Parker Hannifin Motion and Control Laboratory
|iPendulum: An Inverted Pendulum System1|
The inverted pendulum system is designed to be mounted on an existing hydraulically driven sled. The sled is constrained to move along a single horizontal axis and is driven by a double-acting, double-rod hydraulic cylinder (1.5 inch bore, 5/8 inch diameter rod, and 12 inch stroke). The position of the sled is measured using a Temposonics® R-series magnetostrictive linear position sensor (40 inches long), and the angle of the pendulum is measured using a high resolution incremental encoder (Turck part number is T8-5805-MP4T-36000; resolution is 1/100th of a degree).
The system is controlled using a proportional/integral (PI) compensator encoded in LabVIEW software. The software interfaces with the physical system using National Instruments PCI 6251 DAQ (data acquisition) card.
The system was modeled mathematically using MATLAB and Simulink during the design process. The design team determined part specifications and requirements by simulating the response of the system under a variety of conditions. A number of software tools were developed to facilitate the modeling process and analysis of simulation data.
|Inverted Pendulum System in Parker Lab|
|Close-up of Base with Encoder Wheel|
|Front Panel #1 of LabVIEW Closed-Loop Control Software|
|Front Panel #2 of LabVIEW Closed-Loop Software: Encoder Initialization|
|Simulink Model of Inverted Pendulum System|