# Linear Servo Base Unit with Inverted Pendulum

See it in action

## Introduce Students to Linear Motion Control Challenges

The Linear Servo Base Unit (IP02) is the fundamental unit for Quanser linear motion control experiments. It is ideally suited to introduce basic control concepts and theories relevant to real world applications of servomotors, for example for cruise control in automobiles. Students learn how to:

• derive the dynamics equation representing the linear motion servo plant using first-principles
• find a transfer function that describes the linear motion of the cart
• develop a proportional-velocity feedback system to control the position of the cart
• design a lead compensator to control speed of the cart
• simulate the controllers using the plant model to ensure the specifications are met
• implement the controllers on the system and evaluate its performance

## Expand the Linear Servo Cart with the Inverted Pendulum Module

The easy-to-use and intuitive linear servo platform is supplied with the Inverted Pendulum module. With this set up students can be exposed to:

• Classic pendulum experiment – learning to balance a vertical rod by moving a cart
• Gantry crane experiment – learning to mitigate motions of the downward pendulum on the moving cart
• Self-erecting inverted pendulum experiment - learning to design a controller that swings the pendulum up and maintains it in the upright position

You can expand the set up further, with modules such as Seesaw or Double Inverted Pendulum (modeuls can be purchased separately) and teach an even wider range of control concepts with a minimal additional investment.

The Linear Servo Base Unit with the Inverted Pendulum module is also used for research in various areas, including fuzzy control, nonlinear control, intelligent control and system identification.

How It Works

The Linear Servo Base Unit consists of a cart driven by a DC motor, via a rack and pinion mechanism, to ensure consistent and continuous traction. The cart is equipped with a rotary metal shaft to which a free turning pendulum can be attached. The Linear Servo Base Unit system has two encoders: one encoder is used to measure the cart’s position and the other encoder is used to sense the position of the pendulum shaft.

The Linear Inverted Pendulum is mounted on the cart and is free to fall along the cart's axis of motion.

## Quanser-develop ABET-aligned Courseware Included

The Linear Servo Base Unit with Inverted Pendulum comes with Quanser-developed courseware standardized for ABET evaluation criteria. The workbook with exercises, together with the 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.

• High quality MICROMO™ DC motor and gearbox
• High resolution optical encoders to sense position of the cart and pendulum angels
• Pendulum easily attaches to front shaft of the Linear Servo Base Unit
• Two pendulum sizes supplied: medium and long
• Seven add-on modules to expand the use of the base unit (modules can be purchased separately)
• Easy-connect cables and connectors
• High quality aluminum chassis with precision-crafted parts
• Fully compatible with MATLAB®/Simulink® and LabVIEW™
• Fully documented system models and parameters provided for MATLAB®, Simulink®, LabVIEW™ and Maple™
• Open architecture design, allowing users to design their own controller
 Rack dimensions (L x W x H) 102 cm x 15 cm x 6.1 cm Cart travel 81.4 cm Pendulum workspace (L x W x H) 219 cm x 30 cm x 127 cm (56 cm below the desk surface) Cart mass 0.38 kg Cart weight mass 0.37 kg Motor nominal input voltage 6 V Motor maximum continuous current (recommended) 1 A Motor maximum speed (recommended) 6000 RPM Planetary gear box ratio 3.71 Cart encoder resolution (in quadrature) 4096 counts/rev Medium pendulum mass (with T-fitting) 0.127 kg Medium pendulum length (pivot to tip) 33.65 cm Long pendulum mass 0.230 kg Long pendulum length (pivot to tip) 64.13 cm Pendulum encoder resolution (in quadrature) 4096 count/rev

Topics included in the Quanser-developed courseware:

Modeling Topics - Linear Servo Base Unit

• Derivation of dynamic model from first-principles
• Transfer function representation
• Model validation

Modeling Topics - Inverted Pendulum module

• Derivation of dynamic model using Lagrange
• State-space representation
• Linearization

Control Topics - Linear Servo Base Unit

• PID

Control Topics - Inverted Pendulum module

• Hybrid control
• Pole placement
• Energy-based/non-linear control

##### The Linear Servo Base Unit with Inverted Pendulum module can be also used to teach other topics that are not included in the Quanser-developed courseware.

To set up your Linear Servo Base Unit workstation, you need additional components. Quanser engineers recommend:

 for MATLAB®/Simulink® users for LabVIEW™ users 1x Q2-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 myRIO with 1x Quanser Terminal Board for NI myRIO - 1x NI CompactRIO controller² with 1x Quanser Q1-CRIO module - 1x NI M- or X-series data acquisition device³ with 1x Quanser NI Terminal Board

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-USBQ8-USB, or QPIDe

### Other products you might be interested in

High Fidelity Linear Cart System
Rotary Servo Base Unit
Linear Double Inverted Pendulum
Seesaw
Linear Flexible Joint