Triple inverted pendulum IPM-310

Fascinating demonstration of advanced control and stabilization algorithms

Trojité kyvadlo

The triple inverse pendulum is an attractive example of an underactuated mechanical system. It is a demonstration of unique control and stabilization algorithms. The model is suitable for research and education in the field of nonlinear control theory.

Key features

  • The difficult task of steering and stabilizing a multiple pendulum on a mobile truck
  • State-of-the-art equipment: a very fast direct linear motor without gear, accurate position sensors and a special wireless data communication system with reduced latency
  • Fully functional assembly including carefully tuned control algorithms
  • Modern equipment
  • Fast linear motor without gear, precise position sensors
  • Algorithms can be freely modified using the REXYGEN Studio development environment
  • Special low latency wireless data communication system
  • Operator interface for easy work from any web browser over local network
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Scope of delivery

  • Complete physical model: phase shift with linear position and position sensor, three arms equipped with angular position sensors, electronic module in the center arm, light alloy stand.
  • Cabinet mounted on a model stand with
  • Drive for linear motor with EtherCAT communication,
  • AIC control computer with REXYGEN Runtime module with I / O sensor cards and wireless communication, RJ45 Ethernet port for LAN connection.
  • Fully functional control algorithms for swing-up and swing-down maneuvers implemented in REXYGEN using function blocks from the standard library. Operator web interface.
  • Documentation - user manual, deriving a mathematical model.
  • On-site delivery, installation and technical training.

Options

  • The virtual model of the triple inverse pendulum is in the form of function blocks in the REXYGEN project, such as function blocks for Simulink or real-time simulator hardware. Necessary for the development and validation of customized management strategies.
  • Hardware and software modifications on request.

Quick Specification and Dimensions:

  • Linear pitch 1400 mm
  • The total length of the three arms is approx. 900 mm
  • Maximum speed in the linear stage 5 ms-1
  • Linear stage acceleration more than 50 ms-2
  • Linear servomotor force pitch 210 N (tip)
  • Dimensions 175 cm x 110 cm x 110 cm (w x l x d)
  • Power supply 230 V AC, 50/60 Hz, 6 A

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REX Controls s.r.o.
Technická 8, 301 00 Plzeň
Czech Republic
Registration number: 25239562
VAT ID: CZ25239562

+420 605 212 971
info@rexcontrols.com

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