23 - Rotary Double Inverted Pendulum - User and Lab Manual
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Transcript of 23 - Rotary Double Inverted Pendulum - User and Lab Manual
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5/25/2018 23 - Rotary Double Inverted Pendulum - User and Lab Manual
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Rotary Motion Servo Plant: SRV02
Rotary Experiment #9:Double Inverted Pendulum
Control
Double Inverted Pendulumusing QUARC
User and Lab Manual
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5/25/2018 23 - Rotary Double Inverted Pendulum - User and Lab Manual
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Rotary Double Inverted Pendulum: User and Laboratory Manual
Table o Contents
1. Laboratory Objectives............................................................................................................................12. Prerequisites...........................................................................................................................................13. Experiment Design Files........................................................................................................................2. !"#$2%D&'P (o)eling an) *ontrol Design........................................................................................3
.1. !ystem (o)eling............................................................................................................................3.2. (o)el Parameters...........................................................................................................................+.3. &alance *ontroller Design.............................................................................................................,
+. 'n-Lab Proce)ure...................................................................................................................................+.1. !ystem !etup..................................................................................................................................+.2. /iring Proce)ure...........................................................................................................................
+.2.1. *able 0omenclature...............................................................................................................+.3. ypical *onnections.....................................................................................................................1$
+.3.1. /iring 4en using E! Option...........................................................................................11
+.. *ontroller !imulation...................................................................................................................12+..1. Objectives.............................................................................................................................12+..2. Proce)ure..............................................................................................................................12
+.+. *ontroller 'mplementation...........................................................................................................15+.+.1. Objective...............................................................................................................................15+.+.2. 678"* *ontroller Description...........................................................................................1........................................................................................................................................................1+.+.3. Experimental Proce)ure.......................................................................................................1
,. "e9erences............................................................................................................................................23
Document Number 723 Revision 1. Pa!e: i
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5/25/2018 23 - Rotary Double Inverted Pendulum - User and Lab Manual
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Rotary Double Inverted Pendulum: User and Laboratory Manual
!" Laboratory b$e%tives
4e c4allenge in t4is laboratory is to )esign a state-9ee)bac:control system t4at balances a rotary )ouble inverte) pen)uluman) positions t4e rotary arm to a comman)e) angular position.4e system 4en running t4e balance controller is s4on inFigure 1.
4e plant is 4as to main components; t4e 6uanser !"#$2rotary motion plant an) t4e 6uanser Double Pen)ulum< i.e.D&PE0 mo)ule. 4is is )enote) as !"#$2%D&PE0 plant. 8s)epicte) in Figure 1< t4e )ouble pen)ulum is compose) o9 arotary arm t4at attac4es to t4e !"#$2 system< a s4ort 5-inc4bottom blue ro)< an enco)er 4inge< an) t4e top 12-inc4 blue ro).4e balance control computes a voltage base) on t4e angle
measurements 9rom t4e enco)ers. 4is control voltage signal isampli9ie) an) applie) to t4e !"#$2 motor. 4e rotary armmoves accor)ingly to balance t4e to lin:s an) t4e processrepeats itsel9.
!ection 2 )escribes t4e requirements o9 t4e experiment an)!ection 3 overvies t4e 9iles supplie) it4 t4e system. 4emo)eling< mo)el parameters< an) control )esign is explaine) in!ection . 'n !ection +< t4e plant iring an) setup is )escribe)9olloe) by proce)ures to run a simulation o9 t4e system an) runt4e control on t4e actual !"#$2%D&PE0 plant in real-time.
Lastly< !ection ,contains re9erences t4at are cite) t4roug4outt4is manual.
&" Prere'uisites
4e prerequisites to success9ully carry out t4is laboratory are;i= o be 9amiliar it4 your !"#$2 main components >e.g. actuator< sensors=< your )ata acquisition
car) >e.g. 6P'D=< an) your poer ampli9ier >e.g. #oltP86=< as )escribe) in "e9erences ?1@< ?2@ = t d
d
t > = t
d
d
t > = t
d
d
t > = t d
> = t t ?1$@
an) t4e )esire) state is
=d
-
< < < < < = d t $ $ $ $ $ d
> = d t t
.?11@
4e linear state-space mo)el o9 t4e !"#$2%D&PE0 in Equation ?1@ is augmente) by intro)ucing anintegrator< resulting in t4e system
=d
d
t > = t +
1 $
1 $
$ u