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Quanser |
Cube
Challenge:
Design a control system to balance a cube on its
edge
Description:
The purpose of this system is to balance a cube
on one of its edges, with no direct angle measurement. Internally,
a powered pendulum is used to apply a torque to the body of the cube.
A piezoceramic gyroscope is used to sense the rate of rotation of the
cube. No measurement of the actual cube angle is available. The only
other available measurement is the relative angle between the pendulum
and the cube. This experiment is ideal for studying state estimation
and nonlinear control.
A "training wheel" is supplied with the
system that allows you to measure the fall angle if you wish to design
controllers that use full measurement - it just does not look as interesting
- and is much easier to control.
Difficulty:
Undergraduate advanced / Graduate
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