This is the laboratory guide for the Rotary 2 DOF Inverted Pendulum module for LabVIEW users. It includes details on the process used to model the plant, design, simulate, and implement various control strategies.
This is the laboratory guide for the Rotary Double Inverted Pendulum module for LabVIEW users. It includes details on the process used to model the plant, design, simulate, and implement various control strategies.
These are the LabVIEW VIs for the Rotary Servo Base Unit. The VIs are separated into the four lab section including integration, modeling techniques, PID position control, and lead compensator speed control.
This is the laboratory guide for the Rotary 2 DOF Inverted Pendulum module for MATLAB users. It includes details on the process used to model the plant, design, simulate, and implement various control strategies.
This is the laboratory guide for the Rotary Double Inverted Pendulum module for MATLAB users. It includes details on the process used to model the plant, design, simulate, and implement various control strategies.
These are the Simulink models for the Rotary Double Inverted Pendulum module. Models are included for modeling, control design and implementation of the control scheme outlined in the laboratory guide.
These are the Simulink models for the Rotary Servo Base Unit. The models are separated into the four lab section including integration, modeling techniques, PID position control, and lead compensator speed control.
View the video: https://youtu.be/LX2xm2vQndw. Run the Simulink model with QUARC and try to balance the ball along the beam manually by controlling the position of the servo angle with your mouse! You can switch between the automated PID-based control that balance the ball and the manual mouse control to compare the difference and see how challenging it really is. The servo command from the mouse is done using the QUARC Host blocks, which allows you to use a number of computer peripherals (e.g. keyboard, mouse).
Inverted Pendulum Control with SimMechanics Multibody and QUARC
by Michel Levis and Steve Miller (MathWorks)
Video available at http://tinyurl.com/SimMechanics-and-QUARC. Simulates a state-feedback balance controller for the Quanser Rotary Inverted Pendulum that was designed based on a SimMechanics Multibody™ model imported from CAD. Within the same model, QUARC Rapid Controls Prototyping software can be used to generated the real-time code and implement the controller on the actual Quanser hardware system.
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