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Quanser |
Gantry
Challenge:
Design a control system to track a desired
cart position while minimizing the swing of the suspended pendulum.
Description:
Similar to a large crane transporting a swinging
load, a pendulum mounted on a cart is free to fall along the
cart's axis of motion. The cart is solid aluminum and 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 idea is to design a control system that
tracks a desired cart position and minimizes the swing of the
pendulum while doing so. The system is supplied with a state
feedback controller. You may design any other controller you
wish. A joystick can also be attached to conduct performance
comparisons between human operators and computer controlled systems.
Difficulty:
Undergraduate - first or second course
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