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| . | Control of Inverted Pendulum System (Real Time) |
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| . | Inverted pendulum
The rotary pendulum device is shown in Fig1 below. The motor is mounted vertically in a metal chamber. An L-shaped arm is connected to the motor shaft and pivots between ±180 degrees. A pendulum is suspended on a horizontal axis at the end of the arm. The pendulum angle is measured by an encoder. The control variable is the input voltage to the pulse-width modulated amplifier that drives the motor. The output variables are the angle of the pendulum and the angle of the motor.
Fig1. The QNET rotary pendulum control trainer (ROTPENT).
General Overview The photograph in Figure2 shows an overview and the general layout of the QNET Rotary Pendulum Control Trainer (ROTPENT) system.
Fig 2. General layout of QNET ROTPENT
Fig 3. Components of QNET-ROTPENT pendulum assembly.
The ROTPENT components in Figure 2 and Figure 3 are located and identified by a unique ID in Table 1
Specification The specifications of the ROTPENT system model parameters are given in Table 2.
There are two experiments: simple modeling and swing-up control. The experiments can be performed independently.
Cite this Simulator: |
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