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Linear Double Inverted

Linear Double Inverted

Challenge:
Design a control system to balance a double inverted pendulum on a linear motion cart .

 

Description:
A double pendulum mounted on a solid aluminum cart is free to fall along the cart’s axis of motion. A pendulum (approx. 2″ in length) with another joint is mounted to the first joint. A second pendulum is attached to the second joint. Both joint angles are measured using encoders. The 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 objective is to design a control system that balances the double pendulum and maintains cart position. The system is supplied with a state feedback controller. You may design any other controller you wish.

 

Difficulty:
Undergraduate – second course / Project / Graduate / Research



Linear Product Range


  • flex-joint


    Flexible Joint


  • flexJoint-invertPendulum


    Flexible Joint with Inverted Pendulum


  • inverted-pendulum


    Inverted Pendulum


  • Linear--dlb-Inverted


    Linear Double Inverted



  • Linear Flexible Inverted Pendulum


  • flexJoint-seesaw


    Linear Flexible Joint on Seesaw


  • seesaw


    Seesaw


  • seesaw-pendulum


    Seesaw Pendulum

 Demonstration
Windows Media                        Low (1.3 Mb)            High (2.8 Mb)
QuickTime                        Low (2.6 Mb)            High (4 Mb)

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