Linear Inverted Pendulum

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 is a classic pendulum control challenge to teach students how to balance a vertical rod at the tip of a moving arm. The inverted pendulum system is a popular demonstration of using feedback control to stabilize an unstable system and is widely used as a benchmark for testing control algorithms. Made with durable industrial parts, combined with popular controller options and open-source software example codes, ACROME's linear pendulum provides a superior experience for both entry-level and advanced users.
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SOFTWARE OPTIONS

LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
Python
LabVIEW, Real-Time, FPGA (optional)
Python and OpenCV
API for External Control (Examples for LV, Matlab, Python)
MatLab/Simulink
C with STM32 software
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require

CONTROLLER OPTIONS

USB (PC based)
Raspberry Pi + Shield
NI myRIO
Arduino Mega + Shield

APPLICATION AREAS

Professional Photography
Medical Applications
Wearable Items
Quality Assurance
Engineering Research Applications
Positioners' Algorithm Research
Starting From
$7,499
Stewart platform
Ready to use GUI
API for external programming
Customization options available
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PRODUCT PHOTOS

SPECIFICATIONS

Standard Unit
Customizations Options
Payload
12 kgs (26,5 lbs)
Up to 150 kgs (331 lbs)
Workspace Options
X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°  
Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°  
Position Repeatability
+/- 100 µm
Down to +/- 25 µm
Angular Sensitivity
0.2°
Down to 0.1°
Max. Linear Speed
40 mm/sec.
Up to 80 mm/sec.
Height (min-max)
406-506 mm
330-920 mm
Platform Diameter
350 mm (hexagonal)
250-1000+ mm
Base Diameter
450 mm (hexagonal)
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options

SPECIFICATIONS

Payload
750 gr.
Workspace
800mm. in Carts Movement Direction & 360° in Rods Motion
Position Repeatability
± 1 mm.
Angular Sensitivity
0.36°
Max. Speed
1,000 mm./s.
Height (min-max)
50 - 450mm. (± 2mm.)
Height
Rod Height
400mm. (± 1mm.)
Platform Dimensions (Length * Width)
880mm. x 172mm. (± 2mm.)
Base Dimensions (Length * Width)
1,000mm. x 200mm. (± 2mm.)
Weight
4,900 gr.
Propeller Wingspan
Ball Diameter
Magnet Diameter
Rod's Diameter
8mm. (± 0.1mm.)
Motor Type
Brushed DC Motor with Built-In Encoder
Feedback Sensors
Encoder, Potentiometer
Power Requirement
12 V - 2,5 A

FEATURES

Durable DC servo motor

Ready to control plant with all the components included

Implementation of basic and advanced digital control techniques

Open architecture, suitable for undergraduate and graduate courses as well as research projects related to advanced control systems.

Fully documented system models and parameters provided for MATLAB®/Simulink®

Getting Started Program with rich Graphical User Interface for out-of-the-box user experience

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.

Open-source code examples with PI, PD controllers

Controller with USB / Ethernet, Plug-and-play

FAQs

What is a Linear Inverted Pendulum?
A linear inverted pendulum is a classical control system, used for teaching the basics of control systems, via using an unstable, non-linear physical hardware.
What is a Linear Inverted Pendulum used for?
The Linear Inverted Pendulum is used for trying different algorithms to control the rod's position in vertical and horizontal direction, in a safe and repeatable manner.
What are the different types of inverted pendulums?
There are 2 major pendulum experiment system designs. The rotary pendulums and the linear pendulums. ACROME's system uses the linear pendulum design. It is based on conventional rotary motors and belt & pulley mechanism for linear motion.
How many links does the rod have? Can I add more links?
ACROME provide its Pendulum with single link. Users are free to change the rod material and can use the same electro-mechanical structure to try multiple link systems.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF LINEAR INVERTED PENDULUM
Mechanical Parts
Electronics
Software
MOTION FUNDAMENTALS
DC Brushed Motors
PWM Control of the Motor
Software Commands
FEEDBACK IN CONTROL SYSTEMS
Feedback Sources
Types of Feedback
Implementing Feedback
SYSTEM MODELING
State-Space Representation
PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response
Steady State Error
CONTROL SYSTEM DESIGN EXAMPLES
PI Example
PID Example
LINEAR-QUADRATIC REGULATOR (LQR) Example
Info Sheet Download
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SPECIFICATIONS

*We offer customization in our product upon customer’s request.

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No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

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