Double IP
Challenge:
Design a control system to balance a double
inverted pendulum on a linear motion cart .
Description:
A double pendulum mounted on a solid aluminum
cart is free to fall along the cart's axis of motion. A pendulum
(approx. 2" in length) with another joint is mounted to
the first joint. A second pendulum is attached to the second
joint. Both joint angles are measured using encoders. The 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 objective is to design a control system
that balances the double pendulum and maintains cart position.
The system is supplied with a state feedback controller. You
may design any other controller you wish.
Difficulty:
Undergraduate - second course / Project
/ Graduate / Research
|
