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.
The force between electromagnet and ball is highly nonlinear. Further, the electromagnet itself has its own dynamics that must be compensated for. The challenging dynamics of the system make it perfect for teaching modeling, linearization, current control, position control, and using multiple loops (i.e. cascade control). It could also be used to test and implement more advanced control strategies, such as multi-variable, gain scheduling, and nonlinear control.
Integrating Quanser-developed QFLEX 2 computing interface technology, QUBE-Servo 2 provides more flexibility in lab configurations, using a PC, or microcontrollers, such as NI myRIO, Arduino and Raspberry Pi. With the comprehensive course materials included, you can build a state-of-the-art undergraduate teaching lab for your mechatronics or control courses, and engage students in various design and capstone projects.
Same as the physical Quanser AERO, the virtual system is a dual-rotor helicopter model that can be reconfigured for 1 DOF attitude, 2 DOF helicopter, or half-quadrotor experiments. Rotary encoders measure the angular position of the propeller DC motors, the speed of the motors is measured through a software-based tachometer.
The 3 DOF Gyroscope consists of a disk mounted inside an inner gimbal which in turn is mounted inside an outer gimbal. The entire structure is supported by a rectangular frame that is free to rotate about its vertical axis of using a slip ring design. The gimbals are also equipped with slip rings, allowing them to rotate freely and giving the disk three degrees of freedom. The plant is equipped with four DC motors and four encoders, with the ability to fix individual axis. Axes positions are measured using high-resolution optical encoders. Although the gimbals and outer frame are free to rotate, the plant provides the ability to fix any desired axis (outer frame, red and blue gimbals).
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.
The experiment is reconfigurable for various aerospace systems, from 1 DOF and 2 DOF helicopter to half-quadrotor. Integrating Quanser-developed QFLEX 2 computing interface technology, the Quanser AERO also offers flexibility in lab configurations, using a PC, or microcontrollers, such as NI myRIO, Arduino and Raspberry Pi. With the comprehensive course materials included, you can build a state-of-the-art teaching lab for your mechatronics or control courses, engage students in various design and capstone projects, and validate your research concepts on a high-quality, robust, and precise platform.
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.