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Inverted Pendulum

Process Platform for didactic purposes, meant for training students in the field of control engineering.
Rolling track Toothwheel Cart Toothbelt Limit switch

Pendulum

Case

The DC Motor control unit

Angular and linear signals adaptation and processing unit PCI

Power Supply

National Instruments DAQ PCI 6601

Description
The Inverted Pendulum is a didactic platform which enables the study of the control laws with appliance to linear and/or angular position control and it represents the basic modulus for further developments: tandem pendulum, double pendulum, crane. The platform illustrates the problems of the non-linear process control.

Technical Data

Structure
The DC Motor - a machine that is controlled by pulse width modulated current signals (PWM). The Cart a support platform for the pendulum and for the angular position transducer that moves on a rolling track driven by the DC motor through a mechanism formed by a toothbelt and two wheels. Angular and linear position transducers incremental type. Mechanical and optical limit switches The electronic unit for processing the position signals. The electronic unit for controlling the DC motor.

Physical dimensions: length 1700 mm, width 300 mm, heigth 300 mm. Length of the rolling track 1200 mm. The resolution for the control of the angular position : 0.01 grade/increment The resolution for the control of the linear position :0.0096 mm/increment The motor's power supply voltage : 24 V DC, nominal current 4 A, nominal torque 0,5 Nm Automatic or Manual control mode.

Objectives

To speed up the understanding of the physical principles. To investigate the process in open or closed loop using various control algorithms like PID, state space reaction, and fuzzy logic.

Power supply 24V,10A. Inverted Pendulum Catalogue Page

Experiments

Note: All the signals are optic isolated and they are TTL-CMOS compatible.

The process identification. The choices of the control structure and of the controllers accord parameters. The system's response to the individual modification of the accord parameters. The system's response to the modification of the reference signal depending on various profiles: impulse, step, ramp. The system's response to the disturbance generated by the modification of the linear or angular position. The plotting of the system's response in real time. The off-line analysis of the experimental results. The development of your own application program. The validation of the user application program.

Software applications
The Control algorithms have been designed in Matlab and implemented in LabView programming environment. Position PID algorithm - adjusts the linear/angular position of the cart/pendulum. It emphasizes the implementation details of a numerical control structure with a positional PID algorithm with a sampling period of 25 ms. State space algorithm simultaneously controls the position of the cart and pendulum, maintaining the pendulum in unstable equilibrium at a pre-established position of the cart. Full/Reduced order observers Fuzzy intelligent control structures, similar to PID types, with an increased robustness to the process's parametric uncertainties. Swing-Up - algorithm for positioning the pendulum from its natural, gravitational position to the position of inverted pendulum. Self-Erecting algorithm Algorithms for the measurement of the static friction of the system, the speed and the acceleration of the cart. Test programmes Under construction : multivariable fuzzy logic.

Working Medium
User's Resources PIII PC Computer Windows 9X LabView 6 Producer's Furniture Inverted Pendulum Process Platform Data acquisition board National Instruments 6601 Application software for the control of the process with PID algorithm, state space reaction algorithm, and fuzzy logic.

Data acquisition boards description:


PCI 6601 is a data acquisition board dedicated to I/O digital operations, for processing information from the incremental encoders, for event counting, for frequency measurements, for generating pulse width modulated signals, etc. The board is recommended for application software such as LabView, LabWindows/CVI.

Working Session
The carrying out of the suggested set of experiments involves the following algorithm: Launching the Labview program, Loading the desired application program, Launching the application.

Resources:
Chipset : NI-TIO ASIC Bus : PCI Counter/Timers : 4 Resolution of the counters : 32 bytes Time base : 20 MHz Compatibility : 5V TTL/CMOS Digital I/O lines : 32 Stability of the oscillator : 50 ppm DMA lines : 1 IRQ lines : 3

DESIGNER and PRODUCER: Politehnica University from Bucharest Automation and Computers Faculty Department of Automatic Control and Systems Engineering Address: 313 Splaiul Independenei, Sector 6, Room ED 216, Secretariat

Telephone and Fax: 402 9587 Telephone: 402 9320, 402 9167
Technical Relations: Eng. Gigi VASILE Hardware Eng. Mihai SPTARU - Software e-mail: mihais2k1@yahoo.com

Interface with the process:


Inputs : Outputs : Limit switches Angular and linear positions Control signal ,enable/disable control

Inverted Pendulum Catalogue Page

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