Linear Inverted Pendulum

2 DOF Control Platform for Advanced Control Teaching and Research

ACROME Linear Inverted Pendulum is designed for learning and testing advanced feedback-control algorithms using an unstable non-linear system.

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OVERVIEW

ACROME Linear Inverted Pendulum Trainer with Direct Drive Actuator is a classic pendulum control challenge built with special industrial automation components with the twofold educational target. The system can be used to teach students how to balance a vertical rod at the tip of a moving arm and be used as a tool to teach industrial components such as linear motors, servo motor drivers, magnetic encoders and sliding rails. The inverted pendulum system is a popular demonstration of using feedback control to stabilize an open-loop unstable system and is widely used as a benchmark for testing control algorithms.

FEATURES

Durable linear DC servo motor
Ready to control plant with Industrial servo motor driver
Implementation of basic and advanced digital control techniques
Tray position feedback using a high precision contactless magnetic encoder
Controller with USB Plug-and-play
Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Open architecture, suitable for undergraduate and graduate courses as well as research projects related to advanced control systems.

CURRICULUM

SPECIFICATIONS

Linear Motor Base Dimensions	: 350 mm x 410 mm
Linear Pitch Length*	: 1,400 mm.
Linear Workspace*	: 1,012 mm.
Magnetic Pitch Length	: 120 mm.
Linear Position Sensor Type	: Linear track magnetic encoder
Position Resolution	: 33,900 lines / 1,012 mm.
Motor Type	:Direct Drive Linear Motor
Motor Torque*	:@230 Vrms : 104 N·m (limited to 30 N·m)
Position Resolution	: 33,900 lines / 1,012 mm.
Control Frequency	:200 Hz.
Pendulum Arm Length	: 680 mm.
Pendulum Position Sensor	: Optical Rotary Encoder
Sensor Resolution	: 4,000 counts/revolution