The Linear Flexible Joint with Inverted Pendulum is an ideal way to introduce intermediate control concepts related to vibration analysis and resonance, encountered, for example, in linkages and mechanical transmissions. The experiment challenges students to design a state-feedback control system that can balance an inverted pendulum mounted on the linear flexible joint cart, while minimizing the spring deflection.
Linear Flexible Joint with Inverted Pendulum
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.
QLabs Robotics is a collection of virtual laboratory activities that supplement traditional or online robotics courses. The virtual hardware labs are based on Quanser QArm robotic manipulator and QBot 2e mobile ground robot. The virtual twins of these robots are fully instrumented and dynamically accurate, allowing users to measure simulated sensors, including video and depth data, interact with virtual environments, and work with the same code created for the "real" robots. With QLabs Robotics, you can combine physical and virtual plants to enrich your lectures and in-lab activities and increases engagement and students’ learning outcomes in class-based or online courses.
QLabs Controls is a collection of virtual laboratory activities that supplement traditional or online control systems courses. The virtual hardware labs are based on Quanser QUBE-Servo 2 and Quanser AERO systems which allows you to combine physical and virtual plants to enrich lectures and in-lab activities and increases engagement and students’ learning outcomes in class-based or online courses.
The 2 DOF Ball Balancer module consists of a plate on which a ball can be placed and is free to move. Two Rotary Servo Base Units are connected to the sides of the plate using 2 DOF gimbals. The plate can swivel about in any direction. By controlling the position of the servo load gears, the tilt angle of the plate can be adjusted to balance the ball to a desired planar position. The digital camera mounted overhead captures two-dimensional images of the plate and track coordinates of the ball in real time. Images are transferred quickly to the PC via a FireWire connection. Students can make the ball track various trajectories (a circle, for example), or even stabilize the ball when it is thrown onto the plate using the controller provided with the experiment.
The 2 DOF Robot module is connected to two Rotary Servo Base Units, which are mounted at a fixed distance. Two servomotors on the Rotary Servo Base Units are mounted at a fixed distance and control a 4-bar linkage system: two powered arms coupled through two non-powered arms. The system is planar and has two actuated and three unactuated revolute joints. The goal of the 2 DOF Robot experiment is to manipulate the X-Y position of a four-bar linkage end effector. Such a system is similar to the kinematic problems encountered in the control of other parallel mechanisms that have singularities.
Same as the physical QUBE-Servo 2, the virtual system features a DC motor with the inertia disk and inverted pendulum modules. Rotary encoders measure the angular position of the DC motor and pendulum. The motor angular velocity is measured through a software-based tachometer.
Same as the physical Ball and Beam, the virtual system features a track on which a ball is free to roll. The track is effectively a potentiometer, outputting a voltage proportional to the position of the ball. The tilt angle of the track is controlled by the Rotary Servo’s DC motor.
Same as the physical Rotary Servo Base Unit, the virtual system features a DC motor that drives a smaller pinion gear. This gear is fixed to a larger middle gear that rotates on the load shaft. The position of the load shaft is measured using a high-resolution optical encoder or a potentiometer.