| 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. |
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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
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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
