Position and Angle Control System, Inverted Pendulum

The position and angle control system is a training system, to which modern control technology can be very clearly applied. The transferable learning contents range from classical position control with standard controllers to model-based multi-variable control in state space. The swinging up and balancing of a pendulum rod (inverted pendulum) rotatably mounted on a carriage by purely horizontal accelerations of the carriage presents a particular challenge. The principle can be transferred among other applications to the control of the Segway PT. In addition, the user is taught the basic handling of coupled miltiple input/output systems in a practical way.

• Linear axis with belt drive and recirculating ball bearing guide
• Travel range of up to 400 mm
• Powerful hybrid stepper motor with a power of up to 100W
• Maximum speed of 0.5 m/s
• Acceleration of up to 10 m/s2
• Integrated speed and current control
• Position detection with a high-resolution incremental encoder with 4000 pulses per revolution
• Angle detection with a high-resolution incremental encoder with 16,000 pulses per revolution via a CAN interface
• Pendulum rod with a movable center of gravity
• Toggle switch for automatic initialisation of a homing run
• Specification of the setpoint speed via an analogue signal ± 10 V
• Activation of the drive optionally via an external signal
• Limit switch outputs for use with superimposed control
• Integrated wide-range power supply
• Dimensions: 741 x 297 x 125 mm
• Weight: 12 kg