Linear Flexible Inverted Pendulum Training System
(MC106.03)
- Familiarization with different modeling topics:
- Lagrange derivation of dynamic mode.
- State-space representation.
- Linearization.
- Demonstrating the linear-quadratic regulator.
- (LQR) control.
- Learning about hybrid control.
- Knowing the principles of pole placement.
- Linear Flexible Inverted Pendulum Training System (MC106.03).
- Hard copy user manual.
- Linear Servo Base Unit (MC106).
The Linear Flexible Inverted Pendulum trainer extends the basic inverted pendulum challenge by incorporating a flexible link that must be balanced. The Linear Flexible Inverted Pendulum module connects to the Linear Servo Base Unit and features a rigid long rod and flexible link. The goal is to balance both pendulums by measuring the base angle and the deflection angle of the flexible link.
- Linear inverted pendulum training system has been created to demonstrate real-world issues, such as the flexibility of the Canadarm Space Shuttle Remote Manipulator System.
- In space, large, light structures can be flexible. As a result, they show stabilization concerns that are related to some of the Linear Inverted
- Flexible Pendulum experiments' dynamic modeling and control challenges.
- The Linear Flexible Inverted Pendulum trainer is made up of a rigid 24-inch aluminum blue rod and a flexible link with an end weight attached to the end.
- The trainer fits easily to the front pendulum shaft of the Linear Servo Base Unit cart and can rotate 360 degrees.
- The Linear Servo pendulum shaft encoder senses the pendulum angles.
- The deflection angle of the flexible link is measured with an analog strain gauge sensor.
- The balancing control delivers a voltage to the Linear Servo cart depending on the rigid and flexible pendulum angles, ensuring that both rigid and flexible pendulums are balanced in the upright, vertical position.
- The system's durability can be verified when the strain gage.