Rotary Inverted Pendulum

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Introduce Students to Two Pendulum Challenges

The Rotary Inverted Pendulum module is one of the most popular rotary experiments. It is ideal to introduce intermediate control concepts and theories relevant to challenges mechanical and aerospace engineers face in real life.

The Rotary Inverted Pendulum module attaches to the Rotary Servo Base Unit (SRV02). With this set up students can be exposed to two pendulum challenges:

  • Classic pendulum (Furuta Pendulum) experiment, learning to balance a vertical rod  in the upright position by rotating or changing the angle at the base
  • Self-erecting inverted pendulum experiment, learning to design a controller that swings the pendulum up and maintains it in the upright position

In addition to teaching intermediate control concepts, the Rotary Inverted Pendulum can be used for research in various areas, including fuzzy control.

How It Works

The Rotary Inverted Pendulum consists of a flat arm with a pivot at one end and a metal shaft on the other end. The pivot-end is mounted on top of the Rotary Servo Base Unit load gear shaft. The pendulum link is fastened onto the metal shaft and the shaft is instrumented with a high resolution encoder to measure its angle. The result is a horizontally rotating arm with a pendulum at the end.

Quanser-developed ABET-aligned Courseware Included

The Rotary 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 Guide, pre-designed controllers and system model allow you to get your lab running faster, saving months of time typically required to develop lab materials.

  • Rotary Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
  • High resolution encoders to sense rod and shaft angles
  • High quality aluminum chassis with precision-crafted parts
  • Easy-connect cables and connectors
  • 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
Rotary arm length 21.6 cm
Rotary arm mass 0.257 kg
Pendulum length 33.7 cm
Pendulum mass 0.127 kg
Encoder resolution 4096 count/rev

Topics included in the Quanser-developed courseware:

Modeling Topics

  • State-space representation
  • Linearization

Control Topics

  • Hybrid control
  • Pole placement
  • Energy-based/non-linear control
The Rotary Inverted Pendulum module can be also used to teach other topics that are not included in Quanser-developed courseware.

To set up your Rotary 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 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

Rotary Double Inverted Pendulum
Ball and Beam
Linear Servo Base Unit with Inverted Pendulum
QUBE-Servo
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