The QNET 2.0 Rotary Pendulum board consists of a direct-drive DC motor mounted vertically in a
solid aluminum frame and a pendulum suspended on a horizontal axis at the end of an L-shaped arm. The arm is connected to the motor shaft and pivots between ±180 degrees. The control variable is the input voltage to the pulse-width modulated (PWM) amplifier that drives the motor. The output variables are the angle of the pendulum and the angular position of the DC motor, measured by single-ended rotary encoders.

  • Durable DC servo motor
  • Built-in PWM amplifier with linear response
  • High resolution optical encoders to sense to sense motor and pendulum positions
  • System modeling
  • Parameter estimation
  • State-feedback balance control
  • LQR optimization
  • Non-minimum phase
  • Friction compensation
  • Non-linear swing up control
  • Energy-based control
  • Hybrid control

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



Product Details

Rotary pendulum link mass 24 g
Rotary pendulum link length 12.9 cm
Motor nominal input voltage 18 V
Motor nominal speed 3050 rpm
Motor torque constant 0.042 Nm/A
Motor terminal resistance 8.4 Ω
Rotor inertia of the motor 4.0 x 10-6 kg.m²
Encoder line count 512 lines/rev
Encoder line count in quadrature 2048 lines/rev
Encoder resolution (in quadrature) 0.176 deg/count
Amplifier type PWM
Amplifier peak current 2.5 A
Amplifier continuous current 0.5 A
Amplifier output voltage ± 24 V with 42% duty cycle limit (± 10 V)

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