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Quanser |
LFJ with IP
Challenge:
Design a control system to balance a pendulum on
a spring driven cart.
Description:
A solid aluminum cart is driven by a rack and pinion
mechanism using a 6V DC motor, ensuring consistent and continuous traction.
The cart slides along a stainless steel shaft using linear bearings.
The cart position is measured using a sensor coupled to the rack via
an additional pinion. The powered input cart is coupled to a non-powered
output cart using a compression spring. Both cart positions are measured
using encoders. A pendulum is mounted on the output cart and is free
to fall along the cart's axis of motion.
The objective is to design a controller such that
the pendulum is balanced. The system is supplied with a state feedback
controller. You may design any other controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
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