Flexible Joint with Inverted Pendulum
Challenge:
Design a control system to balance a pendulum on a spring driven cart.
Description:
A solid aluminum cart is driven by a rack and pinion mechanism using a 6V DC motor, ensuring consistent and continuous traction. The cart slides along a stainless steel shaft using linear bearings. The cart position is measured using a sensor coupled to the rack via an additional pinion. The powered input cart is coupled to a non-powered output cart using a compression spring. Both cart positions are measured using encoders. A pendulum is mounted on the output cart and is free to fall along the cart’s axis of motion.
The objective is to design a controller such that the pendulum is balanced. The system is supplied with a state feedback controller. You may design any other controller you wish.
Difficulty:
Undergraduate – second course / Graduate / Project / Research
Linear Product Range
-
http://www.imath-asia.com/assets/index.php/quanser/flexible-joint/
Flexible Joint -
http://www.imath-asia.com/assets/index.php/quanser/flexible-joint-with-inverted-pendulum/
Flexible Joint with Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/inverted-pendulum/
Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/linear-double-inverted/
Linear Double Inverted -
http://www.imath-asia.com/assets/index.php/quanser/linear-flexible-inverted-pendulum/
Linear Flexible Inverted Pendulum -
http://www.imath-asia.com/assets/index.php/quanser/linear-flexible-joint-on-seesaw/
Linear Flexible Joint on Seesaw -
http://www.imath-asia.com/assets/index.php/quanser/seesaw/
Seesaw -
http://www.imath-asia.com/assets/index.php/quanser/seesaw-pendulum/
Seesaw Pendulum
Demonstration
