Fascinating demonstration of advanced control and stabilization algorithms
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 pitch1400 mm
The total length of the three armsis approx. 900 mm