Overview

The Linear Flexible Joint with Inverted Pendulum combines two fundamental control challenges to give students an opportunity to a more advanced modeling and control challenge.

  • High-resolution optical encoders to sense cart position and the pendulum angle
  • Two different pendulum lengths supplied
  • Easy-connect cables and connectors
  • Fully compatible with MATLAB®/Simulink® and LabVIEW™
Modeling Topics
  • Derivation of dynamic model using Lagrange
  • State-space representation
  • Parameter estimation
  • Model validation
Control Topics
  • Linear-quadratic regulator (LQR)
  • Vibration control

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 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 two Quanser Q1-cRIO
    • Quanser Q8-USB
    • Quanser QPIDe

Product Details

Linear Flexible Joint with Inverted Pendulum cart mass 0.24 kg
Weight mass 0.12 kg
Pendulum fixture mass 0.135 kg
Spring stiffness 160 N/m
Spring assembly mass 0.145 kg
Spring length 29.0 cm
Long pendulum length (from pivot to tip) 64.1 cm
Long pendulum mass (with T-fitting) 0.23 kg
Medium pendulum length (from pivot to tip) 33.6 cm
Medium pendulum mass (with T-fitting) 0.127 kg
Cart encoder resolution (in quadrature) 4096 counts/rev
Pendulum encoder resolution (in quadrature) 4096 counts/rev
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