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Quanser |
Flexible IP
Challenge:
Design a control system to balance a flexible
inverted pendulum.
Description:
A flexible link is vertically mounted on a solid
aluminum cart via an instrumented joint. The link is free to fall
along the cart's axis of motion. The deflection of the link is measured
by a stream gage along with the fall angle of the instrumented joint.
The 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 goal is to design a control system that keeps
the link balanced and maintains the cart position. 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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