The High Fidelity Linear Cart (HFLC) system is ideally suited to introduce advanced control concepts and theories relevant to real world applications of servomotors, taking the classic inverted pendulum challenge to the next level with an array of experiments including double, dual and triple inverted pendulums. Students learn how to:
I addition to five different pendulums provided with the HFLC system (three single pendulums of different length, one double pendulum and one triple pendulum), an optional Linear Flexible Joint can be connected to the actuated High Fidelity Linear Cart to create experiments of increased complexity. Students learn how to design a state feedback control system that regulates the position of the High Fidelity Linear Cart and the Linear Flexible Joint cart to a desired setpoint while dampening the spring.
How It Works
The High Fidelity Linear Cart (HFLC) system consists of a precisely machined solid aluminum cart driven by a high-power 3-phase brushless DC motor. The cart slides along two high precision, ground hardened steel guide rails with self-aligning linear bearings for true linear motion. The motor shaft has a pinion gear that rides on a track permitting the cart to move in a linear fashion. Both rack and pinion are made of hardened steel and mesh with a tight tolerance. The rack-and-pinion mechanism eliminates undesirable effects found in belt-driven and free wheel systems, such as slippage or belt stretching, ensuring consistent and continuous traction.
The complete assembly rests on a solid aluminum base to ensure straightness, increased rigidity and support. With this design, the linear positioning system can obtain high speed, high acceleration and repeatability.
The cart is also equipped with two unactuated rotary joints with ball bearings for attaching of free-turning pendulum rods. The rods can be controlled individually or in combination to perform a variety of experiments with increasing complexity. One pendulum can be mounted directly on the cart, the rotation of the cart joint is mechanically limited to ± 30.9 degrees around its “inverted” vertical posture. The second pendulum can be suspended in front of the cart through an extended pivot shaft and can be used to perform self-erecting and gantry experiments.
The motor shaft is coupled to a high-resolution optical encoder that accurately measures the position of the cart. The angles of both pendulums are also measured by the optical encoders, allowing for multiple turns and continuous measurement over the entire range of motion.
The HFLC system comes with five different pendulums: three single pendulum rods of different lengths, one double and one triple pendulum. More experimental combinations can be created by adding an unactuated cart connected to the actuated High Fidelity Linear cart with a single linear flexible joint.
The HFLC system comes with Quanser-developed courseware. The Laboratory Guide, together with a comprehensive User Manual and pre-designed controllers allow you to get your lab running faster, saving months of time typically required to develop lab materials.
Topics Included in the Quanser-developed courseware:
To set up your High Fidelity Linear Cart workstation, you need additional components. Quanser engineers recommend: