Feedback 33-005 Digital Pendulum Control System

The Digital Pendulum Control System provides experiments on an inverted balanced pendulum using digital control techniques. It is a single input, single output, non-linear system. The pendulum is self-erecting and can also operate in crane mode.

    Features

  • Dual mode system - crane or inverted pendulum
  • Self-erecting pendulum mode
  • Extensive MATLAB toolboxes are available from The MathWorks Inc
  • An ideal vehicle for both laboratory and project work
Description

The Digital Pendulum is a modern version of a classical control problem; that of erecting and balancing a free swinging pendulum in its inverted position or moving a hanging pendulum in a controlled manner. The cart on the track is digitally controlled to swing up (SELF ERECTING) and to balance the pendulum into an upright sustained position or to move the cart with pendulum in an unperturbed down position. The cart track is of limited length, imposing constraints on the control algorithm. In pendulum mode the system is used to control the twin arm pendulum from an initial position, hanging at rest with the cart in the centre of its travel along the track, to a final position with the pendulum upright and the cart restored to its central position. In crane mode the control problem is to move the position of the cart without undue movement of the pendulum. This problem is typical of that experienced when controlling a gantry crane.

Curriculum Coverage
  • Using the MATLAB system identification toolbox
  • Crane linear model identification
  • Inverted pendulum linear model
  • Pendulum set-up control
  • First model identification
  • Plant control
  • PID controller
  • PID control of cart model
  • Real-time PID control of cart position
  • Real-time swing-up control
  • Inverted pendulum control of swing-up
  • Inverted pendulum stabilisation
  • Crane control
  • Combined control techniques
  • Swing-up and hold
  • Up and down model
  • Pendulum model
  • Equations of motion
  • Linear models
  • Model identification - Static friction compensation, Running a real-time model
  • Dynamic model
  • Cart model identification

    Pendulum set-up control
  • Plant control
  • PID controller
  • PID control of cart model position
  • Real-time PID control of cart position
  • Real-time swing-up control
  • Inverted pendulum control of swing-up
  • Inverted pendulum stabilisation
  • Crane control
  • Combined control techniques
  • Swing-up and hold
  • Up and down model

     

  • Additional pictures

    Control & Instrumentaion

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