Skip To Content
Back to Products

Rotary Double Inverted Pendulum

Take the classic inverted pendulum challenge to the next level

Electromechanical Control

The Rotary Double Inverted Pendulum module is ideal to introduce intermediate and advanced control concepts, taking the classic single inverted pendulum challenge to the next level of complexity. You can use it to demonstrate real-world control challenges related, for example, to takeoff stabilization of a multi-stage rocket. The Rotary Double Inverted Pendulum module attaches to the Rotary Servo Base Unit.

DBPEN-ROT-graphic
Gallery
Documents

Product Details

The Double Inverted Pendulum module is composed of a rotary arm that attaches to the Rotary Servo Base Unit, a short 7-inch bottom blue rod, an encoder hinge, and the top 12-inch blue rod. The balance control computes a voltage based on the angle measurements from the encoders. This control voltage signal is amplified and applied to the Servo motor. The rotary arm moves accordingly to balance the two links and the process repeats itself.

  • Double pendulum comprised of a 7-inch aluminum link connected to a 12-inch link
  • Double Inverted Pendulum module easily attaches to the Rotary Servo Base Unit
  • High resolution encoders sense rotary arm and pendulum link angles
Rotary arm length (pivot to tip) 21.59 cm
Rotary arm mass 0.2570 kg
Short pendulum mass (with T-fitting) 0.097 kg
Short pendulum length (pivot to tip) 20.0 cm
Medium pendulum mass (with T-fitting) 0.127 kg
 Medium pendulum length (pivot to tip) 33.65 cm
Pendulum encoder resolution (in quadrature) 4096 counts/rev
Modeling Topics
  • Lagrange derivation
  • State-space representation
  • Linearization
Control Topics
  • Linear-quadratic regulator

© 2024 Quanser. All Rights Reserved.

Web Design by NVISION