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LT-MC307 Linear Inverted Pendulum Training System
Labtronic offers the linear servo base unit, which can be paired with pendulums for various experiments, including the classic inverted pendulum experiment. In this setup, trainees design a controller to balance a vertical rod by adjusting the cart’s position. Additionally, the unit can simulate a gantry crane, a movable platform used for transporting goods in warehouses or shipping yards. In this application, the cart acts as the gantry platform, while the pendulum represents the crane. This versatile setup provides hands-on experience with control systems and modeling in real-world scenarios, enhancing both practical and theoretical learning.
Learning Objectives:
- Familiarization with pendulum setup experiments:
- Gantry Crane
- Inverted Pendulum
- Self-Erecting Inverted Pendulum
- Familiarization with various modeling topics:
- Lagrange derivation of dynamic models
- State-space representation
- Linearization
- Demonstrating linear-quadratic regulator (LQR) control.
- Learning about hybrid control methods.
- Understanding the principles of pole placement.
- Enhancing knowledge in energy-based and non-linear control fundamentals.
- Demonstrates the traditional inverted pendulum experiment.
- Trainees learn to control the descending pendulum by moving the cart to different positions.
- Develop a controller to swing the pendulum up and maintain its upright position in the Self-Erecting Inverted Pendulum experiment.
- Helps trainees develop problem-solving skills for mechanical and aerospace engineering challenges.
- The two-wheeled Segway self-balancing vehicle is one application of the inverted pendulum experiment.
- Based on the linear servo base unit, consisting of a cart powered by a DC motor via a rack and pinion mechanism for steady, continuous traction.
- Compatible with MATLAB and Simulnik.