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Digital Pendulum 33-005-PCI

The Digital Pendulum is a modern version of

a classical control problem; that of erecting
and balancing a free swinging pendulum in
its inverted position or moving a hanging
pendulum in a controlled manner.

The cart on the track is digitally controlled

using MATLAB software to swing up and to
balance the pendulum into an upright
sustained position or to move the cart with
pendulum in an unperturbed down position.
The cart track is of limited length, imposing
constraints on the control algorithm.

In pendulum mode the system is used to control the twin arm pendulum from an initial position, hanging at
rest with the cart in the centre of its travel along the track, to a final position with the pendulum upright and
the cart restored to its central position. In crane mode the control problem is to move the position of the
cart without undue movement of the pendulum. This problem is typical of that experienced when
controlling a gantry crane.

A guide is given for PID controller design, testing,

tuning and implementation on the model. Root locus
technique is used to illustrate the changes that PID
controller tuning inflicts on the control system
performance. The designed controllers are prepared

Screen showing MATLAB control software

Subject Areas
MATLAB System Identification Toolbox Combined Control Techniques
Crane Linear Model Identification Swing-Up and Hold
Inverted Pendulum Linear Model Up and Down Model
Pendulum Set-Up Control Pendulum Model
First Model Identification Equations of Motion
Plant Control Linear Models
PID Control of Cart Model Model Identification - Static Friction
Real-Time PID Control of Cart Position Compensation
Real-Time Swing-Up Control Running a Real-Time Model
Inverted Pendulum Control of Swing-Up Dynamic Model
Inverted Pendulum Stabilisation Cart Model Identification
Crane Control

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Digital Pendulum 33-005-PCI
The phenomenological process models are designed
in SIMULINK to provide initial models for the user to
test. Model linearization is then discussed and the uses
of simple dynamics analysis such as bode diagrams
and poles and zeros maps are introduced.

Dual mode system - crane or inverted pendulum
Self-erecting pendulum mode
Extensive MATLAB toolboxes are available from The MathWorks Inc.
An ideal vehicle for both undergraduate laboratory and project work
Introduction to PID control
Operates from either 110 V or 230 V, 50 Hz or 60 Hz
To obtain accurate models Identification procedures incorporating MATLAB functions are described. The user
has a chance to go step-by-step through the discrete models identification. One of the 'obtained models' is used
for the controllers design and PID control is explained. Using MATLAB together with the detailed training
manuals supplied by Feedback and an Advantech PCI card [which creates an impressive digital control system
development environment] the user is guided through the design process using the following:

Phenomenological process models Controller implementation in real-time

Dynamics analysis applications
Discrete models identification Implementation of various control strategies
Controller design Data visualisation
Controller tests on the model

Power requirements
Line voltage: 200/250 V or 100/125 V, 50 or 60 Hz.
Consumption: 100 VA. Fuse: 4 A (110 V), 2 A (230 V).
Dimensions & Weight
Length: 1710 mm, Height: 650 mm, Depth: 410 mm, Weight: 23 kg.
Tender Specification
A MATLAB controlled digital pendulum model comprising a cart with a
free swinging dual arm pendulum attached and associated track.
Ordering information
Order: Digital Pendulum 33-005-PCI System with MATLAB interface card and cable
Order: Digital Pendulum 33-005I System without MATLAB interface card and cable

For further information on Feedback equipment please contact ...

Feedback Instruments
Instru ments
5 & 6 Warren Court
Park Road, Crowborough
East Sussex, TN6 2QX
United Kingdom
Tel: +44 1892 653322
Feedback reserves the right to change these specifications without notice

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