The Linear Flexible Inverted Pendulum is ideal to introduce intermediate and advanced control concepts and theories relevant to real-world challenges of stabilizing large lightweight structures.
The Linear Flexible Inverted Pendulum module is used attached to the Linear Servo Base Unit (IP02). This set up augments the classic inverted pendulum challenge by introducing a flexible link that requires balancing. Students learn how to:
In addition to teaching intermediate control concepts, the Linear Flexible Inverted Pendulum can be used for research in various areas, including fuzzy control, nonlinear control, adaptive control and intelligent control.
How It Works
The Linear Flexible Inverted Pendulum module is composed of a rigid 24-inch aluminum blue rod and a flexible link with an end weight mounted at the end. The module easily attaches to the front pendulum shaft on the Linear Servo Base Unit cart and is free to rotate 360 degrees. The angles of the pendulums are sensed using the Linear Servo pendulum shaft encoder. The deflection angle of the flexible link is measured using an analog strain gage sensor.
The balance control applies a voltage to the Linear Servo cart based on the rigid and flexible pendulum angles such that both the rigid and flexible pendulums are balanced in the upright, vertical position. The robustness of the system can be tested when the strain gage measurement is not used.
The Linear Flexible Inverted Pendulum comes with Quanser-developed courseware materials. The Laboratory Guide, together with quick start resources, a comprehensive User Manual, pre-designed controllers and a system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.
Topics included in the Quanser-developed courseware:
To set up your Linear Flexible Inverted Pendulum workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use Q8-USB, QPIDe or any equivalent NI DAQ device supported by QUARC
² NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 or cRIO-9114 chassis
³ NI DAQ device must be supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q2-USB, Q8-USB, or QPIDe