LFJ with IP
Challenge:
Design a control system to balance a pendulum on
a spring driven cart.
Description:
A solid aluminum cart is driven by a rack and pinion mechanism using
a 6V DC motor, ensuring consistent and continuous traction. The cart
slides along a stainless steel shaft using linear bearings. The cart
position is measured using a sensor coupled to the rack via an additional
pinion. The powered input cart is coupled to a non-powered output cart
using a compression spring. Both cart positions are measured using encoders.
A pendulum is mounted on the output cart and is free to fall along the
cart's axis of motion.
The objective is to design a controller such that
the pendulum is balanced. The system is supplied with a state feedback
controller. You may design any other controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
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