Rotary Double Inverted Pendulum

Download product info:

Take the Classic Inverted Pendulum Challenge to the Next Level

The Rotary Double Inverted Pendulum module is ideal to introduce intermediate and advanced control concepts, taking the classic single inverted pendulum challenge to the next level of complexity. You can use it to demonstrate real-world control challenges related, for example, to takeoff stabilization of a multi-stage rocket. The Rotary Double Inverted Pendulum module attaches to the Rotary Servo Base Unit. Using this experiment, students learn to:

  • obtain a state-space representation of the open-loop system
  • design a state-feedback gain for the closed-loop system using LQR optimization
  • simulate the system and ensure it is stabilized using the designed state-feedback control
  • implement the state-feedback controller and evaluate the system performance

In addition to teaching advanced control concepts, the Rotary Double Inverted Pendulum can be used for research in various areas, including nonlinear control and optimal control.

How It Works

The Double Inverted Pendulum module is composed of a rotary arm that attaches to the Rotary Servo Base Unit, a short 7-inch bottom blue rod, an encoder hinge, and the top 12-inch blue rod. The balance control computes a voltage based on the angle measurements from the encoders. This control voltage signal is amplified and applied to the Servo motor. The rotary arm moves accordingly to balance the two links and the process repeats itself.

Quanser-developed Courseware Included

The Double Inverted Pendulum module comes with Quanser-developed courseware. The comprehensive Laboratory Guide, accompanied with quick start resources, User Manual, pre-designed controllers and system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.

  • Double pendulum comprised of a 7-inch aluminum link connected to a 12-inch link
  • Double Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
  • High resolution encoders sense rotary arm and pendulum link angles
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
  • Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEWTM and Maple™
  • Open architecture design, allowing users to design their own controller
Rotary arm length (pivot to tip) 21.59 cm
Rotary arm mass 0.2570 kg
Short pendulum mass (with T-fitting) 0.097 kg
Short pendulum length (pivot to tip) 20.0 cm
Medium pendulum mass (with T-fitting) 0.127 kg
 Medium pendulum length (pivot to tip) 33.65 cm 
Pendulum encoder resolution (in quadrature) 4096 counts/rev

Topics included in the Quanser-developed courseware:

Modeling Topics

  • Lagrange derivation
  • State-space representation
  • Linearization

Control Topic

  • Linear-quadratic regulator

 

The Double Inverted Pendulum module can be also used to teach other topics that are not included in the Quanser-developed courseware.

To set up your Rotary Double Inverted Pendulum workstation, you need additional components. Quanser engineers recommend:

for MATLAB®/Simulink® users for LabVIEW™ users
1x SRV02 Rotary Servo Base Unit 1x SRV02 Rotary Servo Base Unit
1x Q8-USB data acquisition device¹ 1x VoltPAQ-X1 linear voltage amplifier
1x VoltPAQ-X1 linear voltage amplifier Quanser Rapid Control Prototyping Toolkit software
QUARC real-time control software and one of the following options:
  - 1x NI CompactRIO controller² with 2x Quanser Q1-CRIO module
  - 1x NI M- or X-series data acquisition device³ with 1x Quanser NI Terminal Board

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 or cRIO-9114 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

Other products you might be interested in

2 DOF Inverted Pendulum/Gantry
Linear Double Inverted Pendulum
High Fidelity Linear Cart System
Rotary Inverted Pendulum
Privacy Policy
©2017 Quanser Inc.