Try this balancing ACT!
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| Motor control inputs | Drive: PWM (TTL) |
| Motor voltages: 0 to 5Vdc (analog) or PWM (digital) | |
| Direction: TTL LOW - CW & TTL HIGH - CCW | |
| Brake: TTL LOW - FREE & TTL HIGH - STOP | |
| Measurements | Pendulum angle: 28ohms per degree |
| Motor encoder: A, B & Z (TTL compatible signals, 1000 lines) | |
| Tacho: 7V per 1000rpm | |
| Motor current: 1.67V/A upto 5V(max) | |
| Power supply | Voltage: 110Vac @ 60Hz or 240Vac @ 50Hz |
| Power: 300watts (max) | |
| Operating conditions | >Normal: 15-25°C @ 45-90%RH |
| Max. Limits: 5-30°C @ 30-90%RH | |
| Transportation & storage limits: 0-70°C @10-95%RH | |
| Dimensions | Size: Dia. 300mm x Ht 400mm (pend. at rest) & Dia. 300mm x Ht 650mm (pend. balanced) |
| Weight: 10kg (approx.) |
Specifications may subject to change without notice
The Inverted Pendulum Apparatus PP-300 consists of: (1) a short arm which rotates in a horizontal plane, driven by a motor mounted vertically; and, (2) a pendulum rod at one end of the arm which moves in a vertical plane (orthogonal to that of the arm).
At rest, the arm is stationary and the pendulum hangs downwards. One control objective is to move the arm in such a way that the pendulum swings up and balances vertically with the arm at this time stationary. This is obviously a position of unstable equilibrium.
The apparatus is equipped with sensors to detect the angular position and velocity of the arm as well as the angular position of the pendulum. The arm is directly driven by a high performance dc motor.
The KRi Inverted Pendulum Apparatus PP-300 is a low cost pilot plant designed for teaching advanced control systems theory in the laboratory. Compared to conventional linear pendulums, it occupies very little bench space. This apparatus is useful to illustrate how to design control algorithms for balancing a pendulum - ranging from classical controllers to modern fuzzy-logic controllers. For example, in swing up mode, open-loop schemes can be compared with feedback-based optimal controllers. In balancing mode, the pendulum allows demonstration of phase-lead compensators, fuzzy-logic controllers or variable-structure controllers. It also demonstrates the use of linear models for a non-linear system and requires the realization of mode switching in controllers from swing up to balance. Thus one simple and compact apparatus successfully provides a point of comparison amongst the rich variety of classical and modern algorithms.
Inverted Pendulum, part no.: PP-300
comes with:
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KRi Inverted Pendulum is designed and verified with assistance from Nanyang Technological University. FlexControl is reproduced under license from the National University of Singapore. Windows is a registered trademark of Microsoft Inc.
Last Updated 4 March 2000