Linear Servo Base Unit with Inverted Pendulum

A modular lab platform for teaching robotics, mechatronics, and controls

Electromechanical Control

The Linear Servo Base Unit is the fundamental unit for the Quanser linear motion platform. It is ideally suited to introduce basic control concepts and theories on an easy-to-use and intuitive platform.
Use it on its own to perform several experiments, or expand the scope of this unit by adding on other modules to teach an even wider range of experiments. The scalability of the platform gives you an opportunity to expose students to a variety of linear control challenges for a minimal investment.

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The Linear Motion Control Lab is one of the most popular, flexible and modular solutions for teaching controls. Based on the world’s leading turn-key platform for controls education, it is designed to help engineering educators reach a new level of efficiency and effectiveness in teaching controls.

High quality DC motor and gearbox
High resolution optical encoders to sense position of the cart and pendulum angels
Two pendulum sizes supplied: medium and long
Seven add-on modules to expand the use of the base unit (modules can be purchased separately)
Easy-connect cables and connectors
High quality aluminum chassis with precision-crafted parts
Fully compatible with MATLAB®/Simulink® and LabVIEW™

Rack dimensions (L x W x H)	102 cm x 15 cm x 6.1 cm
Cart travel	81.4 cm
Pendulum workspace (L x W x H)	219 cm x 30 cm x 127 cm (56 cm below the desk surface)
Cart mass	0.38 kg
Cart weight mass	0.37 kg
Motor nominal input voltage	6 V
Motor maximum continuous current (recommended)	1 A
Motor maximum speed (recommended)	6000 RPM
Planetary gear box ratio	3.71
Cart encoder resolution (in quadrature)	4096 counts/rev
Medium pendulum mass (with T-fitting)	0.127 kg
Medium pendulum length (pivot to tip)	33.65 cm
Long pendulum mass	0.230 kg
Long pendulum length (pivot to tip)	64.13 cm
Pendulum encoder resolution (in quadrature)	4096 count/rev

Modeling Topics

Derivation of dynamic model from first-principles
Transfer function representation
Model validation
Derivation of dynamic model using Lagrange
State-space representation
Linearization

Control Topics

PID
Lead Compensator design
Linear-quadratic regulator (LQR)
Hybrid control
Pole placement
Energy-based/non-linear control

The following additional components are required to complete your workstation, and are sold separately:

For Simulink

QUARC® add-on for MATLAB®/Simulink®
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™
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