allow the user easily switch between SPI and USB interface. The customized DAQ/amplifier design also facilitates that the driven hardware can be protected from coding mistakes on Arduino side, while still maintain the modularity of SRV02.
- Built-in universal power supply
- Current sense output is provided per channel
- Over-heating/over-current fault indication output
- Lightweight
- Includes a regulated ± 12 V DC power supply at 1 A
- Easy connect system enable switching from one experiment to another quickly
- Size (L × W × H): 0.25 × 0.18 × 0.1 m
- Mass: 1.92 kg
- Amplifier Voltage Gain: 1 or 3* V/V
- Amplifier Type: Linear
- Number of Outputs: 1
- Amplifier Maximum Continuous Voltage: 24 V
- Amplifier Maximum Continuous DC Current: 4.16 A
- Supply AC Voltage: 100-127 or 220-240
- Continuous Output Power: 100 W
- Output Impedance: 0.5-1.6 Ω
- Number of Analog Input: 4
- Analog Input Range: ±10 V
Customized Inverted Pendulum Add-on module
The Rotary Inverted Pendulum consists of a flat arm with a pivot at one end and a metal shaft on the other end. The pivot-end is mounted on top of the Rotary Servo Base Unit load gear shaft. The pendulum link is fastened onto the metal shaft and the shaft is instrumented with a high resolution
Encoder to measure its angle. The result is a horizontally rotating arm with a pendulum at the end.
The coupled Arm Mass is changeable to allow the changes of the mass to give more flexibility to perform different test and to improve student’s lab experience
- Coupled Arm Length 21.6 cm
- Coupled Arm Mass 0.257 kg
- Pendulum Link Length 33.7 cm
- Pendulum Link Mass 0.127 kg
- Encoder Resolution 4096 count/rev.
The budget for this purchase is less than $150,000 CAD, plus HST.
SOLE SOURCE JUSTIFICATION:
Systems Design Engineering at the University of Waterloo teaches both the fundamentals and nuances of analog and discrete control systems. The device will be used to let the students learn and develop skills in control systems with relevant teaching topics in a single lab course. The device will be used is Biomedical Engineering BME 353 & 353L Control Systems in addition to Systems Design Engineering SYDE 352 & 352L Control Systems. This new laboratory is consistent with UW’s overall progression of education innovation. Students will use high-precision equipment framed by modern, relevant design methods that will distinguish this proposed new facility from conventional labs at other institutions and will contribute the continued development of UW’s global reputation.
The University of Waterloo is not aware of any other supplier nor manufacturer who offers a comparable built device within budget.
Process
Suppliers who consider their equipment fully compliant and available within budget may submit a statement of specifications, in writing, to the contact person identified in this Notice on or before the closing date of this Notice. The statement of specifications must unequivocally demonstrate how the supplier meets these advertised requirements within budget.
Date of issue: Wednesday, February 14, 2018
Closing Date: Thursday, March 1, 2018
Contact:
Christine Wagner, CPPB, CSCP – Research Coordinator and Senior Buyer
Procurement and Contract Services
University of Waterloo
Ph: 519-888-4567 ext. 32074
Email – cpwagner@uwaterloo.ca, or, procure@uwaterloo.ca
