Inverted Pendulum

System

The digital pendulum is a modern version of a classic problem: setting up and balancing a freely swinging pendulum in its inverted position or moving a suspended pendulum in a controlled manner. The carriage on the rail is digitally controlled to swing upwards (self-righting) and to balance the pendulum in an upright, held position or to move the carriage with the pendulum in an undisturbed extended position. The carriage distance is limited, which places restrictions on the control algorithm. In pendulum mode, the system is used to control the two-arm pendulum from an initial position (hanging still with the carriage in the centre of the movement path on the rail) to an end position with the pendulum upright and the carriage back in its central position. In crane mode, the control problem is to shift the position of the carriage without excessive movement of the pendulum. This problem occurs, for example, when controlling a gantry crane. Using MATLAB and Feedback's comprehensive training manuals and an Advantech PCI card (which is an impressive development environment for digital control systems), the user is guided through the design process using phenomenological process models, dynamics analysis, discrete model identification, controller design, controller testing on the model, controller implementation in real-time applications, implementation of various control strategies and visualisation.

Method

The equipment includes student experiments in the laboratory with non-hazardous low voltage. Experimental procedures are carried out using a manual in printed or electronic form.

A MATLAB™ licence is required for this experiment and is not included in the scope of delivery

The equipment may require additional software modules.

Target group

An internship aimed at further education programmes at technical colleges and technical universities.

Previous knowledge

• Knowledge of classical control engineering.

Topics

Pendulum model

• Equations of motion
• Non-linear model
• Linear models
• Static friction compensation
• Running real-time model
• Dynamic model
• Wagon model identification
• Identification of first model
• Use of MATLAB control (MATLAB not included)
• Identification of linear crane model
• Linear model inverted pendulum

Pendulum superstructure control

• System control
• PID control
• PID control of trolley model position
• PID real-time control of carriage position
• Vibration real-time control
• Oscillation control of the inverted pendulum
• Stabilisation of the inverted pendulum
• Crane control
• Combined control technologies
• Swing and hold
• Up/down model

Gerät mit Schnittstellenkarte und Kabel