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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.
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.
Features
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:
Specification
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
Feedback Instruments
Instru ments
5 & 6 Warren Court
Park Road, Crowborough
East Sussex, TN6 2QX
United Kingdom
Tel: +44 1892 653322
Sales: sales@feedback-instruments.com
Website: www.feedback-instruments.com
Feedback reserves the right to change these specifications without notice
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