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Experimental systems
Inverted 3-Arm Pendulum - Complex Control System
Pendulum systems allow scientific investigations of control algorithms on complex mechanic systems. Further on they will be used for training of students.
An inverted pendulum is located on a horizontal, mobile carriage. The pendulum will be positioned through the movement of the carriage using a three-phase asynchronous motor and appropriate control algorithm. One feature of the system produced by HASOMED is that it can be used with a single, double or 3-arm pendulum.
The 3-arm pendulum has been developed in cooperation with Prof. Gilles, Max-Planck Institute Magdeburg and HASOMED in 1999/2000. It will produced worldwide only by HASOMED.
Mechanics
- Solid construction, 4650(length) x 1360 (height) x 530 mm³, built of aluminium and heavy granite plates (first figure – please click to scale up) in order to avoid external disturbances to controlled arms.
- Linear trailed carriage with connection to the first pendulum arm of a single or double system. Optional extension to a system with 3 pendulums – 3-arm pendulum system.
- The carriage (third figure) moves over a guide rail with a distance of max. 1900 mm.
Following pendulums belong to the standard delivery package of a 3-arm pendulum:
- Basis-Pendulum with a length of 800 mm as standard pendulum (other sizes available).
- 1. Swingarm with a length 320 mm.
- 2. Swingarm with a length of 420 mm.
- 3. Swingarm with a length of 450 mm.
Here you can find a video showing the system in action.
Electronics
- Control unit, servo control, electric power supply for pendulum in a separate box (Linux PC and Interface ME2600).
- The movement is electrically limited by automatic limit switches and is secured by buffers with dashpots
- Actuation of the carriage by a servo motor (700 watts). The position of the carriage is measured by a sensor on the axis of the motor with 8192 puls/rpm
- Electric power supply of the pendulum’s electronics (angular transmitter) by accumulators inside the pendulum (charging by delivered mains adapters)
- Switch for recognition of the carriage´s middle position, e.g. for starting the experiment (detectable by the software).
- Switch for starting the program (put out about software as well).
References
The 3-Arm-Pendulum is in use in the Max-Planck Institutes in Magdeburg and Stuttgart. Further references are the University of Magdeburg (since 2001 - 2008 changing to d-Space) as well as the University of Karlsruhe (since 2002). In Karlsruhe even two pendulums are in use for a practical training.
There follow the communication data of the other facilitys which uses the pendulum.