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Quanser |
Seesaw/Pendulum
Challenge:
Design a control system to balance an inverted
pendulum on top of a seesaw.
Description:
A double seesaw system (composed of two seesaws
rigidly coupled in parallel) freely rotates upon an instrumented fulcrum.
A powered cart is mounted on each seesaw and each cart can move along
the seesaw's length without collision. One cart contains an instrumented
joint with an inverted pendulum mounted on it. 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 objective is to design a controller that simultaneously
balances the seesaw and pendulum. 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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