Inverted Pendulum Apparatus PP-300

Try this balancing ACT!

Technical Specifications

Theory of Operations

Applications

Sofware Support Available

Application Notes

Ordering Information

Live Internet Demonstration

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Technical Specifications

Motor control inputs Drive: PWM (TTL)
Motor voltages: 0 to 5Vdc (analog) or PWM (digital)
Direction: TTL LOW - CW & TTL HIGH - CCW
Brake: TTL LOW - FREE & TTL HIGH - STOP
Measurements Pendulum angle: 28ohms per degree
Motor encoder: A, B & Z (TTL compatible signals, 1000 lines)
Tacho: 7V per 1000rpm
Motor current: 1.67V/A upto 5V(max)
Power supply Voltage: 110Vac @ 60Hz or 240Vac @ 50Hz
Power: 300watts (max)
Operating conditions >Normal: 15-25C @ 45-90%RH
Max. Limits: 5-30C @ 30-90%RH
Transportation & storage limits: 0-70C @10-95%RH
Dimensions Size: Dia. 300mm x Ht 400mm (pend. at rest) & Dia. 300mm x Ht 650mm (pend. balanced)
Weight: 10kg (approx.)

Specifications may subject to change without notice

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Theory of Operation

The Inverted Pendulum Apparatus PP-300 consists of: (1) a short arm which rotates in a horizontal plane, driven by a motor mounted vertically; and, (2) a pendulum rod at one end of the arm which moves in a vertical plane (orthogonal to that of the arm).

At rest, the arm is stationary and the pendulum hangs downwards. One control objective is to move the arm in such a way that the pendulum swings up and balances vertically with the arm at this time stationary. This is obviously a position of unstable equilibrium.

The apparatus is equipped with sensors to detect the angular position and velocity of the arm as well as the angular position of the pendulum. The arm is directly driven by a high performance dc motor.

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Applications

The KRi Inverted Pendulum Apparatus PP-300 is a low cost pilot plant designed for teaching advanced control systems theory in the laboratory. Compared to conventional linear pendulums, it occupies very little bench space. This apparatus is useful to illustrate how to design control algorithms for balancing a pendulum - ranging from classical controllers to modern fuzzy-logic controllers. For example, in swing up mode, open-loop schemes can be compared with feedback-based optimal controllers. In balancing mode, the pendulum allows demonstration of phase-lead compensators, fuzzy-logic controllers or variable-structure controllers. It also demonstrates the use of linear models for a non-linear system and requires the realization of mode switching in controllers from swing up to balance. Thus one simple and compact apparatus successfully provides a point of comparison amongst the rich variety of classical and modern algorithms.

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Software Support Available

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Application Notes

  • IP300: Application Examples of the KRi Inverted Pendulum
  • IP301: An Internet-based Laboratory for Control Engineering Education
  • IP302: Dynamic Models for the KRi Inverted Pendulum PP-300
  • IP304: Parameter Identification of a Rotary Inverted Pendulum
  • IP305: Parameter Estimation of a Rotary Inverted Pendulum
  • IP306: Course Development for a Rotary Inverted Pendulum
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    Ordering Information

    Inverted Pendulum, part no.: PP-300
    comes with:

  • UC96 Servo Drive Module
  • AC-DC power supply accepts 110Vac or 240Vac (50-60Hz) mains
  • UC96 v2.0 board support package with servo drivers in source form
  • PP-300 Demo Software with source code
  • User & Service Manual
  • Universal Controller UC96 User Guide
  • Report FYP4096: Rotary Inverted Pendulum
  • Set of application notes
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    KRi Inverted Pendulum is designed and verified with assistance from Nanyang Technological University. FlexControl is reproduced under license from the National University of Singapore. Windows is a registered trademark of Microsoft Inc.

    Last Updated 4 March 2000

    Copyright (c) 1998-2000. All rights reserved. KentRidge Instruments Pte. Ltd.