The Rotary Inverted Pendulum module attaches to the Rotary Servo Base Unit, expanding the mechatronics and controls topics that can be taught. The pendulum module challenges students to not only model and control a pendulum, but also to learn about hybrid control systems by tuning a swing-up control system. In addition to teaching intermediate control concepts, the Rotary Inverted Pendulum can be used for research in various areas, including fuzzy control.
Rotary Inverted Pendulum
Students can use this module to learn practical problem-solving skills for mechanical and aerospace engineering. A classic application context for the design challenge is the two-wheeled Segway self-balancing electric vehicle.
The 2 DOF Inverted Pendulum module consists of an instrumented 2 DOF joint to which a 12-inch rod is mounted. The rod is free to swing about two orthogonal axes. The module is attached to two Rotary Servo Base Units. Their servomotors’ output shafts are coupled through a four-bar linkage, i.e., 2 DOF Robot module, resulting in a planar manipulator robot. The 2 DOF Joint is attached to the end effector of the robot arms. The goal of the 2 DOF Inverted Pendulum experiment is to command the position of the 2 DOF Robot end effector to balance the pendulum. By measuring the deviations of the vertical pendulum, a controller can be used to rotate the servos, so that the position of the end effector balances the pendulum.
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.
As automation and connected devices move from industry to commercial products and the home, an understanding of the design and implementation of control systems on hardware is essential. The courseware progression that accompanies the Quanser Controls Board begins with a grounding in the basics of modeling and control. Topics then transition into more complex strategies including optimal control, hybrid control, and digital control.
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.
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.