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Linear Flexible Inverted Pendulum
Electromechanical Control
The Linear Flexible Inverted Pendulum module augments the classic inverted pendulum challenge by including a flexible link that requires balancing. The Linear Flexible Inverted Pendulum module attaches to the Linear Servo Base Unit and has both a rigid long rod and a flexible link. The goal is to balance both pendulums using the base angle measurement as well the deflection angle of the flexible link.
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Product Details
The linear flexible inverted pendulum challenges students to gain advanced modeling and control experience by controlling both the damping of a flexible link, and an unstable inverted pendulum.
| Rigid pendulum mass (with T-fitting) | 0.230 kg |
| Rigid pendulum length (pivot to tip) | 64.1 cm |
| Flexible pendulum mass (with T-fitting and weight) | 0.458 kg |
| Flexible pendulum length (pivot to tip) | 43.5 cm |
| Mass of flexible pendulum end weight | 0.256 kg |
| Pendulum shaft encoder resolution (in quadrature) | 4096 counts/rev |
| Strain gage measurement range | ± 5 V |
| Strain gage sensitivity | 2.54 cm/V |
| Flexible link stiffness | 2.64 N.m/rad |
Modeling Topics
- Derivation of dynamic model using Lagrange
- State-space representation
- Linearization
Control Topics
- Linear-quadratic regulator (LQR)
The following additional components are required to complete your workstation, and are sold separately:
For Simulink
- QUARC® add-on for MATLAB®/Simulink®
- Linear Servo Base Unit
- Quanser VoltPAQ-X1 linear voltage amplifier
- One of the following DAQ devices:
- Quanser Q2-USB
- Quanser Q8-USB
- Quanser QPIDe
For LabVIEW
- Quanser Rapid Control Prototyping (Q-RCP) Toolkit® add-on for NI LabVIEW™
- Linear Servo Base Unit
- Quanser VoltPAQ-X1 linear voltage amplifier
- One of the following DAQ devices:
- NI CompactRIO with Quanser Q1-cRIO
- NI myRIO with Quanser Terminal Board
- Quanser Q2-USB
- Quanser Q8-USB
- Quanser QPIDe
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