The Linear Flexible Joint with Inverted Pendulum system is ideal to introduce intermediate control concepts related to vibration analysis and resonance. You can use it to demonstrate real-world control challenges encountered, for example, in elastic linkages and mechanical transmissions. The Linear Flexible Joint with Inverted Pendulum module is used paired with the Linear Servo Base Unit (IP02). With this setup students learn how to:
In addition to teaching intermediate control concepts, Linear Flexible Joint with Inverted Pendulum can be used for research in various areas, including system inversion and time optimization.
How It Works
The Linear Flexible Joint with Inverted Pendulum consists of a Linear Flexible Joint module with a passive linear cart coupled to a Linear Servo Base Unit through a linear spring and a pendulum mounted on the output cart.
The Linear Flexible Joint is made of solid aluminum and uses linear bearings to slide along the Linear Servo Base Unit ground stainless steel shaft. The cart position is measured using a rotary optical encoder whose shaft meshes with the track via a pinion. The system is supplied with two additional masses that can be mounted atop the cart.
As the Linear Servo Base Unit moves back and forth, the Linear Flexible Joint cart will naturally tend to oscillate. Using feedback control, one can attempt to attenuate these motions.
The passive cart is equipped with a rotary joint, the joint’s axis of rotation is perpendicular to the direction of the cart’s motion. A free-swinging rod can be attached to the joint, suspended in front of the cart. This rod can function as an inverted pendulum, as well as a regular pendulum. The angle of the rod is measured using a rotary optical encoder
Two different pendulum rods are supplied : a 12-inch "medium" pendulum and a 24-inch "long" pendulum.
The Linear Flexible Joint with Inverted Pendulum comes with Quanser-developed courseware. 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 Joint with Inverted Pendulum workstation, you need additional components. Quanser engineers recommend:
¹ alternatively, you can use QPIDe or any equivalent NI DAQ device supported by QUARC
² NI cRIO-9074, or NI cRIO-9024 with cRIO-9113 chassis
³ NI PCIe-6351 or other NI DAQ device with 4 encoders supported by Quanser RCP toolkit. Alternatively, you can use Quanser Q8-USB, or QPIDe