The laboratory
experimental setup "Inverted Pendulum" contains
the technical realization of an unstable plant together with
an actuator and a digital controller. The digital controller
realizes an observer based state feedback or a fuzzy
controller. The laboratory setup is based on the plant
"Position Control PS600".
The basic system includes an actuator as well as the
mechanical setup (PS600) with a premounted
pendulum extansion kit (Option 600-20). The
documentation contains the instructions for start-up as well
as the technical data of the system. The plant is
represented by a revolving pendulum mounted on top of a
moving base. By a DC-motor, a toothwheel, a toothbelt and a
clutch, the moving base can be driven along a guiding bar
over a length of approximately 1.5m such that the pendulum
is stabilized in upright position at a preassigned position.
The stabilization of the pendulum is accomplished by a
digital controller. Based on measurements, the controller
generates a suitable signal which controls the DC-motor by
an electronic drive. The measurements are the pendulum angle
and the cart position obtained by incremental encoders.
The standard digital control of the basic system consists of
a PC adapter card Option 600-03 for an ISA slot and
an executable controller program (MS- Windows) Option
600-22. The adapter card as well as the program require
an IBM-AT-compatible PC. The "Practical Program"
(Win 3.1/Win 95) is driven by pull-down menus. The control
algorithm realizes a state feedback with estimation of the
angular speed of the pendulum and the speed of the cart as
well as a disturbance observer to compensate the effects of
the friction. The friction compensation force acts on the
bearing of the cart. All of the controller and observer
parameters are comfortable adjustable. The controller
performance is examined by recording the measurements and
observed signals of the system. |
The graphic ouput of recorded data may be sent
to a window. Its content may be printed, saved as a WMF file
or copied into the clipboard. The documentation contains the
theoretical background with the mathematical model of the
plant, practical instructions as well as solutions of the
experiments. Thus, the basic system with the standard
digital controller is suitable as a laboratory experiment in
student practicals of automatic control.
Additional options extend the version of the laboratory
setup described above to support research studies in the
field of arbitrary control algorithms or applied fault
detection methods. For this purpose an additional fuzzy
controller and the 'C++' source files of the programs are
available.
The Option 600-23 extends the executable
program (Option 600-22) by a fuzzy controller including
modules to define fuzzy rules and membership functions, to
store and load a corresponding description file and to
display a graphic representation of the fuzzy knowledge
base. The fuzzy controller uses the fuzzy knowledge base to
realize a cascaded control structure. The documentation is
extended by the background of a fuzzy controller and the
operating instructions. Switching between the controller
modes allows for control performance compa- rison of state
controller and the fuzzy controller.
The Option 600-25 contains the C++/Pascal source
files of the PC controller program including library
functions for fuzzy operations and graphic output. With this
option the user is able to implement special algorithms for
control, supervision or fault detection in the frame of the
menu-driven program. The Borland C++ compiler version 4.52
as well as Delphi V1.0 are required to generate an
executable program.
Technical data are subject to change (Date
15-April-1999) |
